CN114955315A - Automatic garbage weighing method, vehicle-mounted weighing device and sanitation vehicle - Google Patents
Automatic garbage weighing method, vehicle-mounted weighing device and sanitation vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
- B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
- B65F2003/022—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto the discharging means comprising a device for determining the weight of the content of refuse receptacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/128—Data transmitting means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/138—Identification means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/164—Printers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion
Abstract
The invention belongs to the technical field of quality measurement in the hanging-bucket type garbage collection and transportation industry, and particularly relates to an automatic garbage weighing method, a vehicle-mounted weighing device and a sanitation vehicle, which comprise the following steps: 1) acquiring weight data of a garbage can to be unloaded loaded in a preset constant-speed section in the ascending process of the garbage can and weight data of the garbage can after the garbage is unloaded in the constant-speed section in the descending process of the garbage can after the ascending process in the garbage collecting process of the sanitation vehicle, so as to respectively obtain the weight of the garbage can during the ascending process and the weight of the garbage can during the descending process, and correspondingly respectively recording the weight as ascending action quality and the descending action quality; 2) and subtracting the descending motion weight from the ascending motion quality to obtain the net weight of the garbage. Therefore, the problem of low accuracy of the garbage metering equipment in the prior art is solved.
Description
Technical Field
The invention belongs to the technical field of quality measurement in the barrel hanging type garbage collection and transportation industry, and particularly relates to an automatic garbage weighing method, a vehicle-mounted weighing device and a sanitation vehicle.
Background
In 7/2/2021, in order to improve the quality of life of residents, a green and environment-friendly living environment is advocated, and the first point in the guidance suggestion of the kitchen garbage disposal metering charging of non-residents is pointed out, and the kitchen garbage metering charging is pushed. Kitchen garbage (hereinafter referred to as non-resident kitchen garbage) generated in activities such as food processing, food service, unit meal supply and the like in public institutions, hotels, restaurants and other related enterprises is required to establish a sound metering charging mechanism according to the principle of 'producer payment'. The non-resident kitchen waste treatment charging standard is determined according to the principles of compensation of collection, transportation and treatment cost and reasonable profit, and the bearing capacity of non-resident units is fully considered and gradually put in place. The kitchen garbage is one of the components of the household garbage, and in the area where the household garbage is not charged by classified measurement, after the non-resident kitchen garbage treatment fee is charged, the kitchen garbage treatment fee is reduced by a proper proportion so as to avoid repeated collection. And each region can carry out metering charging on the kitchen garbage of residents according to local actual exploration.
26 days 10 months in 2021, a city is sold to perfect the non-resident kitchen garbage metering and charging management policy.
In 2022, 03 and 29 months, a certain province accelerates to establish a non-resident kitchen garbage treatment metering charging system.
The garbage weighing platform is used for placing the garbage can to be weighed and identified on the weighing platform, manually offsetting the operation card with the card identifier, and finally calculating the weight of the garbage. The garbage metering equipment depends on manpower, has low automation degree, not only influences the garbage transportation and collection work, but also has low garbage metering accuracy.
Disclosure of Invention
The invention aims to provide an automatic garbage weighing method, a vehicle-mounted weighing device and a sanitation vehicle, which are used for solving the problem of low accuracy of garbage metering equipment in the prior art.
In order to solve the technical problems, the technical scheme provided by the invention and the corresponding beneficial effects of the technical scheme are as follows:
the invention relates to an automatic garbage weighing method, which comprises the following steps:
1) acquiring weight data of a garbage can to be unloaded loaded in a preset constant-speed section in the ascending process of the garbage can and weight data of the garbage can after the garbage is unloaded in the constant-speed section in the descending process of the garbage can after the ascending process in the garbage collecting process of the sanitation vehicle, so as to respectively obtain the weight of the garbage can during the ascending process and the weight of the garbage can during the descending process, and correspondingly respectively recording the weight as ascending action quality and the descending action quality;
2) and subtracting the descending motion weight from the ascending motion quality to obtain the net weight of the garbage.
The beneficial effects of the above technical scheme are: according to the garbage can lifting and descending method and device, the lifting action quality and the descending action quality in the preset constant-speed section in the lifting and descending processes of the garbage can are obtained, the garbage can runs more stably in the constant-speed section due to the fact that the quality data are obtained in the set constant-speed section, the quality data are more accurate, the net weight of the garbage is more accurate, manual participation is not needed in the garbage recycling process, the garbage collecting and transporting work is not affected, and the garbage collecting and transporting work efficiency is high.
Further, the ascending motion quality in the step 1) is obtained by averaging the weight data of the garbage cans to be unloaded, which are obtained in the uniform speed section; the descending motion quality is obtained by averaging the weight data of the garbage cans with the garbage removed, which are obtained in the uniform speed interval.
The beneficial effects of the above technical scheme are: the invention uses the weight data of a plurality of garbage cans loaded with garbage to be unloaded and the weight data of a plurality of garbage cans unloaded with garbage in the uniform speed interval section, then respectively obtains the average value, uses the corresponding average value as the ascending action quality and the descending action quality, and eliminates the influence of errors of individual data, thereby ensuring that the calculated garbage net weight data is more accurate.
Further, the method for acquiring the weight data of the garbage can to be unloaded loaded and the garbage can after unloading in the step 1) comprises the following steps:
101) acquiring weight data of the garbage can according to sampling intervals, recording the weight data as sampling weight data, dividing the sampling weight data into a group according to a reading sequence and a preset number, and recording the group as a sampling weight data group;
102) averaging all the sampled weight data in the sampled weight data group to obtain a sampled weight average value;
103) calculating weight data of the garbage can to be unloaded according to the average sampling weight value obtained in the steps from 101) to 102) in the ascending process of the garbage can; and calculating the weight data of the garbage can with the garbage removed according to the average value of the sampling weights obtained in the steps from 101) to 102) in the descending process of the garbage can after the ascending process.
The beneficial effects of the above technical scheme are: the method comprises the steps of calculating an average value of data in a sampling weight data set, and correspondingly and respectively using the average value as weight data of a garbage can to be unloaded and weight data of the garbage can after the garbage is unloaded; the invention adopts a method of grouping to obtain the average value, the sampling data corresponding to each sampling time period is provided, the average value of the sampling data is more in line with the true value and more accurate, the data volume is limited and cannot be overlarge, thereby solving the problem of inaccurate data caused by large sampling data volume and complex and slow data processing, and further ensuring that the net weight of the garbage is more accurate.
Further, in step 102), the highest value and the lowest value in the sample weight data set are removed before averaging all the sample weight data in the sample weight data set.
The beneficial effects of the above technical scheme are: according to the invention, the highest value and the lowest value are removed when each group of sampled weight data is subjected to average filtering, the data distribution is more stable and closer to the real data, the average value obtained by calculation is more accurate, and the net weight of the garbage obtained by calculation is more accurate.
Furthermore, in order not to return to zero repeatedly and not to influence the garbage transportation and collection work, the sampling weight data is obtained by subtracting the pressing weight of the upper pressing plate of the garbage can from the obtained total weight of the garbage can containing the upper pressing plate of the garbage can, and the upper pressing plate of the garbage can is used for pressing the garbage can.
Further, the method comprises at least one of the steps of obtaining unique label information of the garbage cans, displaying related information of the garbage on a sanitation vehicle, uploading the related information of the garbage to a cloud platform, printing the related information of the garbage and accumulating the net weight of each barrel of the garbage calculated according to the methods of the steps 1) to 2) to obtain the total collection and transportation amount; acquiring unique label information of the garbage can to distinguish different garbage cans, and binding the net weight of the garbage obtained through calculation with the label information of the garbage can; the related information of the garbage comprises net weight information and/or total receiving and transporting amount of each barrel of garbage.
The beneficial effects of the above technical scheme are: the method and the device for acquiring the unique label information of the trash can are more beneficial to distinguishing the trash can, namely, the merchant to which the trash can belongs, and the automation degree is improved to save manpower. The net weight of each barrel of garbage is accumulated, so that the total amount of transportation and collection is more convenient to count, and the automation degree is improved again to save manpower. The method has the advantages that the related information of the garbage is displayed on the sanitation vehicle, so that the data can be more visually watched on site, meanwhile, the steps of uploading the related information of the garbage to the cloud platform and printing the related information of the garbage are also provided, the related information of the garbage is conveniently and remotely shared, the remote regulation and control are convenient, the related information of the garbage is conveniently reserved for merchants to which the garbage belongs, the intelligent degree is improved again, and the manpower is reduced.
Further, the weight data of the garbage can to be unloaded loaded in the step 103) and the weight data of the garbage can after unloading garbage are calculated by using the following formulas:
W＝K(ADC-ADC 0 )
where K is a linear scaling parameter according to the sensor characteristics, ADC 0 And the ADC represents a zeroing state, when weight data of the garbage can to be unloaded are calculated, the ADC is a sampling weight average value obtained in the steps from 101) to 102) in the ascending process of the garbage can, the corresponding W is the weight data of the garbage can to be unloaded, when the weight data of the garbage can to be unloaded are calculated, the ADC is a sampling weight average value obtained in the steps from 101) to 102) in the descending process of the garbage can after the ascending process, and the corresponding W is the weight data of the garbage can after the garbage is unloaded.
The invention discloses a vehicle-mounted weighing device, which comprises a weighing module and a main control unit; the weighing module is used for acquiring weight data of a garbage can to be unloaded loaded in a preset constant-speed section in the ascending process of the garbage can in the garbage collecting process of the sanitation vehicle so as to obtain the ascending weight of the garbage can and record the ascending weight as the ascending action quality; the weighing module is also used for acquiring the weight data of the garbage bin after the garbage is removed in the uniform speed section in the descending process of the garbage bin so as to obtain the weight of the garbage bin when the garbage bin descends and recording the weight as the descending action quality;
the main control unit is connected with the weighing module and calculates the net weight of the garbage by using the automatic garbage weighing method.
The beneficial effects of the above technical scheme are: according to the invention, the weighing module is used for acquiring the ascending action quality and the descending action quality in the preset constant-speed interval section in the ascending and descending processes of the garbage can, and the quality data is acquired in the constant-speed interval section, so that the garbage can runs more stably in the constant-speed interval, the quality data is more accurate, and the net weight of the garbage calculated by the main control unit is more accurate. And moreover, the whole process of collecting and transporting the garbage is not affected without manual participation in the garbage recycling process, and the garbage collecting and transporting efficiency is high.
And further, 2 position sensors arranged on a lifting route of the garbage can are used for sensing whether the ascending and descending processes of the garbage can reach the uniform speed section or not, and the main control unit is connected with the position sensors to acquire information acquired by the position sensors.
Further, 2 position sensor are 2 proximity switches, and 2 proximity switches distribute from top to bottom and set up on the lift mechanical structure guide rail of sanitation car garbage bin, and proximity switch's trigger device sets up on the lift mechanical structure of sanitation car garbage bin.
Further, the upper and lower intervals of the installation positions of the two proximity switches on the guide rail of the lifting mechanism structure range from 20 to 30 cm.
Further, the weighing module comprises a first weighing sensor for measuring the total weight of the garbage can and a second weighing sensor for measuring the pressing weight of the upper pressing plate of the garbage can; promote the garbage bin couple through first weighing sensor, the garbage bin couple holds up the garbage bin top board through second weighing sensor when carrying the garbage bin and rise, just the main control unit connects first weighing sensor and second weighing sensor in order to acquire first weighing sensor's measuring information.
Furthermore, the vehicle-mounted weighing device further comprises at least one of an electronic tag card reader, a network module and a printing module, wherein the electronic tag card reader is used for reading tag information of an electronic tag arranged on the garbage can, and the main control unit is connected with the electronic tag card reader to acquire the information read by the electronic tag card reader; the network module is used for communicating with an external cloud platform, the printing module is used for printing related information of garbage, and the main control unit is connected with the network module and the printing module so as to communicate with the network module and the printing module.
The beneficial effects of the above technical scheme are: the electronic tag card reader reads the unique tag information of the garbage can, so that the garbage can be distinguished, namely a merchant to which the garbage can belongs can be distinguished, and the automation degree is improved to save manpower. The sanitation vehicle electronic display screen is arranged to display related information of garbage on the sanitation vehicle, data can be watched on site more visually, meanwhile, the steps that the network module uploads the related information of the garbage to the cloud platform and the related information of the garbage is printed through the printing module are further included, remote garbage related information sharing is facilitated, remote regulation and control are facilitated, a merchant to which the garbage belongs can keep the related information of the garbage, the intelligent degree is improved again, and the labor workload is reduced.
The invention discloses a sanitation vehicle, which comprises a sanitation vehicle body and is characterized in that: the vehicle-mounted weighing device is further included to realize an automatic garbage weighing method realized by the vehicle-mounted weighing device and achieve the effect consistent with the automatic garbage weighing method.
Drawings
FIG. 1 is a structural view of a vehicle-mounted weighing apparatus of the present invention;
FIG. 2 is a flow chart of the weighing signal processor data processing of the present invention;
FIG. 3 is a flow chart of the method for matching the serial number and the mass value of the garbage can with the weighing display screen of the sanitation truck according to the invention;
FIG. 4 is a flow chart of a sanitation truck weighing result debugging and calibrating method of the present invention;
FIG. 5 is a flowchart of the present total receiving and transporting data calculating method of the present invention;
FIG. 6 is a flow chart of a method of weight data paper printing of the present invention;
fig. 7 is a flowchart of a weighing data network uploading method of the present invention.
In the figure: 1. a trash can fixing frame; 11. a second pressure sensor; 12. a drum; 13. a magnet; 15. a fixed frame rail; 2. the garbage can is hooked; 21. a first pressure sensor; 22. a crane rail; 31. a first proximity switch; 32. a second proximity switch.
Detailed Description
The invention aims to: in order to adapt to the government-promoted kitchen garbage metering and charging policy, the invention provides the metering equipment with high accuracy suitable for metering the kitchen garbage, and the metering equipment can collect basic data of the kitchen garbage and upload the basic data to the cloud platform under the condition of not influencing the normal garbage collecting and transporting process.
As shown in fig. 1, the sanitation vehicle lifts the garbage can and finishes the garbage dumping work process as follows: at first, a garbage can hook 2 (the lifting frame is not shown in the figure) on the lifting frame on the side surface of the sanitation truck is used for hooking a beam handle of the garbage can, the garbage can hook is arranged on the lifting frame through a first pressure sensor 21, and the weight of articles hung on the garbage can hook can be weighed through the first pressure sensor 21. Under the drive of chain, the crane drives garbage bin couple 2 through first pressure sensor 21 along crane track 22 and rises, and garbage bin couple 2 drives the garbage bin and begins to rise, and after rising a take the altitude, garbage bin crossbeam handle contacts the garbage bin top board of top through second pressure sensor 11, and the garbage bin top board sets up on the fixed frame 1 of garbage bin, and fixed frame 1 of garbage bin can follow fixed frame track 15 and freely slide. The crane rail 22 and the fixed frame rail 15 are arranged on the vehicle structural part. The garbage can hook 2 drives the garbage can, the garbage and the garbage can fixing frame 1 to ascend together; the garbage can upper pressing plate is used for fixing the garbage can, so that the garbage can does not fall down together with garbage when being turned over. Therefore, the weight of the garbage can, the garbage and the garbage fixing frame 1 is weighed by the first pressure sensor 21 below the garbage can hook 2 in the ascending process; the weight of the fixed frame 1 of the garbage can is measured by a second pressure sensor 11 arranged below the lower pressing plate of the garbage can. The gravity center of the garbage can on the garbage can hook 2 is located near the geometric center of the garbage can, the cross beam handle hung on the garbage can hook 2 is used as a pivot, and the lower part of the garbage can is supported against the lower part of the garbage can fixing frame 1 by the moment between the gravity borne by the garbage can and the pivot. Considering that the vibration of the trash can which is difficult to avoid in the lifting process can cause the relative displacement between the trash can and the trash can fixing frame 1, and further generate friction force to influence the weighing accuracy, a group of rollers 12 are arranged at the trash can abutting position at the lower part of the trash can fixing frame 1 as shown in fig. 1, and the friction force generated by the relative displacement between the trash can and the trash can fixing frame 1 is reduced or eliminated as much as possible in a rolling mode.
The garbage can hook 2 drives the garbage can to contact with the garbage can upper pressing plate of the garbage can fixing frame 1 in the ascending process to reach a constant-speed operation interval, and the garbage can reaches the top arc-shaped track to be dumped after the constant-speed operation; in the descending process, a constant-speed running interval with similar position exists before the garbage can fixing frame 1 reaches the bottom dead center position. In the uniform speed operation interval, the atress in the garbage bin reaches the equilibrium, and the pulling force of garbage bin couple 2 equals the gravity of garbage bin promptly.
According to the invention, after a position interval corresponding to the constant-speed running interval on the actual track is found through experiments or tests, the starting position and the ending position of the position interval are calibrated through the position sensor, and the data of the two pressure sensors after the garbage bin enters the position interval are collected in the processes of ascending and descending. In the rising process: the total weight of the garbage bin, the garbage and the garbage bin fixing frame is measured by the first pressure sensor, and the weight of the garbage bin fixing frame is measured by the second pressure sensor. Therefore, the weight of the garbage can and the garbage can be obtained by subtracting the weight measured by the second pressure sensor from the total weight measured by the first pressure sensor. In the descending process: the total weight of the garbage bin and the garbage bin fixing frame is measured by the first pressure sensor, and the total weight of the garbage bin fixing frame is measured by the second pressure sensor. Therefore, the weight of the garbage can be obtained by subtracting the weight measured by the second pressure sensor from the total amount measured by the first pressure sensor. And finally, obtaining the net weight of the garbage by utilizing the weight difference measured in the ascending and descending processes.
An embodiment of an on-board weighing apparatus:
the invention discloses a vehicle-mounted weighing device, which comprises: the system comprises a weighing module, a main control unit, a display module, a printing module, an electronic tag card reader, a weighing signal processor and a proximity switch, wherein in the embodiment, the weighing module is a high-precision pressure sensor, the electronic tag card reader is an ultrahigh frequency RFID electronic tag card reader, the printing module is a receipt printer, and the display module is a sanitation vehicle weighing display screen.
High-precision pressure sensor: the device is used for bearing the quality of the garbage can and the clamping pressure of the upper pressing plate of the garbage can and converting the pressure signal into a voltage signal.
A proximity switch: the device is used for capturing the lifting action of the bucket hanging mechanism, and the triggering time point of the device is used as an interval for intercepting the real-time quality sample value.
The ultrahigh frequency RFID electronic tag card reader comprises: the card reader is used for reading the electronic tags arranged on the trash can and obtaining tag information to identify the merchants to which the weighed trash can belongs, the card reader only stores the unique card number, and the card number is used for inquiring the specific merchant information from a database, wherein the database can be a local database or a database on a cloud platform.
A receipt printer: and the garbage weighing and garbage can label printing module is used for printing the current garbage weighing information and the garbage can label information.
Sanitation car display screen that weighs: the sanitation truck weighing display screen comprises a display screen and a host, such as a display screen all-in-one machine, and is used for displaying weighed garbage data and corresponding label information and uploading the information to a cloud platform through a network module.
A weighing signal processor: the automatic garbage weighing method is characterized in that the automatic garbage weighing method comprises a step of connecting a proximity switch and a high-precision weighing sensor, and is used for converting electric signals of the proximity switch and the high-precision weighing sensor into digital signals. Specifically, the sanitation truck of this embodiment is a kitchen waste collection and transportation truck, and the structure of the vehicle-mounted weighing device, as shown in fig. 1, starts from the mechanical structure part of the weighing and bucket hanging, a lifting guide rail is arranged on the side surface of the kitchen waste collection and transportation truck, a rectangular lifting frame is arranged in the middle of the guide rail, and a garbage bucket hook movable block is arranged in the middle of the lifting frame. According to the invention, a first pressure sensor 21 is arranged below a hook 2 of the garbage can in figure 1 and is used for bearing the weight of the garbage can, after a lifting mechanical structure of the garbage can of the kitchen garbage collection and transportation vehicle rises for a short section, a rectangular lifting frame can press the edge of the garbage can, and particularly, the upper pressure plate of the garbage can arranged on the lifting frame presses the edge of the garbage can, and a second pressure sensor 11 is arranged at the upper pressure plate of the rectangular lifting frame of the garbage can in figure 1. The special magnet 13 for the proximity switch is arranged at the right side edge of the rectangular lifting frame, and two proximity switches are arranged on the outer side of the guide rail where the lifting frame is located, wherein the two proximity switches are a first proximity switch 31 and a second proximity switch 32 respectively. As shown in a and b in fig. 1, a represents a first proximity switch 31, b represents a second proximity switch 32, and generally, the proximity switches are installed in a linear region of a guide rail, the distance between the two proximity switches is about 20-30 cm, and the specific installation position is determined according to a test of repeatedly simulating a lifting process on site, and a uniform motion region can be determined by observation because the actual environment vibrates strongly. When the lifting action is carried out, the first proximity switch and the second proximity switch are passed by one another to form a trigger event signal. The first pressure sensor, the second pressure sensor, the first proximity switch and the second proximity switch are respectively connected to the corresponding positions of the weighing signal processor. The weighing signal processor is connected to the sanitation vehicle weighing display screen through a CAN bus. The sanitation vehicle display screen can read the RFID electronic tag code through the ultrahigh frequency RFID card reading equipment. The sanitation car weighing display screen prints each barrel of weighed weight data into a paper edition through a printer, and transmits the weighed data of each barrel to the cloud platform through a 4G network.
In order to make the objects, technical schemes and advantages of the present invention more clear, the following describes a method for automatically weighing garbage in detail.
The invention relates to an automatic garbage weighing method which comprises a pressure and proximity switch signal acquisition and mass value calculation module, a garbage bin number and mass value matching calculation module, a weighing result debugging and calibrating calculation module, a current collection and transportation total amount calculation module, a weighing data paper version printing module, a weighing data network uploading module and the like.
The pressure and action switch signal acquisition and quality value calculation module is introduced below, the pressure and proximity switch signal acquisition and quality value calculation module acquires a gravity sample value of a pressure sensor by using a weighing signal processor, and a lifting action proximity switch is used for triggering as an intercepting condition of a sample interval.
S1, the bucket-hanging type kitchen garbage collection and transportation vehicle (sanitation vehicle) without a weighing system in the market is generally provided with a garbage can hook, and when the garbage can is lifted along with a lifting mechanical structure, the edge of the garbage can is provided with a garbage can upper pressure plate to press the garbage can. The high-precision pressure sensors are arranged below the hook of the garbage can and below the upper pressure plate, namely the power take-off position is above and below the edge opposite to the opening direction of the garbage can. In the invention, the part below the hook of the garbage can is calledThe load cell being a first pressure cell, the force measured by which is F 1 Another load cell is shown as a second pressure cell, the force measured by which is represented by F 2 And (4) showing. In addition, assuming that the mass of the garbage can and garbage is m, there is a physics formula F 1 ＝mg+F 2 This is true. In addition, in the condition that the garbage can is not pressed by the garbage can lower pressing plate, F 2 The value defaults to 0.
S2, it can be known from S1 that the hanging barrel of the invention has two acquired forces, and the high-precision pressure sensor for measuring the two forces is a sensor for converting pressure signals into voltage signals. Two paths of high-precision 24-bit ADC chips HX712 are used in the weighing signal processor, voltage signals output by the pressure sensor are converted into digital signals, and the HX712 transmits data to an MCU in the weighing signal processor.
S3, recording the weight data of the garbage can measured by the high-precision pressure sensor as sampling weight data, transmitting the sampling weight data to a weighing signal processor, grouping a plurality of sampling weight data by the MCU to obtain average value filtering, removing the highest and lowest values by the filtering, calculating the average value of each group, namely the sampling weight average value, calculating a mass sample value according to the measuring range and sensitivity of the sensor, caching the mass sample value according to a sequence, adding a time stamp to each sample value, wherein the mass sample value added with the time stamp corresponds to the weight data of the garbage can to be unloaded in the ascending process, and the descending process corresponds to the weight data of the garbage can after unloading the garbage. The time stamp referred to herein is a one millisecond timed time that the weighing signal processor begins timing above the electrical run.
S4, the weighing signal processor mentioned in S2 and S3 uses the lifting motion proximity switch to trigger as the intercepting condition of the sample interval, and the sample interval is corresponding to the sampling data of the garbage can when the garbage can runs in the uniform speed interval. The two proximity switches are arranged on the outer side of the guide rail of the lifting mechanical structure respectively and distributed one above the other at an interval of about 20-30 cm, and are magnetic switches, and magnets are arranged on the lifting mechanical structure. When the garbage can is lifted to exceed the top of the vehicle at a constant speed and puts garbage into a garbage bin of the sanitation vehicle, and then the garbage can is descended at a constant speed, the magnet of the lifting mechanism can pass through the two proximity switches successively. The two proximity switches which are arranged above and below one another are numbered, the proximity switch below is numbered as a first proximity switch, and the proximity switch above is numbered as a second proximity switch. The sequence of proximity switches that a complete recycling process of a bin of trash will go through is: the first proximity switch, the second proximity switch, the first proximity switch are marked as 1, 2, 1. And the weighing signal processor converts the switching signal into a digital signal and is set as an event signal in the MCU.
S5, proximity switch signal, as described by S4, for convenience of description, the 1, 2, 1 sequence of proximity switch activations is numbered as 1 A 、2 B 、2 C 、1 D . The weighing signal processor 1 A 、2 B Judging the ascending process of the garbage can, and 2 C 、1 D It is determined as a descending process. In the present invention, 1 is A At the start time stamp of the recording rising process, at 2 B At the end of the recording of the ascending process, at 2 C At the start time stamp of the recording of the descent process, at 1 D The end timestamp of the descent process is recorded.
S6, the real-time sample value sequence of the quality of the garbage can and the garbage with the time stamp is obtained in the S3, the real-time sample value sequence of the quality of the garbage can and the garbage corresponds to weight data of the garbage can to be unloaded in the ascending process, and the weight data of the garbage can after the garbage is unloaded in the descending process. Two points in time of the ascending process and two points in time of the descending process are obtained as described in S5. In a complete 1 A 、2 B 、2 C 、1 D After the process is finished, the weighing signal processor acquires the quality of the ascending action from the real-time sample values of the garbage can and the garbage mass between two time points of the ascending action, and acquires the quality of the descending action from the real-time sample values of the garbage can and the garbage mass between two time points of the descending action. In principle, the garbage can should be an empty can when the vehicle roof falls down completely, but some liquid and solid are inevitableResidual, so the lowering action is considered in the present invention as a smaller mass of trash can + trash. Therefore, the invention enables the measured net weight of the garbage to be more accurate.
S7, the ascending operation quality (m) from S6 1 ) And decreasing the operating mass (set as m) 2 ) The net weight value (net weight of garbage) of the garbage recycling amount of the garbage can is m ═ m 1 -m 2 . The high-precision pressure sensor described in S1 can measure tension and pressure without returning to zero 1 And m 2 It is possible that the actual rising or falling quality value is not, but that both values have a common quality deviation from the actual rising or falling quality value, when the difference m is made 1 -m 2 Will be cancelled out. E.g. m 1 ＝-5kg,m 2 When m is equal to m, 20kg 1 -m 2 (-5) kg- (-20) kg 15 kg. Therefore, the invention does not need to return to zero repeatedly, and improves the working efficiency of garbage transportation.
And S8, the net weight m of the garbage calculated by the S7 transmits the data to a sanitation vehicle weighing display screen through a CAN bus.
The garbage bin number and mass matching calculation module is introduced below, the garbage bin number and mass matching module reads tag information on an electronic tag arranged on a garbage bin by using an ultrahigh frequency RFID electronic tag card reader, the tag information can distinguish a merchant and a position of the garbage bin, and then the garbage mass value is intelligently matched by combining net weight information of garbage obtained by a weighing signal processor.
S1, the ultrahigh frequency RFID electronic tag reader is responsible for reading the electronic tag installed on the garbage can, the electronic tag has uniqueness, information of a merchant can be recorded during installation, and an installation engineer can transmit the installed electronic tag number and the information of the merchant to a cloud platform.
S2, the weighing signal processor not only transmits weighing data to the sanitation vehicle weighing display screen, but also updates the state information of the proximity switch in real time. From the above, the sequence generated by the lifting proximity switch during the garbage collection and transportation process is as follows: 1 A 、2 B 、2 C 、1 D Then the environmental sanitation weighing display screen is 2 B →2 C →1 D Continuously reading the RFID electronic tags. The read electronic tag is regarded as the electronic tag number of the current barrel, and if the tag is read for multiple times in the process, the latest electronic tag number is taken as a final value.
S3, after the weighing data result is uploaded by the weighing signal processor, taking the weighing data result received by the sanitation vehicle weighing display screen as an event, and taking the weighing data result as an event 2 B →2 C →1 D And binding the final value of the electronic tag read in the process into the electronic tag information of the garbage in the barrel. If in practice, some garbage is not provided with the electronic tag, the system leaves the electronic tag item empty, and the quality data is normally recorded and uploaded.
The following introduces a weight result debugging, calibrating and calculating module, and the sanitation vehicle weighing display screen has a method for automatically calculating calibration parameters. After the field engineer has completed the installation or has repaired or debugged, etc., the weighing apparatus is recalibrated.
S1, firstly, the calibration function of the sanitation vehicle weighing display screen is closed.
S2, finding a weight, such as 20 barrels of 20Kg water, needs to be weighed by a calibrated scale, and the higher the precision of the calibrated scale, the better the calibration effect of the equipment.
S3, putting the known weight into a garbage can, performing kitchen waste recycling task, and recording the weight of the weight and the quality result output by a sanitation vehicle weighing display screen. The process needs to be repeated for several times, and the weights with different scales need to be used for calibration, and the more times, the higher the calibration accuracy.
And S4, inputting the data sheet recorded in the S3 into a sanitation vehicle weighing display screen.
S5, the sanitation vehicle weighing display screen calculates the linear regression slope of the sample value through a linear regression algorithm, and after calculation, the parameters are automatically written into the sanitation vehicle weighing display screen.
The receiving and transporting total amount calculating module is introduced below, and the sanitation vehicle weighing display screen reads the state of the sanitation vehicle large box door.
And S1, when normal collection and transportation are carried out, every time a barrel of garbage is collected, the total collection and transportation amount is accumulated, namely the barrel number and the total garbage mass, and data are stored when power is off.
And S2, the sanitation vehicle weighing display screen judges whether the large box door is opened or not according to the state of a proximity switch arranged on the large box door, and the proximity switch is connected with the weighing signal processor.
And S2, if the opening and closing state of the big box door is judged to be opened, the bucket number of the total collection and transportation quantity and the total garbage mass are cleared immediately.
The invention discloses a weighing data paper edition printing module, which uses an embedded thermal printer to facilitate the collection and transportation work to leave a paper stub, and the device presets a function of selecting whether to automatically print the paper.
S1, when the sanitation truck weighing display screen displays the mass value of the garbage barrel, the printing button can be manually pressed to print the garbage barrel as paper.
S2, if the function of repeatedly and manually pressing the printing button in the receiving and transporting process is complicated, the system can be set to be in an automatic printing mode, and when the weighing display screen of the sanitation vehicle displays the mass value of a barrel of garbage, information is output to the printer.
The following is introduced for the weighing data network upload module, which uses local caching and uploads in an interactive automatic upload protocol.
S1, when the sanitation vehicle weighing display screen displays the mass value of a barrel of garbage, the sanitation vehicle weighing display screen uses a built-in 4G network to upload weighing data carrying RFID label information and a timestamp to a cloud platform.
S2, interactive uploading is used by the data uploading cloud platform, and when the sanitation vehicle weighing display screen sends weighing data to the network once, the cloud platform sends a response instruction. If the cloud platform does not respond to the uploading information, the sanitation vehicle weighing display screen continuously tries to upload current data, and even if the power is off and the power is restarted, the uploading is retried.
S3, the weighing result received by the sanitation vehicle weighing display screen from the weighing signal processor is stored locally on the sanitation vehicle weighing display screen, and the local data cannot be cleared until the weighing result is successfully uploaded.
The following is a detailed description of the data processing steps of the weighing signal processor, and as shown in fig. 2, it is a data processing flow chart of the weighing signal processor of the present invention. The weighing signal processor is powered on and then starts two threads, one thread reads sampling weight data of the pressure sensor at intervals of 25ms in real time, when a group of sampling weight data is full (for example, a group of 6 sample values), the highest value and the lowest value of the group of sampling weight data are removed, an average filtering algorithm is used for calculating a sampling weight average value, and the sampling weight average value is used for calculating a formula W-K (ADC-ADC) according to the formula W 0 ) Calculating to obtain a mass value, where K is a linear proportional parameter according to the sensor characteristic, ADC is a sample weight average value, ADC0 represents a sample weight average value in a zero state, and W represents a mass value obtained by average filtering, specifically, corresponding data of the mass value W obtained by average filtering during rising and falling are: calculating weight data of the garbage can to be unloaded according to the average sampling weight value obtained in the ascending process of the garbage can; and calculating according to the average value of the sampling weight obtained in the descending process of the garbage can after the ascending process to obtain the weight data of the garbage can after the garbage is discharged.
When the current quality value W is generated, a timestamp is recorded and is stored in a sample buffer queue together. The average filtering algorithm is to average all samples in a group of samples. The other thread continuously scans the state of the lifting action proximity switch, when the No. 1 proximity switch is triggered, the time point is recorded, whether the switch triggered last time is a second proximity switch or not is judged, if the switch triggered last time is the No. 1 switch, the processing is not carried out, the scanning is continued, if the switch triggered last time is the No. 2 switch, a group of quality samples are extracted from the sample queue from the time point triggered last time to the current trigger time point, the current quality value is obtained through an average algorithm, the result of the intrinsic quality is recorded as the quality of the descending action, and at the moment, the quality of the ascending action is subtracted from the quality of the descending action to obtain the final quality of the barrel; when the No. 2 switch is triggered, the current time point is recorded, whether the last trigger switch is the first proximity switch or not is judged, if the last trigger switch is the second proximity switch, the processing is not carried out, the scanning is returned to continue, if the last trigger switch is the first proximity switch, a group of quality samples are extracted from the sample queue from the last trigger time point to the current trigger time point, the current quality value is obtained through an averaging algorithm, and the intrinsic quality result is recorded as the quality of the ascending action.
The following description is given to the matching steps of the garbage bin number and the quality value, wherein the garbage bin number is garbage bin label information, the quality value is the net weight of garbage, as shown in fig. 3, 3 processing threads are started after a sanitation vehicle weighing display screen is powered on, a first thread processes lifting action proximity switch information sent to the sanitation vehicle weighing display screen by a weighing signal processor, when a proximity switch is triggered, the thread stores the switch number in state information, and if no switch is triggered, the switch number is kept as the original value; one thread processes the RFID electronic tag reading task, if the lifting action proximity switch state is a second proximity switch, an RFID tag reading instruction is sent, the electronic tag is read, the read tag information is stored in an ID cache space, and if the tag information is repeatedly read, the ID cache is covered; and one thread processes the quality data sent to the sanitation vehicle weighing display screen by the weighing signal processor, when weighing data exist, the received quality data are analyzed, the ID cache is stored in the received quality data, and the ID cache is emptied.
The following steps for debugging and calibrating the weighing result of the sanitation truck are described in detail, as shown in fig. 4, when the calibration task is performed, a weight (e.g., water) and a calibrated scale used for calibration need to be found first, and the calibration function of the display screen needs to be turned off (if the calibration function is turned on). Different weights need to be replaced to collect multiple sets of data (the 5 sets in the figure are not limited here, the more the data, the better the calibration effect). Firstly weigh the weight W 1 Then the weight is put into the garbage can, the normal garbage collection and transportation processes of lifting and lowering the garbage can are carried out, the weight is poured into the large box, and the weight W of the sanitation truck weighing display screen is recorded 2 . Collecting multiple groups of samples W 1 、W 2 Inputting a calibration table of a display screen, and automatically calculating the proportion W of each sample by the display screen 1 /W 2 Value, and all W 1 /W 2 Taking an average value, and writing the average value into a calibration function parameter area of the display screenThis parameter will be saved locally on the display screen and will be validated immediately. K (ADC-ADC) in the above 0 ) The weight is based on the linear K of the sensor itself and the ADC and zero state of the current sensor 0 Calculating the result of the error caused by the comprehensive friction of the system without considering, in the invention, a plurality of groups of measured W 1 ，W 2 Arranging into a table to obtain the proportional value W of each group of values 1 /W 2 Take out multiple groups of W 1 /W 2 Average value (set as K) 0 ) The final result W output by the system is finally K 0 *W。
The following describes the calculation steps of the total amount data of this time of transportation in detail, and as shown in fig. 5, the sanitation truck weighing display screen queries whether the total amount data of this time of transportation is stored locally, so as to determine whether the electric vehicle is powered on and started for the first time. If the sanitation truck weighing display screen is electrified for the first time, clearing the total receiving and transporting data, and writing the current receiving and transporting data into the local area to write current information. If the sanitation truck weighing display screen is not powered on for the first time, the total receiving and transporting amount information is directly loaded from the local storage. The sanitation truck weighing display screen starts two parallel processing tasks, one task monitors whether a large box door switch is opened, if the large box door switch is opened, the large box door switch is triggered to reset the total receiving and transporting amount, and the total receiving and transporting amount is stored locally; and the other task adds 1 to the total barrel number of the current receiving and transporting after the display screen receives the quality information sent to the sanitation vehicle weighing display screen by the weighing signal processor, adds the current quality to the currently received mass of the barrel, stores the current quality as new total receiving and transporting quality information, and stores the data in the local after the current receiving and transporting information is updated.
As shown in fig. 6, when the sanitation vehicle weighing display screen detects that the user presses a print button, the sanitation vehicle weighing display screen first determines whether there is data being displayed, and if so, the data is sent to the printer according to a certain print format.
The following detailed description of the weighing data network uploading procedure shows that, as shown in fig. 7, the sanitation truck weighing display screen starts two tasks, and one task transfers the weighing data generated on the basis of the flow of fig. 5 to the local storage through a queue. And another task continuously inquires whether new data needs to be sent in the local storage, when the data needs to be sent, the first piece of weighing data is read and sent to the cloud platform through the 4G network, if a response is received in 1s, the first piece of weighing data is removed from the local storage, and if the response is not received in 1s, the sending is continuously attempted.
The embodiment of the automatic garbage weighing method comprises the following steps:
the embodiment of the automatic garbage weighing method provided by the invention is consistent with the automatic garbage weighing method introduced in the embodiment of the vehicle-mounted weighing device, and the detailed description is omitted here.
An embodiment of a sanitation vehicle:
the sanitation vehicle comprises a sanitation vehicle body and the vehicle-mounted weighing device, and the device realizes consistency of an automatic garbage weighing method introduced in the embodiment of the vehicle-mounted weighing device, and is not repeated here.
Claims (14)
1. An automatic garbage weighing method is characterized in that: the method comprises the following steps:
1) acquiring weight data of a garbage can to be unloaded loaded in a preset constant-speed section in the ascending process of the garbage can and weight data of the garbage can after the garbage is unloaded in the constant-speed section in the descending process of the garbage can after the ascending process in the garbage collecting process of the sanitation vehicle, so as to respectively obtain the weight of the garbage can during the ascending process and the weight of the garbage can during the descending process, and correspondingly respectively recording the weight as ascending action quality and the descending action quality;
2) and subtracting the descending action weight from the ascending action mass to obtain the net weight of the garbage.
2. The automatic weighing method of refuse according to claim 1, characterized in that: the ascending action quality in the step 1) is obtained by averaging the weight data of a plurality of garbage cans to be unloaded, which are obtained in the constant-speed section; the descending motion quality is obtained by averaging the weight data of the garbage cans with the garbage removed, which are obtained in the uniform speed interval.
3. The automatic weighing method of refuse according to claim 1, characterized in that: the method for acquiring the weight data of the garbage can loaded with the garbage to be unloaded and the weight data of the garbage can unloaded in the step 1) comprises the following steps:
101) acquiring weight data of the garbage can according to sampling intervals, recording the weight data as sampling weight data, dividing the sampling weight data into a group according to a reading sequence and a preset number, and recording the group as a sampling weight data group;
102) averaging all the sampled weight data in the sampled weight data group to obtain a sampled weight average value;
103) calculating weight data of the garbage can to be unloaded according to the average sampling weight value obtained in the steps from 101) to 102) in the ascending process of the garbage can; and calculating the weight data of the garbage can with the garbage removed according to the average value of the sampling weights obtained in the steps from 101) to 102) in the descending process of the garbage can after the ascending process.
4. The automatic weighing method of refuse according to claim 3, characterized in that: in step 102), the highest value and the lowest value in the sample weight data set are removed before averaging all the sample weight data in the sample weight data set.
5. The automatic weighing method of refuse according to claim 3, characterized in that: the sampling weight data is obtained by subtracting the pressing weight of the upper pressing plate of the garbage can from the total load weight of the garbage can containing the upper pressing plate of the garbage can, and the upper pressing plate of the garbage can is used for pressing the garbage can.
6. The automatic weighing method of refuse according to claim 1, characterized in that: the method further comprises at least one of the steps of obtaining unique label information of the garbage cans, displaying related information of the garbage on a sanitation vehicle, uploading the related information of the garbage to a cloud platform, printing the related information of the garbage and accumulating the net weight of each garbage can calculated according to the methods of the steps 1) to 2) to obtain the total collection and transportation amount; acquiring unique label information of the garbage can to distinguish different garbage cans, and binding the net weight of the garbage obtained through calculation with the label information of the garbage can; the related information of the garbage comprises net weight information and/or total receiving and transporting amount of each barrel of garbage.
7. The automatic weighing method of refuse according to claim 3 or 4, characterized in that: the weight data of the garbage can to be unloaded loaded in the step 103) and the weight data of the garbage can after unloading garbage are calculated by the following formulas:
W＝K(ADC-ADC 0 )
where K is a linear scaling parameter according to the sensor characteristics, ADC 0 And the ADC represents a zeroing state, when weight data of the garbage can to be unloaded are calculated, the ADC is a sampling weight average value obtained in the steps from 101) to 102) in the ascending process of the garbage can, the corresponding W is the weight data of the garbage can to be unloaded, when the weight data of the garbage can to be unloaded are calculated, the ADC is a sampling weight average value obtained in the steps from 101) to 102) in the descending process of the garbage can after the ascending process, and the corresponding W is the weight data of the garbage can after the garbage is unloaded.
8. The utility model provides a vehicle-mounted weighing device which characterized in that: comprises a weighing module and a main control unit; the weighing module is used for acquiring weight data of a garbage can to be unloaded loaded in a preset constant-speed section in the ascending process of the garbage can in the garbage collecting process of the sanitation vehicle so as to obtain the ascending weight of the garbage can and record the ascending weight as the ascending action quality; the weighing module is also used for acquiring the weight data of the garbage bin after the garbage is removed in the uniform speed section in the descending process of the garbage bin so as to obtain the weight of the garbage bin when the garbage bin descends and recording the weight as the descending action quality;
the main control unit is connected with the weighing module and calculates the net weight of the garbage by using the automatic garbage weighing method according to any one of claims 1 to 7.
9. The vehicle-mounted weighing device of claim 8, wherein: whether the garbage bin rises and reaches in the decline process through 2 position sensor perception settings on the garbage bin lift route the section of uniform velocity district, just main control unit connects position sensor is in order to acquire the information that position sensor gathered.
10. The vehicle-mounted weighing device of claim 9, wherein: the 2 position sensors are 2 proximity switches, the 2 proximity switches are distributed up and down and are arranged on a lifting mechanical structure guide rail of the sanitation vehicle garbage can, and a trigger device of each proximity switch is arranged on the lifting mechanical structure of the sanitation vehicle garbage can.
11. The vehicle-mounted weighing apparatus of claim 10, wherein: the distance between the upper part and the lower part of the installation positions of the two proximity switches on the guide rail of the lifting mechanical structure ranges from 20 cm to 30 cm.
12. The vehicle-mounted weighing device of claim 8, wherein: the weighing module comprises a first weighing sensor for measuring the total weight of the garbage can and a second weighing sensor for measuring the pressing weight of the upper pressing plate of the garbage can; promote the garbage bin couple through first weighing sensor, the garbage bin couple holds up the garbage bin top board through second weighing sensor when carrying the garbage bin and rise, just the main control unit connects first weighing sensor and second weighing sensor in order to acquire first weighing sensor's measuring information.
13. The vehicle-mounted weighing device of claim 8, wherein: the vehicle-mounted weighing device further comprises at least one of an electronic tag card reader, a network module and a printing module, wherein the electronic tag card reader is used for reading tag information of an electronic tag arranged on the garbage can, and the main control unit is connected with the electronic tag card reader to acquire the information read by the electronic tag card reader; the network module is used for communicating with an external cloud platform, the printing module is used for printing related information of garbage, and the main control unit is connected with the network module and the printing module so as to communicate with the network module and the printing module.
14. The utility model provides a sanitation car, includes sanitation vehicle body, its characterized in that: further comprising an on-board weighing apparatus as claimed in any one of claims 8 to 13.
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