CN106840339A - A kind of method that fortune car rubbish dynamic weighing is received for environmental sanitation - Google Patents
A kind of method that fortune car rubbish dynamic weighing is received for environmental sanitation Download PDFInfo
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- CN106840339A CN106840339A CN201710052885.3A CN201710052885A CN106840339A CN 106840339 A CN106840339 A CN 106840339A CN 201710052885 A CN201710052885 A CN 201710052885A CN 106840339 A CN106840339 A CN 106840339A
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- environmental sanitation
- rubbish
- dustbin
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- weight
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- 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
-
- 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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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Refuse Collection And Transfer (AREA)
- Refuse-Collection Vehicles (AREA)
Abstract
The present invention relates to the field that rubbish is weighed.A kind of method that fortune car rubbish dynamic weighing is received for environmental sanitation, sets weight sensor and obliquity sensor on support, environmental sanitation receives the processor that connection weight sensor and obliquity sensor are set on fortune car；After dustbin rises one second, and dustbin with holder pivots angle within 1 20 degree of time period, weight sensor gathers weight data, obliquity sensor gathers support flip angle data simultaneously, processor collects the data of weight sensor and obliquity sensor, weight is depicted as with position and the dynamic waveform of time change, the method by calculating wave-average filtering value calculates the gravimetric value of this lifting rubbish.The method is weighed in the case of efficiency greatly improving rubbish, while it is substantially accurate to weigh, meets the demand that environmental sanitation is weighed.
Description
Technical field
The present invention relates to the field that rubbish is weighed, more particularly to a kind of method that environmental sanitation receives fortune car rubbish dynamic weighing.
Background technology
Recently as the propulsion and development of urban-rural integration process, the popularization of simultaneous technology of Internet of things and push away
Extensively, smart city construction is gradually brought into schedule, the important component that wisdom environmental sanitation is built as smart city, its cry
It is more and more higher.But wisdom environmental sanitation is the need for clear and definite wisdom environmental sanitation level of control system, to instruct, assess various regions wisdom
The construction of environmental sanitation, such as according to population, area, natural conditions design refuse collection pattern, Transportation Model, disposal pattern etc..Intelligence
Intelligent environmental sanitation, relies on technology of Internet of things and development of Mobile Internet technology, and mistake entirely is carried out to the people involved by environmental sanitation management, car, thing, thing
Journey real-time management, reasonable design planning environmental sanitation management mode lifts environmental sanitation operation quality, environmental sanitation operation cost is reduced, with numeral
Assessment and promotion refuse classification management actual effect.
Existing environmental sanitation receives the method that reprinting rubbish is weighed on fortune car and is broadly divided into static weighing and dynamic weighing.Static state claims
Weight：Usually vehicle is reached and weighed on special weighbridge；Advantage is accurate measurement, but has the disadvantage that one-time investment is big, and
Live clearing cannot be carried out, it is impossible to reprinting amount is monitored and dispatched in real time.Dynamic weighing, such as number of patent application are
201510582848.4, use proximity switch, 10~15mm of detecting distance after signal is sensed, to stop several in weighing area
Second is weighed, and its advantage is, relative to being weighed on weighbridge, solving cannot carry out live clearing, it is impossible in real time to turning
Carrying capacity is monitored and dispatches, and it is substantially still static weighing, and the deficiency for existing is：1 proximity switch easily clashed into and
Deformed damaged；2 over time, with the abrasion of pail mechanism, is easily caused proximity switch sensed position and shifts；3 is each
Will be paused in toppling process, operating efficiency can be reduced, easily be introduced user's complaint；Although 4 is now to be parked on to weigh,
But it is in itself that, in vibrations, it is inaccurate that the sensor and Weighing method designed by static weighing are easily caused metering due to vehicle；5
Because field condition is changeable, the position of storing cycle not necessarily level, and there is inclination angle, now actually held on Weight-measuring sensor
The weight received may be the one-component of dustbin actual weight.In a word, due to there is above-mentioned various uncertain environment factors
Influence, existing dynamic weighing scheme is actual it is difficult to ensure that the accuracy weighed.
The content of the invention
The purpose of the present invention is in the case that open one kind can improve garbage reclamation efficiency, rubbish to be improved as far as possible and is weighed
The method that fortune car rubbish dynamic weighing is received for environmental sanitation of accuracy.
The present invention is achieved through the following technical solutions above-mentioned purpose：It is a kind of to receive fortune car rubbish dynamic weighing for environmental sanitation
Method, rubbish is poured on environmental sanitation and receives comprising the following steps successively on fortune car in dustbin：(1) hang bucket, support on sanitation cart to
Dustbin is moved, until dustbin is hung on support；(2) pail, support drives dustbin to rise, and dustbin leaves ground；(3)
Rotary motion, dustbin is received fortune car and is overturn with holder pivots angle towards environmental sanitation；(4) topple over, after upset in place, by dustbin
Rubbish be poured over environmental sanitation to receive fortune in-car；Weight sensor and obliquity sensor are set on support, and environmental sanitation receives the company of setting on fortune car
Connect the processor of weight sensor and obliquity sensor；After dustbin rises one second, and dustbin is with holder pivots angle
Within the time period of 1-20 degree, weight sensor collection weight data, obliquity sensor gathers the support flip angle number of degrees to degree simultaneously
The data of weight sensor and obliquity sensor are collected according to, processor, and filters weight sensor and obliquity sensor collection
Abnormal data, with reference to weighing data with support flip angle sync bit signal value, be depicted as weight with position and when anaplasia
The dynamic waveform of change, the method by calculating wave-average filtering value calculates the gravimetric value of this lifting rubbish.
Preferably, the number of times of weight sensor and obliquity sensor gathered data is more than 70 times.
Preferably, dustbin rise one second after, and dustbin with holder pivots angle 1-15 degree time
In section, the data of weight sensor and obliquity sensor collection draw weight with position and the dynamic waveform of time change, and with
This calculates the gravimetric value of this lifting rubbish, and when dustbin is spent with holder pivots angle in 1-15, support and dustbin are steady
Qualitative best, the data of weight sensor and obliquity sensor collection are the most accurate, and dustbin is with holder pivots angle in 1-15
In the range of degree.Further, the number of times of weight sensor and obliquity sensor gathered data is between 90-110 times, data
Times of collection is less than 70 times, and accuracy of weighing will be influenceed after abnormal data is filtered, and data acquisition number of times is more certainly
Better, the process time of rotary motion is general at 3-5 seconds, and number of times is difficult to complete in the too many short time, and number of times reaches 110
Accuracy rate of being weighed after secondary is very high, is further added by times of collection and is not also lifted more for the raising of accuracy of weighing
Space.
Preferably, filtering the abnormal data that weight sensor and obliquity sensor are gathered, filter by median filtering algorithm
Except abnormal data, such as vehicle is possible to shake suddenly in itself, the data exception for causing this to gather, and can improve weigh accurate
Property.
Preferably, the following several steps of the method point for calculating wave-average filtering value：A. the distribution situation according to data on figure,
Find out reference axis value；B. the height of each several part area waveform in figure is calculated, and takes the average value of each several part waveform；C. calculate real
Border gravimetric value=reference axis value+average value, improves accuracy of weighing.
Preferably, setting electronic tag on dustbin, being set on support can read electronic labeling information on dustbin
Card reader, for recording dustbin information, including rubbish species etc., for example distinguish kitchen garbage and common rubbish.
Preferably, environmental sanitation is received install vehicle GPS locating module and local instrument display on fortune car, local instrument shows
Device connects processor, the information on local instrument display video-stream processor, using easy to operate.Further, information includes
Each weighing data, accumulative weighing data, operator message and environmental sanitation receive fortune car.Further, processor is by without traditional thread binding
Connection remote database server is put, processor transfers information to remote database server, processor by wireless device
The instruction and the display on local instrument display of remote database server are received by wireless device, for wisdom environmental sanitation is provided
Substantial amounts of supervision data, can conveniently supervise and dispatch.
The beneficial effects of the present invention are：Rise within one second in pail initial stage, i.e. dustbin, support touches dustbin meeting
There are shock repercussions, accuracy of now weighing is low；When dustbin is more than 20 degree with holder pivots angle, support and dustbin start
Upset, weight sensor and obliquity sensor can also shake together, and accuracy of weighing declines, and dustbin exists with holder pivots angle
It is the relatively stable rotary motion stage in the range of 1-20 degree, filters the abnormal number of weight sensor and obliquity sensor collection
According to and by calculate wave-average filtering value method, calculate the gravimetric value of this lifting rubbish, weighed effect rubbish is greatly improved
In the case of rate, while it is substantially accurate to weigh, the demand that environmental sanitation is weighed is met.
Brief description of the drawings
Fig. 1 is that dustbin receives the schematic diagram dumped rubbish on fortune car in environmental sanitation in the embodiment of the present invention.
Fig. 2 is 50KG counterweights plus 15.2KG dustbin sampled data waveform diagrams in the embodiment of the present invention.
Fig. 3 is example schematic in the embodiment of the present invention.
Specific embodiment
The invention will be further described for 1 and Fig. 2 below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of method that fortune car rubbish dynamic weighing is received for environmental sanitation, rubbish is poured on environmental sanitation receipts in dustbin
Comprising the following steps successively on fortune car：(1) bucket is hung, the support 2 on sanitation cart 1 is moved to dustbin 3, until dustbin 3 is hung
On support 2, specifically, by slightly offseting vertical axis negative angle, usually -1~-2 ° to side parallel with vertical axis for support 2
Contacted with the edge of dustbin 3 to moving and rising；(2) pail, support 2 drives dustbin 3 to rise, and dustbin 3 leaves ground；
(3) rotary motion, dustbin 3 is received fortune car 1 and is overturn with the rotational angle of support 2 towards environmental sanitation, its process about 3~4 seconds or so；
(4) topple over, after upset in place, the rubbish in dustbin 3 is poured over environmental sanitation and is received in fortune car 1.
In Fig. 1, Y lines are axis perpendicular to the ground, and rotational angle refers to just the angle of dustbin or support and Y lines, and a is
The optimal rotational angle 1-15 degree of this patent, b is the rotational angle 1-20 degree of this patent selection.
Weight sensor and obliquity sensor are set on support, and environmental sanitation is received and connection weight sensor and inclination angle are set on fortune car
The processor of sensor；After dustbin rises one second, weight sensor collection weight data, obliquity sensor is adopted simultaneously
Collection support flip angle data, in rotary movement, specifically dustbin with holder pivots angle 1-15 degree scope
Interior, weight sensor collection weight data, obliquity sensor gathers support flip angle data simultaneously, and processor is collected weight and passed
The data of sensor and obliquity sensor, with reference to weighing data with the sync bit signal value of support flip angle, are depicted as weight
With position and the dynamic waveform of time change, the method by calculating wave-average filtering value calculates the weight of this lifting rubbish
Value.
Weight sensor is strain-type weight sensor, can be real-time by the change of the garbage weight signal in dynamic lifting
Embody.Obliquity sensor can be used to measure change of pitch angle amount with respect to the horizontal plane, due to the obliquity sensor and
Strain-type weight sensor is used cooperatively, for example, be fixed on same mounting bracket or sensor sheet, obliquity sensor
Output angle is that the number of times of general collection consistent with the location of weight sensor at any time is also identical.
When dustbin is spent with holder pivots angle in 1-15, support and dustbin stability preferably, weight sensor and
Obliquity sensor collection data it is the most accurate, accuracy of weighing decline, dustbin with holder pivots angle 1-15 degree model
In enclosing, between 90-110 times, accuracy of weighing is up to 99% for the number of times of weight sensor and obliquity sensor gathered data.
By experiment, data acquisition number of times is less than 70 times, and accuracy of weighing, data acquisition time will be influenceed after abnormal data is filtered
Number is The more the better certainly, and typically at 3-5 seconds, number of times is difficult to complete the process time of rotary motion in the too many short time, and
And number of times to reach 110 accuracys rate of weighing afterwards very high, be further added by raising of the times of collection for accuracy of weighing
There is no more rooms for promotion.
Electronic tag is set on dustbin, and being set on support can read the card reader of electronic labeling information on dustbin,
For recording dustbin information, including rubbish species etc., for example, kitchen garbage and common rubbish are distinguished.Environmental sanitation is received and installed on fortune car
Vehicle GPS locating module and local instrument display, local instrument display connect processor, at local instrument display display
Information on reason device, using easy to operate.
Further, information includes that each weighing data, accumulative weighing data, operator message and environmental sanitation receive fortune car.More
Further, processor connects remote database server by wireless device, and processor passes through wireless device by information transfer
To remote database server, processor receives the instruction of remote database server and aobvious in local instrument by wireless device
Show and shown on device, for wisdom environmental sanitation provides substantial amounts of supervision data, can conveniently supervise and dispatch.
The abnormal data that weight sensor and obliquity sensor are gathered is filtered by median filtering algorithm, abnormal number is filtered
According to the accuracy weighed can be improved.Medium filtering is based on a kind of theoretical non-thread that can effectively suppress noise of sequencing statistical
Property signal processing technology, the general principle of medium filtering is with one of the point the value of any in digital picture or Serial No.
The Mesophyticum of each point value is replaced in neighborhood, the actual value for making the pixel value of surrounding close, so as to eliminate isolated noise spot.Method is
With the two-dimentional sleiding form of certain structure, pixel in plate is ranked up according to the size of pixel value, generation monotone increasing or under
Drop is 2-D data sequence.Two dimension median filter is output as g (x, y)=med { f (x-k, y-l), (k, l ∈ W) }, wherein, f
(x, y), g (x, y) is respectively image after original image and treatment.W is two dimension pattern plate, usually 2*2,3*3 regions, or
Different shapes, such as wire, circular, cross, annular etc..For Serial No. above, the method that we use is,
For each data, substituted with the intermediate value of a number of data of its surrounding neighbors.Give one example, if as shown in figure 3, I
To set the quantity of neighborhood be 7, then for data 45, after this neighborhood ordered series of numbers is exactly 45 3 numerals in front and 45
3 numerals on side, are exactly 7 numerals along with itself：Neighborhood is exactly { 9,10,9,45,13,12,10 }.To this new sequence
It is ranked up, takes intermediate value.Result after sequence is { 9,9,10,10,12,13,45 }, and intermediate value is exactly 10.That is in original ordered series of numbers
Middle digital 45, just replaced with 10, thus filter 45 this abnormal data.
For the method for this patent, although in the valid data acquisition range of selection, system is substantially relatively more steady in itself, but
Appoint the interference that so there may be external factor, such as vehicle is possible to shake suddenly, the data exception for causing this to gather, institute in itself
Filtering algorithm is taken with the system, such as median filtering algorithm carries out rejecting abnormal data.
Calculate the following several steps of method point of wave-average filtering value：A. the distribution situation according to data on figure, finds out benchmark
Axle value h；B. the height of each several part area waveform in figure is calculated, and takes the average value height h1 of each several part waveform；C. calculate real
Border gravimetric value=reference axis value h+h1, improves accuracy of weighing.Average value average value, for a certain section of waveform,
Its mathematical meaning is exactly the average height of a periodic signal.General this periodic signal mean value calculation is：Average value=mono- week
The area of waveform and the time of/mono- week are the cycle, but for waveform symmetrical above and below, such as sine wave, square wave etc., its is positive and negative
Area equation, its positive and negative half period area equation accumulates behind positive and negative counteracting and is 0, therefore for this waveform, mean value calculation
For：The time of the area of average value=half cycle waveform and/half cycle.
For this patent, as shown in Fig. 2 the following several steps of average algorithm point：A. distribution feelings according to data on figure
Condition, finds out reference axis value h.The method for looking for reference axis can be averaged, or just data are carried out by monotone increasing or decline
Sequence, then chooses median etc. according to data distribution situation.B. the average height of each several part waveform in figure is calculated, is actually made
Used time gathered data is more, and waveform is more, calculates closer to actual value, but in order to illustrate to simplify, this example is only with a half period
As a example by, i.e., average height | h1 |, | h2 |, | h3 | of area S1, S2, S3 waveform in calculating figure, and the △ h=that average (| h1 |+
|h2|+|h3|)/3.C. actual weight value=reference axis h+ △ h are calculated.Calculating process is as follows：A. reference axis is looked for；Initial data：
{64,68,66,65,61,60,59,60,63,69,67,64}；Average value：(64+68+66+65+61+60+59+60+63+69+
67+64)/12=63.833, is 63 after round numbers, so reference axis is h=63；B. waveform area s1 parts average height is calculated
Absolute value | h1 |=| (64-63)+(68-63)+(66-63)+(65-63) |/4=2.75；Calculate waveform area s2 parts average
Height absolute value | h2 |=| (61-63)+(60-63)+(59-63)+(60-63) |/4=3；Calculate waveform area s3 parts average
Height absolute value | h3 |=| (63-63)+(69-63)+(67-63)+(64-63) |/4=2.75；Calculate two parts wave-average filtering
Value △ h=(2.75+3+2.75)/3=2.833；C. actual weight value=h+ △ h=63+2.833=65.833kg, mesh is calculated
Indicated weight amount is 50kg+15.2kg=65.2kg.
Rotational angle span is very big on accuracy influence of weighing, after dustbin rises one second, different rotations
The experimental data of angular configurations scope refers to table 2 below.
Table 2：Sampling number 100 times, unit of weight KG.
Dustbin rises one second, and weight sensor and obliquity sensor just start gathered data to accuracy shadow of weighing later
Ring very big, experimental data is referred to down.
Table 3：Sampling number 100 times, rotational angle 1-15 degree.
Claims (10)
1. a kind of to receive the method for transporting car rubbish dynamic weighing for environmental sanitation, rubbish is poured on environmental sanitation and receives on fortune car successively in dustbin
Comprise the following steps：(1) bucket is hung, the support on sanitation cart is moved to dustbin, until dustbin is hung on support；(2) pail,
Support drives dustbin to rise, and dustbin leaves ground；(3) rotary motion, dustbin is received with holder pivots angle towards environmental sanitation
Fortune car upset；(4) topple over, after upset in place, the rubbish in dustbin is poured over environmental sanitation and receives fortune in-car；It is characterized in that support
Upper to set weight sensor and obliquity sensor, environmental sanitation receives the treatment that connection weight sensor and obliquity sensor are set on fortune car
Device；Dustbin rise one second after, and dustbin with holder pivots angle within the time period of 1-20 degree, weight sensor
Collection weight data, obliquity sensor gathers support flip angle data simultaneously, and processor collects weight sensor and inclination angle passes
The data of sensor, and the abnormal data of weight sensor and obliquity sensor collection is filtered, overturn with support with reference to weighing data
The sync bit signal value of angle, is depicted as weight with position and the dynamic waveform of time change, by calculating wave-average filtering value
Method, calculate this lifting rubbish gravimetric value.
2. it is according to claim 1 it is a kind of for environmental sanitation receive fortune car rubbish dynamic weighing method, it is characterised in that in rubbish
After rubbish bucket rises one second, and dustbin with holder pivots angle within the time period of 1-15 degree, weight sensor and inclination angle
The data of sensor collection draw weight with position and the dynamic waveform of time change, and calculate this lifting rubbish with this
Gravimetric value.
3. it is according to claim 1 it is a kind of for environmental sanitation receive fortune car rubbish dynamic weighing method, it is characterised in that weight
The number of times of sensor and obliquity sensor gathered data is more than 70 times.
4. it is according to claim 2 it is a kind of for environmental sanitation receive fortune car rubbish dynamic weighing method, it is characterised in that weight
The number of times of sensor and obliquity sensor gathered data is between 90-110 times.
5. a kind of method that fortune car rubbish dynamic weighing is received for environmental sanitation according to claim 1 and 2, it is characterised in that logical
Cross the abnormal data that median filtering algorithm filters weight sensor and obliquity sensor collection.
6. it is according to claim 1 and 2 it is a kind of for environmental sanitation receive fortune car rubbish dynamic weighing method, it is characterised in that meter
Calculate the following several steps of method point of wave-average filtering value：A. the distribution situation according to data on figure, finds out reference axis value；B. calculate
Go out the height of each several part area waveform in figure, and take the average value of each several part waveform；C. calculate actual weight value=reference axis value+
Average value.
7. it is according to claim 1 it is a kind of for environmental sanitation receive fortune car rubbish dynamic weighing method, it is characterised in that rubbish
Electronic tag is set on bucket, being set on support can read the card reader of electronic labeling information on dustbin.
8. it is according to claim 1 it is a kind of for environmental sanitation receive fortune car rubbish dynamic weighing method, it is characterised in that environmental sanitation
Receive and vehicle GPS locating module and local instrument display are installed on fortune car, local instrument display connects processor, local instrument
Information on display video-stream processor.
9. it is according to claim 8 it is a kind of for environmental sanitation receive fortune car rubbish dynamic weighing method, it is characterised in that information
Fortune car is received including each weighing data, accumulative weighing data, operator message and environmental sanitation.
10. it is according to claim 9 it is a kind of for environmental sanitation receive fortune car rubbish dynamic weighing method, it is characterised in that treatment
Device connects remote database server by wireless device, and processor transfers information to remote data base and takes by wireless device
Business device, processor receives the instruction and the display on local instrument display of remote database server by wireless device.
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| CN107323925A (en) * | 2017-06-29 | 2017-11-07 | 杭州金株环境科技有限公司 | A kind of wisdom environmental sanitation kitchen management system based on Internet of Things |
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| CN107323925A (en) * | 2017-06-29 | 2017-11-07 | 杭州金株环境科技有限公司 | A kind of wisdom environmental sanitation kitchen management system based on Internet of Things |
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| CN110487372A (en) * | 2019-09-01 | 2019-11-22 | 上海城投环境(集团)有限公司资源利用分公司 | A kind of vehicle-mounted tailgate weighing apparatus device of Recyclable for having number and passing function |
| CN111126529B (en) * | 2019-12-27 | 2023-06-20 | 长沙中联重科环境产业有限公司 | Barrel-turning data acquisition method and device, electronic equipment and garbage truck |
| CN111126529A (en) * | 2019-12-27 | 2020-05-08 | 长沙中联重科环境产业有限公司 | Barrel turning data acquisition method and device, electronic equipment and garbage truck |
| CN111581599A (en) * | 2020-04-29 | 2020-08-25 | 四川虹美智能科技有限公司 | Weight value output method and digital weighing transmitter |
| CN111581599B (en) * | 2020-04-29 | 2023-10-03 | 四川虹美智能科技有限公司 | Weight value output method and digital weighing transmitter |
| CN112880787A (en) * | 2021-01-08 | 2021-06-01 | 重庆开谨科技有限公司 | Waveform processing method for vehicle weighing sensor |
| CN113104455A (en) * | 2021-04-13 | 2021-07-13 | 深圳市汉德网络科技有限公司 | Garbage weighing method and device based on bucket-hanging type garbage truck, electronic equipment and storage medium |
| CN113104455B (en) * | 2021-04-13 | 2022-04-29 | 深圳市汉德网络科技有限公司 | Garbage weighing method and device based on bucket-hanging type garbage truck, electronic equipment and storage medium |
| CN113899434A (en) * | 2021-09-29 | 2022-01-07 | 杭州越歌科技有限公司 | Garbage weighing method and system, storage medium and intelligent terminal |
| CN113899434B (en) * | 2021-09-29 | 2023-11-21 | 杭州越歌科技有限公司 | Garbage weighing method, garbage weighing system, storage medium and intelligent terminal |
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