CN107727210A - A kind of vehicle-mounted Weighing method of kitchen waste cart and system - Google Patents
A kind of vehicle-mounted Weighing method of kitchen waste cart and system Download PDFInfo
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- CN107727210A CN107727210A CN201710861201.4A CN201710861201A CN107727210A CN 107727210 A CN107727210 A CN 107727210A CN 201710861201 A CN201710861201 A CN 201710861201A CN 107727210 A CN107727210 A CN 107727210A
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- data signal
- refuse container
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G17/00—Apparatus for or methods of weighing material of special form or property
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- 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
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Abstract
The present invention provides a kind of vehicle-mounted Weighing method of kitchen waste cart and system, method comprise the following steps：Gathered data；Change data；Processing data；Show weight information；System includes signal gathering unit, D/A conversion unit, CPU and display unit.The analog signal for the loading refuse container weight for obtaining kitchen waste cart can be passed through, convert analog signals into data signal, then data signal and the calibration coefficient of weight signal are passed through, the data signal that screening obtains is converted into weight signal, further handle weight amount when obtaining loading refuse container loading rubbish and after unloading rubbish, acquisition methods cost is low, convenient and swift, can effectively save human cost and time.
Description
Technical field
The present invention relates to Internet of things system, more particularly to a kind of vehicle-mounted Weighing method of kitchen waste cart and system.
Background technology
Kitchen waste cart is also known as kitchen garbage truck or swill vehicle more than remaining meal rubbish car, and kitchen waste cart is one in garbage truck
Kind, it is the special-purpose vehicle for being used to collect and transport house refuse, food garbage (swill) and municipal sludge.With catering trade of China
Development, nearly 3,500,000 of existing hotel of China, restaurant, daily caused by kitchen garbage quantity it is very surprising, it collects transhipment side
Formula is various.Kitchen waste cart using kitchen garbage as object also develops very fast.Be by barreled " swill " through the car conveyer belt slowly
It is upper defeated, poured into roof in compartment (compartment can be divided into carriage body and tank body), the rubbish being launched squeezes by strong push pedal
Press, then separation of solid and liquid, separated liquid enters the foul water tank of tank base, and solid refuse, which is compressed, is stored in tank body, body
Product diminishes, and so delivers to kitchen garbage resource optimization factory after filling repeatedly.Whole process, realize automation.
Existing kitchen waste cart is weighed and weighed using electronic loadometer, it is impossible to the weight of every barrel of rubbish during whole receipts fortune
Amount is monitored.With the development of e-commerce industry, kitchen industry also reaches a new high point therewith.How to ensure
Kitchen garbage is surprisingly lost in, prevents that artificial steal is faced as current kitchen receipts operation industry in kitchen waste cart transportation
The problem of.During receiving fortune, kitchen garbage is artificially stolen, pretends to be kitchen garbage toward compartment filling running water, gains public subsidies by cheating
Remained incessant after repeated prohibition Deng behavior.
The present bucket for being there is rubbish to each barreled by weighbridge, the scheme weighed of weighing, which is crossed, once to be claimed, has dumped rubbish
The empty barrel of rubbish, which is crossed, once to be claimed, and its difference is the weight of kitchen garbage, but so processing will not only take a lot of time, and every
Individual garbage collection points are required for preparing a platform scale.There is the waste of social resources in this, it is also desirable to consume substantial amounts of time and people
Power.So need a kind of low cost, the vehicle-mounted Weighing method of acquisition kitchen waste cart of more convenient and quicker and system.
The content of the invention
The present invention carries to solve the problems, such as that the vehicle-mounted cost of weighing of kitchen waste cart is high in the prior art, inconvenience is quick
For a kind of vehicle-mounted Weighing method of kitchen waste cart and system.
In order to solve the above problems, the technical solution adopted by the present invention is as described below：
A kind of vehicle-mounted Weighing method of kitchen waste cart, comprises the following steps：T1：Gathered data：Gather kitchen waste cart
The analog signal of the weight of refuse container is loaded, by the analog signal output；T2：Change data：Receive the loading rubbish
The analog signal of the weight of container is simultaneously converted to the analog signal data signal for loading refuse container, and the numeral is believed
Number output；T3：Processing data：The calibration coefficient between data signal and weight signal is calculated, receives and screens data signal, and
Data signal after screening is changed into by weight signal by the calibration coefficient；The weight signal is further handled to be filled
Carry when refuse container loads rubbish and unload the weight amount after rubbish, the weight amount is exported；T4：Show weight：Connect
Receive when the loading refuse container loads rubbish and unload the weight amount after rubbish and display.
Preferably, also include passing through filtering analog signal data in the step T1.
Preferably, the step T3 comprises the following steps：T31：Calculate calibration coefficient：Obtain at least one set of known weight letter
Number loading refuse container data signal, the line between data signal and weight signal is calculated by multiple linear regression
The calibration coefficient of property function；T32：Receive and screen data signal：The data signal of the loading refuse container is received, and is screened
Go out data signal, the data signal after screening includes two parts：Moment t1Data signal and moment t in front and rear setting duration2Before
The data signal in duration, wherein t are set afterwards1Passage interposition is at the uniform velocity transported to load after refuse container loads rubbish upwards
At the time of putting, t2At the time of passage centre position being transported down backward to load refuse container unloading rubbish；T33：By described
Two parts data signal after screening is changed into two parts weight signal by calibration coefficient respectively；T34：By two parts weight of gained
Measure when signal obtains loading refuse container loading rubbish by weighted average respectively and unload the weight amount after rubbish, by described in
Weight amount when refuse container loads rubbish and after unloading rubbish is loaded to export.
Preferably, the step T4 also loads when refuse container loads rubbish and unloaded the weight number after rubbish including display
The difference of value.
A kind of vehicle-mounted Weighing method of kitchen waste cart, comprises the following steps：S1：Gathered data：Gather kitchen waste cart dress
The analog signal and movement state information of the weight of refuse container are carried, and the analog signal and movement state information are exported；
S2：Change data：Receive the analog signal and the analog signal is converted into data signal, the data signal is defeated
Go out；S3：Processing data：The data signal and the movement state information are received, and is screened by the movement state information
The data signal, the data signal after screening is handled to obtain weight signal, obtained loading rubbish appearance by weight signal
When device loads rubbish and the weight amount after rubbish is unloaded, the weight amount is exported；S4：Show weight information：Receive institute
State the weight amount after loading when refuse container loads rubbish and unloading rubbish and display.
Preferably, also include passing through filtering analog signal data in the step S1.
Preferably, the step S3 comprises the following steps：S31：Calculate calibration coefficient：By obtaining at least one set of known heavy
The data signal of the loading refuse container of signal is measured, the demarcation of the linear function between data signal and weight signal is calculated
Coefficient；S32：Receive and screen data signal：The data signal of the loading refuse container is received, and passes through the motion state
Information sifting goes out data signal, and the data signal after screening includes two parts：Refuse container load rubbish after be transported up when
Between data signal in section and load data signal of the refuse container unloading rubbish backward in the period of lower transport；S33：Pass through
Two parts data signal after screening is changed into two parts weight signal by the calibration coefficient respectively；S34：By two of gained
Weight signal is divided to obtain when loading refuse container loads rubbish and unload respectively the weight amount after rubbish by weighted average, by
The weight amount loaded when refuse container loads rubbish and after unloading rubbish exports.
Preferably, the step S4 also loads when refuse container loads rubbish and unloaded the weight number after rubbish including display
The difference of value.
The present invention also provides a kind of kitchen waste cart vehicle-mounted weighing system, including signal gathering unit, D/A conversion unit,
CPU and display unit；The signal gathering unit：Gather the simulation letter of the loading refuse container of kitchen waste cart
Number, or the analog signal and movement state information of the loading refuse container of collection kitchen waste cart, and the simulation collected is believed
Number or analog signal and movement state information output；The D/A conversion unit：Receive the analog signal and by the simulation
Signal is converted to data signal, and the data signal is exported；The CPU：The data signal is received, or is connect
The data signal and movement state information are received, and is handled to obtain weight signal, further processing obtains loading rubbish appearance
When device loads rubbish and the weight amount after rubbish is unloaded, the weight amount is exported；
The display unit：Receive the loading refuse container weight amount and show.
Preferably, the signal gathering unit includes weighing sensor.
Preferably, in addition to proximity switch, the proximity switch are Hall switch.
Preferably, the signal gathering unit includes weighing sensor and tachogenerator, and the tachogenerator includes
At least one of gyroscope, accelerometer, laser velocimeter or ultrasonic velocity measurement module.
Preferably, the signal gathering unit, the D/A conversion unit, the CPU and the display are single
Data between member by cable connection, wifi, bluetooth, radio frequency transmission can also be passed through.
The present invention also provides a kind of vehicle-mounted weighting device of kitchen garbage truck, including memory, processor and is stored in institute
The computer program that can be run in memory and on the processor is stated, it is real during computer program described in the computing device
Now as above any methods described the step of.
The present invention provides a kind of computer-readable recording medium again, and the computer-readable recording medium storage has computer
Program, when the computer program is executed by processor realize as above any methods described the step of.
Beneficial effects of the present invention are：The present invention provides a kind of vehicle-mounted Weighing method of kitchen waste cart and system, obtains meal
The analog signal of the loading refuse container of kitchen garbage truck, analog signal are converted into data signal, the data signal that screening is obtained
Weight signal is converted to, weight amount when obtaining loading refuse container loading rubbish and after unloading rubbish is further handled, obtains
Take method cost low, convenient and swift, can effectively save human cost and time.
Brief description of the drawings
Fig. 1 is a kind of vehicle-mounted Weighing method schematic diagram of kitchen waste cart in the embodiment of the present invention 1.
Fig. 2 is the method schematic diagram of processing data in the embodiment of the present invention 1.
Fig. 3 is kitchen waste cart vehicle-mounted weighing system schematic diagram in the embodiment of the present invention 1.
Fig. 4 is structural representation in kitchen waste cart vehicle-mounted weighing system in the embodiment of the present invention 1.
Fig. 5 is a kind of vehicle-mounted Weighing method schematic diagram of kitchen waste cart in the embodiment of the present invention 2.
Fig. 6 is the method schematic diagram of processing data in the embodiment of the present invention 2.
Fig. 7 is kitchen waste cart vehicle-mounted weighing system schematic diagram in the embodiment of the present invention 2.
Fig. 8 is vehicle-mounted weighting device of kitchen garbage truck schematic diagram in the embodiment of the present invention 2.
Wherein, 1- weighing sensors, 2- proximity switches.
Embodiment
The present invention is described in detail by specific embodiment below in conjunction with the accompanying drawings, for a better understanding of this hair
It is bright, but following embodiments are not intended to limit the scope of the invention.In addition, it is necessary to illustrate, the diagram provided in following embodiments
Only illustrate the basic conception of the present invention in a schematic way, the component relevant with the present invention is only shown in accompanying drawing rather than according to reality
Component count, shape during implementation and size are drawn, it is actual when implementing shape, quantity and the ratio of each component can be one kind with
The change of meaning, and its assembly layout form may also be increasingly complex.
Embodiment 1
The vehicle-mounted Weighing method of a kind of kitchen waste cart as shown in Figure 1, comprises the following steps：
(1) gathered data：The analog signal of the weight of the loading refuse container of kitchen waste cart is gathered, the simulation is believed
Number output；Since starting garbage truck, start to gather the analog signal for the weight for loading refuse container in real time according to certain frequency.
In the alternative embodiments of the present invention, in addition to pass through filtering analog signal data.
(2) change data：Receive the analog signal of the weight of the loading refuse container and change the analog signal
To load the data signal of refuse container, the data signal is exported；The analog signal received is wholly converted into herein
Data signal.
(3) processing data：The calibration coefficient between data signal and weight signal is calculated, receives and screens data signal,
And the data signal after screening is changed into by weight signal by the calibration coefficient；The weight signal is further handled to obtain
Load when refuse container loads rubbish and unload the weight amount after rubbish, the weight amount is exported；As shown in Fig. 2 institute
Step (3) is stated to comprise the following steps：
3.1 calculate calibration coefficient：The data signal of the loading refuse container of at least one set of known weight signal is obtained, is led to
Cross the calibration coefficient for the linear function that multiple linear regression is calculated between data signal and weight signal；Due to circuit, mould
Intending signal transmssion line, transport vibrations etc. can all impact to analog signal, therefore the data signal obtained by analog signal
It is based on weight signal, with noisy data signal.We can be subtracted using the method design factor of multiple linear regression
The influence of small noise signal, obtain more excellent weight.
The weight sensor that the present invention uses is the sensor by linear calibration, can only obtain linear function, so
Linear function, such as weight sensor can be built between the data signal and center of gravity signal of the loading refuse container of known weight
Data signal in zero point is 1000, when measuring the loading refuse container that weight is 10KG, the numeral letter of weight sensor
Number be 2000, then substitute into linear function in be：10KG=K* (2000-1000), then calibration coefficient K=1/100KG-1.For more
Individual calibration coefficient, the influence of noise signal can be reduced using the method design factor of multiple linear regression, obtain more excellent weight
Amount.
In the alternative embodiments of the present invention, it is also necessary to consider residual error.Refuse container weight signal is respectively Y1,
Y2... ..., Ym, corresponding obtained data signal is respectively X1, X2... ..., XmObtain：
Yi=α * Xi+β+ei
Above formula represents weight signal YiX can be expressed asiLinear function, β is constant, and α is partial regression coefficient, eiTo be residual
Difference.α, β are obtained by multiple linear regression.
In order to ensure the accuracy of coefficient, can be demarcated respectively in the range of constant weight, such as 0KG-5KG, 5KG-10KG
Demarcate once, can also be demarcated respectively every 3KG or other numerical value respectively Deng every 5KG.
3.2 receive and screen data signal：The data signal of the loading refuse container is received, and filters out digital letter
Number, the data signal after screening includes two parts：Moment t1Data signal and moment t in front and rear setting duration2During front and rear setting
Data signal in length, wherein t1For load refuse container load rubbish after upwards at the uniform velocity transport passage centre position when
Carve, t2At the time of passage centre position being transported down backward to load refuse container unloading rubbish.
It is considered as what is at the uniform velocity risen at the time of at the uniform velocity transporting passage centre position upwards after loading refuse container loading rubbish
At the moment, front and rear setting duration can be 10S, and this can just summarize whole upward transportation substantially, similarly, load rubbish and hold
At the time of device unloading rubbish is also considered as uniform descent at the time of transport passage centre position down backward, front and rear setting duration can be with
For 10S, this can just summarize whole downward transportation substantially.Refuse container will be exactly loaded to be transported up and transport downwards
The data signal of process intercept out, and these data signals are converted into weight signal.Believe for the weight at single moment
Number be weight amount, in order to obtain delicate numerical value as far as possible need consider certain time length weight signal.
Two parts data signal after screening is changed into two parts weight signal by 3.3 respectively by the calibration coefficient；
Here the use of weighted mean method is illustrated exemplified by loading rubbish：
Z=γ1*Y1+γ2*Y2+……+γn*Yn
Wherein γiFor weight factor, YiFor i-th of weight signal, Z is weight amount, and n is data amount check.
We judge the stability of weight according to continuous multiple weight, further determine that weight factor.Determine that method is as follows：
1. calculate continuous k weight data standard deviation
Wherein：YjJ-th of weight data is represented, μ represents the average value of k weight data, σiRepresent k weight data mark
Quasi- deviation.N-k standard deviation data is obtained by this process
2. calculate γi
A. as i ＞ n-k or σi, γ i
B. the data amount check for not meeting a is p, p data and be s, it is constant to obtain γ i=1 wherein ρ, and wherein ρ is normal
Number, usual value are 0.012, it is necessary to be adjusted according to actual conditions.
3.4 by two parts weight signal of gained respectively by weighted average obtain load refuse container load rubbish when
It is defeated with the weight amount after unloading rubbish when the loading refuse container is loaded into rubbish with the weight amount after unloading rubbish
Go out.
(4) weight is shown：Receive the weight amount when loading refuse container loads rubbish and after unloading rubbish and show
Show.
In the alternative embodiments of the present embodiment, in addition to during display loading refuse container loading rubbish and after unloading rubbish
Weight amount difference.
As shown in figure 3, realize that the system described in the above method includes：Including signal gathering unit, D/A conversion unit, in
Central Processing Unit and display unit；
Signal gathering unit：Gather the analog signal of the loading refuse container of kitchen waste cart, and the simulation that will be collected
Signal output；Including weighing sensor, sensor can send information to D/A conversion unit in real time；
D/A conversion unit：Receive the analog signal and the analog signal is converted into data signal, by the number
Word signal output；
CPU：The data signal is received, according to the opening and closing of Hall switch, screens numeral letter
Number, the data signal after screening includes two parts：Moment t1Data signal and moment t in front and rear setting duration2During front and rear setting
Data signal in length, wherein t1For load refuse container load rubbish after upwards at the uniform velocity transport passage centre position when
Carve, t2At the time of passage centre position being transported down backward to load refuse container unloading rubbish.By these data signals according to
Calibration coefficient is converted into weight signal, by weight signal by weighted average obtain load refuse container load rubbish when and unloading
Weight amount after rubbish, the weight amount is exported.
Hung as shown in figure 4, weighing sensor 1 is installed on former car at bucket support.Sensor is installed for both ends, both ends screw
It is fixed in mounting bracket；Proximity switch 2 is installed on car body top, makes on dustbin along the middle position for being promoted to lifting mounted track
When putting, Hall switch triggering.
Display unit：Receive the loading refuse container weight amount and show, display device can be in the prior art
Any equipment with display function, such as display, LED screen.
Data between signal gathering unit, D/A conversion unit, CPU and display unit are connected by cable
Connect, can also be by wifi, bluetooth, radio frequency transmission.Data between Hall switch and CPU can also pass through electricity
Cable connection, wifi, bluetooth, radio frequency transmission.
Embodiment 2
As shown in figure 5, the present invention also provides a kind of kitchen waste cart vehicle-mounted Weighing method, comprise the following steps：
(1) gathered data：Analog signal and movement state information that kitchen waste cart loads the weight of refuse container are gathered,
And the analog signal and movement state information are exported；Since starting garbage truck, start to gather in real time according to certain frequency
Load the analog signal and movement state information of the weight of refuse container.
In the alternative embodiments of the present embodiment, analog signal is obtained later by defeated again after filtering analog signal number
Go out.Low pass filter can be used to filter in the present invention, low frequency wave be retained, high frequency waves are considered as impurity ripple and filtered out.
(2) change data：Receive the analog signal and the analog signal is converted into data signal, by the numeral
Signal output；The analog signal received is wholly converted into data signal herein.
(3) processing data：The data signal and the movement state information are received, and passes through the movement state information
The data signal is screened, the data signal after screening is handled to obtain weight signal, is obtained loading rubbish by weight signal
When rubbish container loads rubbish and the weight amount after rubbish is unloaded, the weight amount is exported；
As shown in fig. 6, the step (3) comprises the following steps：
3.1 calculate calibration coefficient：Believed by the numeral for the loading refuse container for obtaining at least one set of known weight signal
Number, the calibration coefficient of the linear function between data signal and weight signal is calculated.
Because circuit, transmission line analog signal, transport vibrations etc. can all impact to analog signal, therefore by simulating
The data signal that signal obtains is based on weight signal, with noisy data signal.We are using multiple linear regression
Method design factor can reduce the influence of noise signal, obtain more excellent weight.
The weight sensor that the present invention uses is the sensor by linear calibration, can only obtain linear function, so
Linear function, such as weight sensor can be built between the data signal and center of gravity signal of the loading refuse container of known weight
Data signal in zero point is 1000, when measuring the loading refuse container that weight is 10KG, the numeral letter of weight sensor
Number be 2000, then substitute into linear function in be：10KG=K* (2000-1000), then calibration coefficient K=1/100KG-1.For more
Individual calibration coefficient, the influence of noise signal can be reduced using the method design factor of multiple linear regression, obtain more excellent weight
Amount.
In the alternative embodiments of the present invention, it is also necessary to consider residual error.Refuse container weight signal is respectively Y1,
Y2... ..., Ym, corresponding obtained data signal is respectively X1, X2... ..., XmObtain：
Yi=α * Xi+β+ei
Above formula represents weight signal YiX can be expressed asiLinear function, β is constant, and α is partial regression coefficient, eiTo be residual
Difference.α, β are obtained by multiple linear regression.
In order to ensure the accuracy of coefficient, can be demarcated respectively in the range of constant weight, such as 0KG-5KG, 5KG-10KG
Demarcate once, can also be demarcated respectively every 3KG or other numerical value respectively Deng every 5KG.
3.2 receive and screen data signal：The data signal of the loading refuse container is received, and passes through the motion
Status information filters out data signal, and the data signal after screening includes two parts：Refuse container is transported up after loading rubbish
Period in data signal and load data signal of the refuse container unloading rubbish backward in the period of lower transport.Motion
Status information includes acceleration, it can be determined that and going out to load refuse container is upward or moves downward, while including adding in motion
The size of speed, the influence that acceleration is brought to analog signal can be corrected by knowing the size of acceleration, and then have modified acceleration
Spend the influence brought to weight.
Two parts data signal after screening is changed into two parts weight signal by 3.3 respectively by the calibration coefficient；
3.4 by two parts weight signal of gained respectively by weighted average obtain load refuse container load rubbish when
It is defeated with the weight amount after unloading rubbish when the loading refuse container is loaded into rubbish with the weight amount after unloading rubbish
Go out.
(4) weight information is shown：Receive when the loading refuse container loads rubbish and unload the weight amount after rubbish
And show.
In the alternative embodiments of the present invention, in addition to during display loading refuse container loading rubbish and after unloading rubbish
The difference of weight amount.
Method described in embodiment 1 and embodiment 2, risen or fallen by filtering out loading refuse container
Then data signal in journey, screening mode can also can will be filtered out by movement state information by Hall switch
Data signal is converted to weight signal, then by the way that to these weight signals, weighted average obtains loading refuse container in loading rubbish
Weight amount after rubbish and after unloading rubbish.There is other method to filter out the two stages in the prior art, should also regard
For the claimed thinking of the present invention.
As shown in fig. 7, the present invention also provides a kind of kitchen waste cart vehicle-mounted weighing system, including signal gathering unit, number
Mould converting unit, CPU and display unit；
Signal gathering unit：The analog signal and movement state information of the loading refuse container of kitchen waste cart are gathered, and
The analog signal collected or analog signal and movement state information are exported；Signal gathering unit includes weighing sensor and survey
Fast sensor, the tachogenerator are included in gyroscope, accelerometer, laser velocimeter or ultrasonic velocity measurement module at least
It is a kind of.
D/A conversion unit：Receive analog signal and convert analog signals into data signal, data signal is exported；
CPU：Data signal and movement state information are received, is judged to load rubbish according to movement state information
The state of rubbish container is rising or decline, in the movable information according to calibration coefficient and consideration raising and lowering, goes to correct number
Word signal, obtains weight signal, further handles weight number when obtaining loading refuse container loading rubbish and after unloading rubbish
Value, weight amount is exported.
In the present embodiment, weight signal formula is：Weight signal=data signal * calibration coefficient * motion state errors
Coefficient+corrected parameter.Rising is needed to be transported to kitchen waste cart after rubbish is loaded, so now weight calculation formula is：Weight
Measure signal (W1)=data signal (S1) * calibration coefficients (T) * propradation error coefficients (E1)+corrected parameter (B1)。
After filled garbage has been unloaded, load refuse container and typically glide, garbage container when then declining
Weight calculation formula be：Weight signal (W2)=data signal (S2) * calibration coefficients (T) * decline state error coefficients (E2)+
Corrected parameter (B2)。
Data signal comes from D/A conversion unit, and calibration coefficient comes from the mark to the loading refuse container of known weight
It is fixed, obtain the calibration coefficient between weight and data signal；Motion state error coefficient and corrected parameter, also come to known
The loading refuse container of weight be transported up with downward transportation, the function W=between actual weight and data signal
ES+B, wherein W are the weight for loading refuse container, and E is motion state error coefficient, and B is corrected parameter.
Ascent stage and the weight signal obtained by the decline stage, when weighted average obtains loading refuse container loading rubbish
Weight amount with after unloading rubbish, the weight amount is exported.
Load the weight signal W=of the garbage transported during garbage | W1-W2 |, i.e., weight 1 subtracts weight
The absolute value of amount 2.
Display unit：Receive the loading refuse container weight amount and show, display device can be LED display
Can be that other can show computer screen etc..
Number between signal gathering unit, the D/A conversion unit, the CPU and the display unit
According to by cable connection, wifi, bluetooth, radio frequency transmission can also be passed through.
In the alternative embodiments of the present invention, by below the extension bucket of original garbage collecting and transferring car (or by original hook
The hook of alternative costs invention) one stress (or pressure) sensor of installation, hook and sensor can by being rigidly connected,
Can also by flexible connection, by Measuring hook because hang bucket after caused by deformation, or hook because hang bucket after stress, by power
Sensor is passed to, so as to obtain the loading capacity of each extension bucket.
Gyroscope (accelerometer, laser velocimeter sensor, ultrasonic wave tachogenerator), itself and branch are installed on hook
Frame, hook need to ensure rigidity (by the mode such as welding, glue is viscous) connection, so as to obtain the speed of dustbin rising.Obtain and hang
Hook above puies forward the speed of service, so as to reduce because in uphill process because gravity occur it is overweight and caused by error, while reduce because
Hook error weightless caused by gravity when declining.
The oil pressure cntrol part of arm or motor control part addition control signal plate are being carried, the upper of arm is proposed so as to control
Rise and stop the 1-5 seconds during declining, so as to reduce carry arm because overweight or weightless and caused by error.
Simultaneously increase filtering filtering, so as to reduce carry arm in ascending and descending process because of overweight, weightless, other frictional force and
Caused error, while smooth stress data.Gross weight is weighed in uphill process, tare weight is weighed in decline process.
The refuse container of kitchen waste cart get in stocks and unload goods including：Upper cunning, 5 processes such as overturn, topple over, overturning, gliding.
In upset, toppling process, weight error is big, and we take cunning and the weight of downslide process to be analyzed and processed, and obtains final
Weight.Velocity sensor is used to detect cunning and downslide process.Method is as follows：
Accelerometer is installed perpendicular to the ground, i.e., when refuse container does not start to operation, the value of acceleration output is that (g is 1g
Local acceleration value).Accelerometer sample frequency is 50HZ.It is as follows that judgement is transported up process, downward transportation method：
The acceleration sampled data of a.m seconds is：a1, a2... ... an, n=50*m, m generally take 2
B. n sampled data is filtered with middle position value filtering method, that is, removes i maximum sampled value, and j minimum is adopted
Sample value, remainder data are averaged, and obtain average value.It is 20 generally to take i and j
C. when>athruAbove to slip over journey, athruGenerally take 0.9g
D. after the completion of c processes,>athrdFor downslide process, athdGenerally take 0.7g
Because the process of process first upwards still further below always, c, d judgement are not in conflict.CPU records
The weighing data of upper cunning and downslide process, processing method are weighted mean method.
Gyroscope exports for acceleration.Parallel to the ground, the gyroscope sampling that is installed as acceleration detection direction of gyroscope
Frequency is 50HZ, and determination methods are as follows：
ω in above formulaiFor the angular speed of ith sample point, W is current angle.
Work as W<WthrFor upper cunning and downslide process, WthrUsual value is 20 °, according to upper cunning and the order of downslide judge be on
Sliding or downslide.CPU obtains sliding and downslide process weight signal, and the weight signal in two stages is handled
The weight amount in two stages is obtained, processing method is weighted mean method.
Laser velocimeter or ultrasonic velocity measurement module use installation perpendicular to the ground, speed of the measurement sensor with respect to ground.Root
According to speed calculating and ground distance, during upper cunning and downslide, speed is essentially identical.Overturn and dump rubbish process, due to
With ground distance and the relation of angle, speed occurs significantly different or can't detect speed.Using medium velocity sample frequency
For 20HZ.
A.m second speed sampling values are respectively：V1, V2... ... Vn, n=20*m, m generally take 2；
B. n sampled data is filtered with middle position value filtering method, that is, removes i maximum sampled value, and j minimum is adopted
Sample value, remainder data are averaged, and obtain m second average speeds.I in this application, j generally take 8；
C. the change of one second is calculated
For upper cunning or downslide process, wherein ξ is velocity variations threshold value, is adjusted according to actual conditions, generally
Take 15 (cm/s).Judge it is upper cunning or downslide according to upper cunning and the order of downslide.CPU is obtained sliding and glided
The weight signal of process, the weight signal in two stages is handled to obtain the weight amount in two stages, processing method is weighting
The method of average.
As shown in figure 8, the vehicle-mounted weighting device of kitchen garbage truck that the variants of the above embodiment of the present invention also provide.Should
The vehicle-mounted weighting device of kitchen garbage truck of embodiment includes：Processor, memory and it is stored in the memory and can be
The computer program run on the processor, such as data processor.Described in the computing device during computer program
Realize the step in the vehicle-mounted Weighing method embodiment of above-mentioned each kitchen waste cart, such as the step gathered data shown in Fig. 1.Or
Person, the function of each unit in above-mentioned each device embodiment, such as data are realized described in the computing device during computer program
Collection.
Exemplary, the computer program can be divided into one or more units, one or more of lists
Member is stored in the memory, and by the computing device, to complete the present invention.One or more of units can be with
It is the series of computation machine programmed instruction section that can complete specific function, the instruction segment is used to describe the computer program in institute
State the implementation procedure in vehicle-mounted weighting device of kitchen garbage truck.For example, the computer program can be divided into signal acquisition
Unit, D/A conversion unit, CPU and display unit, each unit concrete function are as follows：Signal gathering unit：Collection
Analog signal simultaneously converts analog signals into data signal, and data signal is exported；
D/A conversion unit：Receive analog signal and convert analog signals into data signal, data signal is exported；
CPU：Data signal is received, and converts digital signals into weight signal, and weight signal is defeated
Go out；
Display unit：Receive weight signal and show.
The vehicle-mounted weighting device of kitchen garbage truck can be desktop PC, notebook, palm PC and high in the clouds clothes
The computing devices such as business device.The vehicle-mounted weighting device of kitchen garbage truck may include, but be not limited only to, processor, memory.Ability
Field technique personnel are appreciated that the schematic diagram is only the example of vehicle-mounted weighting device of kitchen garbage truck, do not form to meal
The restriction of kitchen garbage truck Onboard weighing device, parts more more or less than diagram, or some parts of combination can be included, or
The different part of person, such as the vehicle-mounted weighting device of kitchen garbage truck can also include input-output equipment, network insertion is set
Standby, bus etc..
Alleged processor can be CPU (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other PLDs, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor
Deng the processor is the control centre of the vehicle-mounted weighting device of kitchen garbage truck, whole using various interfaces and connection
The various pieces of individual vehicle-mounted weighting device of kitchen garbage truck.
The memory can be used for storing the computer program and/or module, and the processor is by running or performing
The computer program and/or module being stored in the memory, and the data being stored in memory are called, described in realization
The various functions of vehicle-mounted weighting device of kitchen garbage truck.The memory can mainly include storing program area and storage data field,
Wherein, storing program area can storage program area, application program (such as sound-playing function, figure needed at least one function
As playing function etc.) etc.；Storage data field can store uses created data (such as voice data, phone according to mobile phone
This etc.) etc..In addition, memory can include high-speed random access memory, nonvolatile memory can also be included, such as firmly
Disk, internal memory, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital,
SD) block, flash card (Flash Card), at least one disk memory, flush memory device or other volatile solid-states
Part.
Embodiment 3
If the integrated unit of the vehicle-mounted weighting device of kitchen garbage truck is realized and made in the form of SFU software functional unit
For independent production marketing or in use, can be stored in a computer read/write memory medium.Based on such understanding,
The present invention realizes all or part of flow in above-described embodiment method, can also instruct the hard of correlation by computer program
Part is completed, and described computer program can be stored in a computer-readable recording medium, and the computer program is processed
Device perform when, can be achieved above-mentioned each embodiment of the method the step of.Wherein, the computer program includes computer program generation
Code, the computer program code can be source code form, object identification code form, executable file or some intermediate forms
Deng.The computer-readable medium can include：Any entity or device, the record of the computer program code can be carried
Medium, USB flash disk, mobile hard disk, magnetic disc, CD, computer storage, read-only storage (ROM, Read-Only Memory), with
Machine access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..
It should be noted that the content that the computer-readable medium includes can be according to legislation in jurisdiction and patent practice
It is required that carry out appropriate increase and decrease, such as in some jurisdictions, do not wrapped according to legislation and patent practice, computer-readable medium
Include electric carrier signal and telecommunication signal.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to is assert
The specific implementation of the present invention is confined to these explanations.For those skilled in the art, do not taking off
On the premise of from present inventive concept, some equivalent substitutes or obvious modification can also be made, and performance or purposes are identical, all should
When being considered as belonging to protection scope of the present invention.
Claims (15)
1. a kind of vehicle-mounted Weighing method of kitchen waste cart, it is characterised in that comprise the following steps：
T1：Gathered data：The analog signal of the weight of the loading refuse container of kitchen waste cart is gathered, the analog signal is defeated
Go out；
T2：Change data：Receive the analog signal of the weight of the loading refuse container and the analog signal is converted into dress
The data signal of refuse container weight is carried, the data signal is exported；
T3：Processing data：The calibration coefficient between data signal and weight signal is calculated, receives and screens data signal, and lead to
Cross the calibration coefficient and the data signal after screening is changed into weight signal；The weight signal is further handled to be loaded
When refuse container loads rubbish and the weight amount after rubbish is unloaded, the weight amount is exported；
T4：Show weight：Receive when the loading refuse container loads rubbish and unload the weight amount after rubbish and display.
2. the vehicle-mounted Weighing method of kitchen waste cart as claimed in claim 1, it is characterised in that also include in the step T1 logical
Filter popin and slide analog signal data.
3. the vehicle-mounted Weighing method of kitchen waste cart as claimed in claim 1, it is characterised in that the step T3 includes following step
Suddenly：
T31：Calculate calibration coefficient：The data signal of the loading refuse container of at least one set of known weight signal is obtained, by more
The calibration coefficient of the linear function between data signal and weight signal is calculated in first linear regression；
T32：Receive and screen data signal：The data signal of the loading refuse container is received, and filters out data signal, is sieved
Data signal after choosing includes two parts：Moment t1Data signal and moment t in front and rear setting duration2In front and rear setting duration
Data signal, wherein t1At the time of at the uniform velocity to transport passage centre position upwards after loading refuse container loading rubbish, t2For
At the time of loading refuse container unloading rubbish transports down passage centre position backward；
T33：Two parts data signal after screening is changed into by two parts weight signal by the calibration coefficient respectively；
T34：Two parts weight signal of gained is obtained loading when refuse container loads rubbish and unloading by weighted average respectively
The weight amount after rubbish is carried, the weight amount when loading refuse container is loaded into rubbish and after unloading rubbish exports.
4. the vehicle-mounted Weighing method of kitchen waste cart as claimed in claim 1, it is characterised in that the step T4 also includes display
Load when refuse container loads rubbish and unload the difference of the weight amount after rubbish.
5. a kind of vehicle-mounted Weighing method of kitchen waste cart, it is characterised in that comprise the following steps：
S1：Gathered data：Analog signal and movement state information that kitchen waste cart loads the weight of refuse container are gathered, and will
Analog signal and the movement state information output；
S2：Change data：Receive the analog signal and the analog signal is converted into data signal, by the data signal
Output；
S3：Processing data：The data signal and the movement state information are received, and is screened by the movement state information
The data signal, the data signal after screening is handled to obtain weight signal, obtained loading rubbish appearance by weight signal
When device loads rubbish and the weight amount after rubbish is unloaded, the weight amount is exported；
S4：Show weight information：Receive the weight amount when loading refuse container loads rubbish and after unloading rubbish and show
Show.
6. the vehicle-mounted Weighing method of kitchen waste cart as claimed in claim 5, it is characterised in that also include in the step S1 logical
Filter popin and slide analog signal data.
7. the vehicle-mounted Weighing method of kitchen waste cart as claimed in claim 5, it is characterised in that the step S3 includes following step
Suddenly：
S31：Calculate calibration coefficient：Pass through the data signal for the loading refuse container for obtaining at least one set of known weight signal, meter
Calculate and obtain the calibration coefficient of the linear function between data signal and weight signal；
S32：Receive and screen data signal：The data signal of the loading refuse container is received, and passes through the motion state
Information sifting goes out data signal, and the data signal after screening includes two parts：Refuse container load rubbish after be transported up when
Between data signal in section and load data signal of the refuse container unloading rubbish backward in the period of lower transport；
S33：Two parts data signal after screening is changed into by two parts weight signal by the calibration coefficient respectively；
S34：Two parts weight signal of gained is obtained loading when refuse container loads rubbish and unloading by weighted average respectively
The weight amount after rubbish is carried, the weight amount when loading refuse container is loaded into rubbish and after unloading rubbish exports.
8. the vehicle-mounted Weighing method of kitchen waste cart as claimed in claim 5, it is characterised in that the step S4 also includes display
Load when refuse container loads rubbish and unload the difference of the weight amount after rubbish.
A kind of 9. kitchen waste cart vehicle-mounted weighing system, it is characterised in that including signal gathering unit, D/A conversion unit, in
Central Processing Unit and display unit；
The signal gathering unit：Gather the analog signal of the loading refuse container of kitchen waste cart, or collection kitchen waste cart
Loading refuse container analog signal and movement state information, and by the analog signal collected or analog signal and motion shape
State information exports；
The D/A conversion unit：Receive the analog signal and the analog signal is converted into data signal, by the number
Word signal output；
The CPU：The data signal is received, or receives the data signal and movement state information, and is carried out
Processing obtains weight signal, further handles weight amount when obtaining loading refuse container loading rubbish and after unloading rubbish,
The weight amount is exported；
The display unit：Receive the loading refuse container weight amount and show.
10. kitchen waste cart vehicle-mounted weighing system as claimed in claim 9, it is characterised in that the signal gathering unit bag
Include weighing sensor.
11. kitchen waste cart vehicle-mounted weighing system as claimed in claim 10, it is characterised in that also including proximity switch, institute
It is Hall switch to state proximity switch.
12. kitchen waste cart vehicle-mounted weighing system as claimed in claim 9, it is characterised in that the signal gathering unit bag
Weighing sensor and tachogenerator are included, the tachogenerator includes gyroscope, accelerometer, laser velocimeter or ultrasound
At least one of speed measuring module.
13. kitchen waste cart vehicle-mounted weighing system as claimed in claim 9, it is characterised in that the signal gathering unit, institute
State the data between D/A conversion unit, the CPU and the display unit by cable connection, can also lead to
Cross wifi, bluetooth, radio frequency transmission.
14. a kind of vehicle-mounted weighting device of kitchen garbage truck, including memory, processor and it is stored in the memory and can
The computer program run on the processor, it is characterised in that realized described in the computing device during computer program
The step of methods described as any such as claim 1-8.
15. a kind of computer-readable recording medium, the computer-readable recording medium storage has computer program, and its feature exists
In being realized when the computer program is executed by processor such as the step of claim 1-8 any methods describeds.
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| CN109060092A (en) * | 2018-06-08 | 2018-12-21 | 北京轩慧国信科技有限公司 | Rubbish weighing method, receipts fortune management method and system based on Internet of Things |
| CN110967101A (en) * | 2019-12-04 | 2020-04-07 | 中环汇峰环境科技(北京)有限公司 | Internet of things weighing device for kitchen waste treatment equipment |
| CN111157092A (en) * | 2020-01-02 | 2020-05-15 | 深圳市汉德网络科技有限公司 | Vehicle-mounted weighing automatic calibration method and computer readable storage medium |
| CN111177936A (en) * | 2020-01-02 | 2020-05-19 | 深圳市汉德网络科技有限公司 | Method for reducing vehicle load error and computer readable storage medium |
| CN111707344A (en) * | 2020-07-14 | 2020-09-25 | 上海思寒环保科技有限公司 | Vehicle-mounted weighing system |
| CN113203465A (en) * | 2021-05-11 | 2021-08-03 | 洛阳金鼎企业管理咨询有限公司 | Residue weighing data analysis and correction method for kitchen waste treatment |
| CN114751113A (en) * | 2022-03-17 | 2022-07-15 | 浙江科技学院 | Weighing calculation method of multi-barrel intelligent garbage classification kiosk |
| CN115046618A (en) * | 2022-05-26 | 2022-09-13 | 蚌埠日月仪器研究所有限公司 | Automatic barreled garbage weighing system of garbage loading vehicle |
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| CN115931095A (en) * | 2023-02-21 | 2023-04-07 | 深圳市汉德网络科技有限公司 | Vehicle tail plate weighing method, device, equipment and storage medium |
| CN115931095B (en) * | 2023-02-21 | 2023-05-05 | 深圳市汉德网络科技有限公司 | Vehicle tail plate weighing method, device, equipment and storage medium |
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Denomination of invention: On board weighing method and system for kitchen garbage truck Effective date of registration: 20220511 Granted publication date: 20190604 Pledgee: Pufa Silicon Valley Bank Co.,Ltd. Shenzhen Branch Pledgor: SHENZHEN HAND HITECH CO.,LTD. Registration number: Y2022440020053 |