Automatic weighing device and weighing method for compression type garbage removal vehicle

Abstract

The present invention belongs to the technical field of garbage recycling, and in particular, relates to an automatic weighing device for a compression type garbage collection truck, comprising a hydraulic lifting external frame; a weighing sensor module for mounting a garbage can and weighing it, the weighing sensor module performing lifting and lowering motions along the two side frames of the hydraulic lifting external frame; and a position sensor module for sensing the position of the garbage can, the position sensor module being mounted on one side frame of the hydraulic lifting external frame. The present invention also provides an automatic weighing method for a compression type garbage collection truck, firstly calculating the rising state sampling position and the rising state compensation coefficient; then calculating the falling state sampling position and the falling state compensation coefficient; and finally calculating the weight of the garbage collected this time. The present invention solves the problem of inaccurate weighing caused by unstable center of gravity and short sampling time when hanging a bucket, and achieves the purpose of accurate weighing.

Description

Technical Field

[0001] The invention belongs to the technical field of garbage recycling, and in particular relates to an automatic weighing device and a weighing method for a compression type garbage removal truck. Background Art

[0002] Currently, with the promotion of garbage classification and garbage collection and transportation services, the government provides financial subsidies to operating service companies based on their workload. However, there is currently no clear indicator to quantitatively and accurately measure the workload of operating service companies. By installing an automatic weighing system on the compressed garbage truck, the weighing is completed when the garbage bins are hung and transported, and quantitative statistics are achieved, providing an effective basis for government decision-making. The current garbage truck weighing system generally has large deviations and inaccurate weighing due to reasons such as unstable center of gravity when hanging the bin, weighing during movement, short effective weighing distance (about 20mm), and short sampling time (positioning sampling is completed within 10 milliseconds). Summary of the invention

[0003] In order to overcome the defects existing in the prior art, the purpose of the present invention is to provide an automatic weighing device and weighing method for a compression type garbage collection truck, so as to solve the problems of inaccurate weighing caused by unstable center of gravity when hanging buckets and short sampling time, and achieve the purpose of accurate weighing.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] The present invention provides an automatic weighing device for a compression type garbage removal vehicle, comprising:

[0006] Hydraulic lifting of the external frame;

[0007] A weighing sensor module, used for mounting the trash can and weighing it, wherein the weighing sensor module performs lifting and lowering motion along the two side frames of the hydraulic lifting external frame;

[0008] And a position sensor module, used for sensing the position of the trash can, wherein the position sensor module is installed on a side frame of the hydraulic lifting external frame.

[0009] Furthermore, the weighing sensor module includes a weighing sensor support frame mechanism and a trash can hanging plate mechanism, and the trash can hanging plate mechanism is fixed above the weighing sensor support frame mechanism.

[0010] Further, the weighing sensor support frame mechanism includes an L-shaped support plate, a weighing sensor and a weighing sensor fixing plate;

[0011] The L-shaped support plate includes a horizontal panel, a vertical panel and ear panels located on both sides of the vertical panel; the ear panel is fixedly connected to one side of the L-shaped connector, and a plurality of sliders are vertically arranged on the outside of the other side of the L-shaped connector, and the sliders are matched and embedded in the frame grooves on both sides of the hydraulic lifting external frame;

[0012] The horizontal panel is provided with a hole for accommodating the weighing sensor, and the weighing sensor fixing plate 1 is located below the hole and fixed to the bottom of the horizontal panel;

[0013] The weighing sensor is fixed on the weighing sensor fixing plate 1 through the hole.

[0014] Further, the weighing sensor support frame mechanism also includes a hinged seat and an L-shaped proximity switch trigger steel plate arranged on the bottom surface of the horizontal panel;

[0015] The hinged seat is hinged to the hydraulic rod of the hydraulic cylinder located on the lower frame of the hydraulic lifting external frame;

[0016] The L-shaped proximity switch triggering steel plate is fixed at the edge of the horizontal panel.

[0017] Furthermore, the trash can hanging plate mechanism comprises trash can hanging teeth, a second weighing sensor fixing plate and a trash can side support plate;

[0018] The trash can hanging teeth are used to hang the edge of the trash can, and are arranged above the side support plate of the trash can;

[0019] The side support plate of the trash can is used to support the body of the trash can;

[0020] The second weighing sensor fixing plate is horizontally fixed at the connection between the lower part of the trash can hanging tooth and the upper part of the trash can side support plate, and the upper part of the weighing sensor is fixedly connected to the second weighing sensor fixing plate;

[0021] The trash can hanging plate mechanism also includes an anti-trash can tilt channel steel, which is arranged at the lower outer side of the trash can side support plate.

[0022] Furthermore, the position sensor module includes a position sensor 1 and a position sensor 2 located below the position sensor 1, wherein the position sensor 1 and the position sensor 2 adopt an inductive proximity switch; the position sensor 1 and the position sensor 2 are fixed to a side frame of the hydraulic lifting external frame at intervals through a sensor bracket; the position sensor 1 and the position sensor 2 are used in conjunction with an L-shaped proximity switch trigger steel plate;

[0023] The automatic weighing device also includes a main controller connected with the weighing sensor, the hydraulic cylinder, the position sensor 1 and the position sensor 2.

[0024] The present invention also provides a weighing method based on the automatic weighing device of the compression type garbage removal vehicle, comprising the following steps:

[0025] Calculate the rising state sampling position and the rising state compensation coefficient;

[0026] Calculate the descent state sampling position and the descent state compensation coefficient;

[0027] The actual weight of the garbage bin in the ascending state is calculated according to the sampling position of the ascending state and the compensation coefficient of the ascending state; the actual weight of the garbage bin in the descending state is calculated according to the sampling position of the descending state and the compensation coefficient of the descending state; the weight of the garbage collected this time = the actual weight of the garbage bin in the ascending state - the actual weight of the garbage bin in the descending state.

[0028] Further, the calculation of the rising state sampling position and the rising state compensation coefficient specifically includes:

[0029] The calculation method of the rising state sampling position is as follows:

[0030] First, determine a reference sampling position t0 and the minimum position deviation unit Δt, and prepare a trash can with a known weight W;

[0031] Weighing measurements are performed at the reference sampling position t0, the upper deviation n*Δt, and the lower deviation n*Δt, where n represents the number of interval sampling positions. The total number of tests is 2n+1 times. During the measurement process at each position, the trash can is lifted continuously N times, and its weight is measured to be W1…W N , calculate the standard deviation σ of each position measurement by the known standard deviation formula;

[0032] Among all the positions, the position with the smallest measurement standard deviation σ is the rising state sampling position;

[0033] The calculation method of the compensation coefficient of the ascending state is as follows:

[0034] The trash can is continuously lifted at the sampling position of the rising state determined above, and its weight is measured as W1…W N , calculate the arithmetic mean of weight W0 = (W1 + W2 + ... W N ) / N;

[0035] Rising state compensation coefficient = trash can weight W / arithmetic mean of rising state sampling positions W0.

[0036] Further, the calculating of the falling state sampling position and the falling state compensation coefficient specifically includes:

[0037] In the descending state, the descending state sampling position is the position of position sensor 1;

[0038] The calculation method of the compensation coefficient of the descending state is as follows:

[0039] The trash can is continuously lifted at the sampling position of the descending state determined above, and its weight is measured as W1…W N , calculate the arithmetic mean of weight W0'=(W1+W2+…W N ) / N;

[0040] The compensation coefficient of the falling state = the weight of the trash can W / the arithmetic mean of the sampling positions of the falling state W0'.

[0041] Furthermore, the meaning of the letters is first defined: from bottom to top, they are point A, point B, point C and point D in the process of lifting the trash can. Point A indicates the position where the trash can touches the trash can hanging teeth, point B indicates the position where the trash can starts to leave the ground, point C indicates the sampling position of the rising state, and point D indicates the highest point of the trash can lifting; point S1 indicates the position of the second position sensor, point S2 indicates the position of the first position sensor, R1 indicates the distance between point S1 and point S2, and R2 indicates the distance between point S2 and point C;

[0042] The actual weight calculation method of the rising state trash can is as follows:

[0043] When the position sensor 2 at point S1 is triggered first and the position sensor 1 at point S2 is triggered later, it is judged to be in the lifting state;

[0044] During the lifting process, the time from point S1 to point S2 is t1, and the lifting rate V is calculated by R1 / t1;

[0045] The time t2 from point S2 to point C is calculated by the formula R2 / V;

[0046] The sampling start time is determined by timing, and when the weighing sensor reaches point C, the weighing sampling is performed to obtain the sample weight W' of the trash can;

[0047] Actual weight of the garbage bin in the rising state = compensation coefficient of the rising state * sampling weight of the garbage bin in the rising state W';

[0048] The actual weight calculation method of the trash can in the descending state is as follows:

[0049] When position sensor 1 at point S2 is triggered first and position sensor 2 at point S1 is triggered later, it is judged as a descending state;

[0050] Weighing and sampling are performed by the weighing sensor at point S2 to obtain the sample weight W" of the trash can;

[0051] Actual weight of the trash can in the descending state = compensation coefficient of the descending state * sampling weight of the trash can in the descending state W";

[0052] The weight of the garbage collected this time is calculated based on the actual weight of the garbage bin in the rising state and the actual weight of the garbage bin in the falling state calculated above:

[0053] The weight of the garbage collected this time = the actual weight of the garbage bin in the rising state - the actual weight of the garbage bin in the falling state.

[0054] Compared with the prior art, the present invention has the following advantages:

[0055] The side support plate of the trash can of the present invention is used to support the trash can body after the trash can is mounted. The anti-trash can tilt channel steel is arranged at the lower outer side of the side support plate of the trash can to prevent the trash can from tilting due to a large gap between the side eaves of the trash can. The side support plate of the trash can and the anti-trash can tilt channel steel can prevent the trash can from tilting during the lifting process, so that the trash can remains stable during the weighing process, and the weight of the trash can is completely transmitted to the weighing sensor.

[0056] The automatic weighing method of the compression garbage collection vehicle of the present invention first calculates the rising state sampling position and the rising state compensation coefficient; then calculates the falling state sampling position and the falling state compensation coefficient; finally calculates the actual weight of the rising state garbage bin according to the rising state sampling position and the rising state compensation coefficient, and calculates the actual weight of the falling state garbage bin according to the falling state sampling position and the falling state compensation coefficient, the weight of the garbage collected this time = the actual weight of the rising state garbage bin - the actual weight of the falling state garbage bin, due to the hysteresis of the weighing sensor measurement, the rising state compensation coefficient is used to compensate the sampling weight of the rising state garbage bin to obtain a more accurate actual weight of the rising state garbage bin, and then the falling state compensation coefficient is used to compensate the sampling weight of the falling state garbage bin to obtain a more accurate actual weight of the falling state garbage bin, and finally the weight of the garbage collected this time is calculated, with a small error with the actual value, accurate weighing is achieved, and a more reliable basis for calculating subsidies is provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the prior art and the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0058] Figure 1 It is a structural schematic diagram of an automatic weighing device of a compression type garbage removal vehicle according to an embodiment of the present invention;

[0059] Figure 2 It is a perspective structural schematic diagram of an automatic weighing device of a compression type garbage removal vehicle according to an embodiment of the present invention;

[0060] Figure 3It is a front view structural schematic diagram of an automatic weighing device of a compression type garbage removal vehicle according to an embodiment of the present invention;

[0061] Figure 4 It is a side view structural schematic diagram of an automatic weighing device of a compression type garbage removal vehicle according to an embodiment of the present invention;

[0062] Figure 5 It is a schematic diagram of the top view of the automatic weighing device of the compression type garbage removal vehicle according to an embodiment of the present invention;

[0063] Figure 6 It is a front view structural diagram of the weighing sensor support frame mechanism;

[0064] Figure 7 is a side view structural diagram of a weighing sensor support frame mechanism;

[0065] Figure 8 1 is a schematic diagram of the top view of the structure of the weighing sensor support frame mechanism;

[0066] Fig. 9 It is a front view structural diagram of the trash can hanging plate mechanism;

[0067] Fig.10 It is a side view structural diagram of the trash can hanging plate mechanism;

[0068] Fig.11 It is a schematic diagram of the top view of the structure of the trash can hanging plate mechanism;

[0069] Fig.12 It is a control principle block diagram of the automatic weighing device of the compression type garbage removal vehicle according to an embodiment of the present invention;

[0070] Fig.13 It is a diagram showing the position relationship of each point in the trash can lifting process and the position relationship of the position sensor.

[0071] The meanings of the numbers in the figure are:

[0072] 1. Hydraulically lift the external frame;

[0073] 201. weighing sensor, 202. weighing sensor fixing plate 1, 203. horizontal panel, 204. vertical panel 1, 205. vertical panel 2, 206. ear plate, 207. L-shaped connector, 208. slider, 209. hinge seat, 210. L-shaped proximity switch trigger steel plate, 211. hydraulic cylinder, 212. hydraulic rod;

[0074] 301. Trash can hanging teeth, 302. Load cell fixing plate 2, 303. Trash can side support plate, 304. Anti-trash can tilt channel steel;

[0075] 401. Position sensor 1, 402. Position sensor 2, 403. Sensor bracket;

[0076] 5. Main controller, 6. UHF RFID reader. DETAILED DESCRIPTION

[0077] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0078] like Figures 1 to 5 As shown, the automatic weighing device of the compression type garbage collection truck of this embodiment is installed as a whole at the rear of the garbage collection truck, including a hydraulic lifting external frame 1, a weighing sensor module and a position sensor module. The hydraulic lifting external frame 1 is fixed on the vehicle body as a support frame for other structures. The weighing sensor module is used to mount the garbage can and weigh it. The weighing sensor module performs lifting and lowering movements along the two side frames of the hydraulic lifting external frame 1. The position sensor module is used to sense the position of the garbage can. The position sensor module is installed on one side frame of the hydraulic lifting external frame 1.

[0079] The weighing sensor module includes a weighing sensor support frame mechanism and a trash can hanging plate mechanism, and the trash can hanging plate mechanism is fixed above the weighing sensor support frame mechanism. Figures 6 to 8 As shown, the weighing sensor support frame mechanism includes an L-shaped support plate, a weighing sensor 201 and a weighing sensor fixing plate 1 202; the L-shaped support plate includes a horizontal panel 203, a vertical panel 1 204, a vertical panel 205 and an ear plate 206, the vertical panel 1 204 is higher than the vertical panel 205, the front and rear ends of the horizontal panel 203 are welded to the vertical panel 1 204 and the vertical panel 205 respectively, the two sides of the vertical panel 1 204 are provided with ear plates 206, the top of the ear plate 206 is welded to the horizontal panel 203; the ear plate 20 6 is fixedly connected to one side of the L-shaped connecting piece 207 by bolts, and two cylindrical sliders 208 are vertically arranged on the outside of the other side of the L-shaped connecting piece 207, and the sliders 208 are matched and embedded in the frame grooves on both sides of the hydraulic lifting external frame 1; a hole for accommodating the weighing sensor 201 is opened on the horizontal panel 203, and the weighing sensor fixing plate 1 202 is located directly below the hole, and the folded edges on both sides are welded to the bottom of the horizontal panel 203, and the weighing sensor 201 passes through the hole and is fixedly connected to the weighing sensor fixing plate 1 202 by bolts.

[0080] The weighing sensor support frame mechanism also includes an articulated seat 209 and an L-shaped proximity switch triggering steel plate 210; the articulated seat 209 is welded to the bottom surface of the horizontal panel 203, and the articulated seat 209 is hinged to the end of the hydraulic rod 212 of the hydraulic cylinder 211 located on the lower frame of the hydraulic lifting external frame 1. The hydraulic rod 212 of the hydraulic cylinder 211 extends or retracts, driving the weighing sensor support frame mechanism to rise and fall along the frame grooves on both sides of the hydraulic lifting external frame 1; the L-shaped proximity switch triggering steel plate 210, one side of which is fixedly connected to the edge of the vertical panel 205 by bolts, and the other side extends out of the weighing sensor support frame mechanism, close to one side frame of the hydraulic lifting external frame 1.

[0081] like Figures 9 to 11 As shown, the trash can hanging plate mechanism includes a trash can hanging tooth 301, a weighing sensor fixing plate 2 302 and a trash can side support plate 303, and the three components are welded into a whole. The trash can hanging tooth 301 is used to hang the side eaves of the trash can, and the trash can side support plate 303 is used to support the trash can body. The trash can side support plate 303 is provided with reinforcing ribs inside to prevent the trash can side support plate 303 from deformation. The weighing sensor fixing plate 2 302 is located above the horizontal panel 203 of the L-shaped support plate. The lower end of the trash can hanging tooth 301 is welded and fixed to the upper part of the weighing sensor fixing plate 2 302, and the upper end of the trash can side support plate 303 is welded and fixed to the lower part of the weighing sensor fixing plate 2 302. The upper part of the weighing sensor 201 is fixedly connected to the weighing sensor fixing plate 2 302 by bolts. The weighing sensor 201 is located between the weighing sensor fixing plate 2 302 and the weighing sensor fixing plate 1 202. This installation method of the weighing sensor 201 is firmly fixed and can be quickly disassembled and assembled.

[0082] The trash can hanging plate mechanism also includes a trash can tilting prevention channel steel 304, which is arranged at the lower outer side of the trash can side support plate 303 to prevent the trash can from tilting due to a large gap between the trash can side eaves.

[0083] The position sensor module includes a position sensor 1 401 and a position sensor 2 402 located below the position sensor 1 401. The position sensor 1 401 and the position sensor 2 402 use inductive proximity switches. The position sensor 1 401 and the position sensor 2 402 are fixed at intervals on a side frame of the hydraulic lifting external frame 1 through a sensor bracket 403, and are close to the extended part of the L-shaped proximity switch trigger steel plate 210. The position sensor 1 401 and the position sensor 2 402 are used in conjunction with the L-shaped proximity switch trigger steel plate 210. When the weighing sensor module is lifted, the L-shaped proximity switch trigger steel plate 210 is close to the inductive proximity switch, triggering the inductive proximity switch to output a signal.

[0084] In addition to the above structure, the automatic weighing device also includes a main controller 5 and an ultra-high frequency RFID reader 6, such as Fig.12 As shown, the main controller 5 is connected with the weighing sensor 201, the hydraulic cylinder 211, the UHF RFID reader 6, the position sensor 1 401 and the position sensor 2 402. The weighing sensor 201 transmits the sampled weight of the trash can to the main controller 5, and the position sensor 1 401 and the position sensor 2 402 transmit the position information of the trash can to the main controller 5. The main controller 5 controls the action of the hydraulic cylinder 211 to make the hydraulic rod 212 move up and down. At the same time, the main controller 5 completes the sampling and weight calculation of the trash can during the lifting and lowering process, and uploads the data to the management platform through the built-in 4G / 3G / NBIOT module. The UHF RFID reader 6 is used to read the RFID tag on the trash can and identify the trash can information. The main controller 5 and the UHF RFID reader 6 are both installed on the body of the garbage truck, and the distance between the UHF RFID reader 6 and the trash can mounting position is less than 0.5 meters.

[0085] This embodiment also provides an automatic weighing method for a compression garbage removal vehicle, the method comprising the following steps:

[0086] Step S1, calculating the rising state sampling position and the rising state compensation coefficient;

[0087] Step S2, calculating the falling state sampling position and the falling state compensation coefficient;

[0088] Step S3, calculate the actual weight of the garbage can in the ascending state according to the ascending state sampling position and the ascending state compensation coefficient; calculate the actual weight of the garbage can in the descending state according to the descending state sampling position and the descending state compensation coefficient; the weight of the garbage collected this time = the actual weight of the garbage can in the ascending state - the actual weight of the garbage can in the descending state.

[0089] The specific implementation process of step S1 is as follows:

[0090] Step S101, the method for calculating the rising state sampling position is as follows:

[0091] The characteristic of the sampling position is that the weight data measured each time is basically consistent and the deviation value is small.

[0092] First, a reference sampling position t0 and the minimum position deviation unit Δt are determined through experiments, and a trash can with a known total weight W is prepared;

[0093] Then, weighing measurements are performed at the reference sampling position t0, the upper deviation n*Δt, and the lower deviation n*Δt, where n represents the number of interval sampling positions. The total number of tests is 2n+1 times. During the measurement process of each position, the trash can is continuously lifted N times, and its weight is measured as W1…W N , calculate the standard deviation σ of each position measurement by the known standard deviation formula;

[0094] Among all the positions, the position with the smallest measurement standard deviation σ is the rising state sampling position.

[0095] The standard deviation calculation method mentioned above is:

[0096] At sampling position t, the trash can is lifted N times continuously and its weights are measured as W1…W N ;

[0097] Calculate the arithmetic mean of weight W0 = (W1 + W2 + ... W N ) / N;

[0098] The standard deviation of this measurement is σ=sqrt(((W1-W0)^2+(W2-W0)^2+......(W N -W0)^2) / (N-1)).

[0099] In step S102, the method for calculating the compensation coefficient of the ascending state is as follows:

[0100] The trash can is continuously lifted at the sampling position of the rising state determined above, and its weight is measured as W1…W N , calculate the arithmetic mean of weight W0 = (W1 + W2 + ... W N ) / N;

[0101] Rising state compensation coefficient = trash can weight W / arithmetic mean of rising state sampling positions W0.

[0102] The specific implementation process of step S2 is as follows:

[0103] Step S201, in the descending state, the descending state sampling position is the position of position sensor 1, that is, the first position sensor position encountered during the descending process.

[0104] Step S202: continuously lift the trash can at the descending state sampling position determined above, and measure its weights W1…W N , calculate the arithmetic mean of weight W0'=(W1+W2+…W N ) / N;

[0105] The compensation coefficient of the falling state = the weight of the trash can W / the arithmetic mean of the sampling positions of the falling state W0'.

[0106] The specific implementation process of step S3 is as follows:

[0107] like Fig.13As shown, the letters of each point in the figure mean: according to the position of the trash can lifting process, they are point A, point B, point C and point D from bottom to top, point A indicates the position where the trash can touches the trash can hanging teeth, point B indicates the position where the trash can starts to leave the ground, point C indicates the sampling position of the rising state, and point D indicates the highest point of the trash can lifting; point S1 indicates the position of the position sensor 2, point S2 indicates the position of the position sensor 1, R1 indicates the distance between point S1 and point S2, and R2 indicates the distance between point S2 and point C;

[0108] Step S301, the actual weight of the trash can in the ascending state is calculated as follows:

[0109] When the position sensor 2 at point S1 is triggered first and the position sensor 1 at point S2 is triggered later, it is judged to be in the lifting state;

[0110] During the lifting process, the time from point S1 to point S2 is t1, and the lifting rate V is calculated by R1 / t1;

[0111] The time t2 from point S2 to point C is calculated by the formula R2 / V;

[0112] The sampling start time is determined by timing, and when the weighing sensor reaches point C, the weighing sampling is performed to obtain the sample weight W' of the trash can;

[0113] The actual weight of the garbage bin in the rising state = the compensation coefficient of the rising state * the sampling weight W' of the garbage bin in the rising state.

[0114] Step S302, the actual weight of the trash can in the descending state is calculated as follows:

[0115] When position sensor 1 at point S2 is triggered first and position sensor 2 at point S1 is triggered later, it is judged as a descending state;

[0116] Weighing and sampling are performed by the weighing sensor at point S2 to obtain the sample weight W" of the trash can;

[0117] The actual weight of the trash can in the descending state = the compensation coefficient of the descending state * the sampling weight W of the trash can in the descending state.

[0118] Step S303, calculate the weight of the collected garbage by the following formula:

[0119] The weight of the garbage collected this time = the actual weight of the garbage bin in the rising state - the actual weight of the garbage bin in the falling state.

[0120] Step S304, method for calculating the total weight of garbage in the garbage collection vehicle:

[0121] Each time the garbage truck is triggered, the total weight of the garbage truck is reset to zero;

[0122] The total weight of garbage in the garbage collection truck is equal to the cumulative weight of each garbage dump.

[0123] A specific example of an automatic weighing method for a compression garbage removal truck is given below.

[0124] Step A, first select the hardware structure

[0125] The weighing sensor is HQS-02; the position sensor 1 and position sensor 2 use inductive NPN type 8mm proximity switches; the UHF RFID card reader is D-0811U from Dirot; the main controller is MK60DN512;

[0126] Step B, calculating the rising state sampling position and the rising state compensation coefficient;

[0127] Step B1, the calculation method of the rising state sampling position is as follows:

[0128] The garbage truck starts to lift the garbage bin to the highest point and compact it. The total lifting height is 60mm. The following positions are all relative to the starting lifting position.

[0129] When it is at the lowest end of 25mm, the trash can is not completely off the ground; when it is at the highest end of 5mm, the fixed frame has pressed the trash can tightly, and its weight is inaccurate, so the effective lifting space is 30mm. The middle value of the effective lifting height is taken as the reference sampling position t0, that is, the starting lifting position is 40mm as the reference sampling position t0, and the minimum position deviation unit Δt is 5mm. Tests are carried out at 45mm, 35mm, 40mm, 50mm, 30mm, 55mm and 25mm, a total of seven positions.

[0130] Test the weight of the trash can in advance and put a 20kg object in it. Assume that its total weight is W. Test each position 10 times and measure its weight as W1…W 10 , calculate its standard deviation according to the following formula:

[0131] Calculate the arithmetic mean of weight W0 = (W1 + W2 + ... W 10 ) / 10;

[0132] The standard deviation of this measurement is σ=sqrt(((W1-W0)^2+(W2-W0)^2+......(W 10 -W0)^2) / (10-1));

[0133] Compare their standard deviations, and the position with the smallest standard deviation is the rising state sampling position.

[0134] Step B2: The calculation method of the ascending state compensation coefficient is as follows:

[0135] At the sampling position of the rising state determined above, put an object so that the total weight of the trash can is 20kg and measure it 10 times. If the arithmetic mean of the weight at the sampling position is W0, then the compensation coefficient at the sampling position = 20kg / W0;

[0136] The above steps are repeated with the total weight of the trash can being 40kg, 60kg, 80kg, 100kg and 120kg respectively, and the compensation coefficients in different weight ranges are determined. The compensation coefficients are set according to less than 20kg, 20-40kg, 40-60kg, 60-80kg, 80-100kg and more than 100kg respectively.

[0137] Step C, calculating the descent state sampling position and the descent state compensation coefficient;

[0138] Step C1, the descending state sampling position is the position of position sensor 1;

[0139] Step C2, the descent state compensation coefficient is calculated as follows:

[0140] At the sampling position of the descending state determined above, put an object so that the total weight of the trash can is 20kg and measure it 10 times. If the arithmetic mean of the weight at the sampling position is W0', then the compensation coefficient at the sampling position = 20kg / W0';

[0141] The above steps are repeated with the total weight of the trash can being 40kg, 60kg, 80kg, 100kg and 120kg respectively, and the compensation coefficients in different weight ranges are determined. The compensation coefficients are set according to less than 20kg, 20-40kg, 40-60kg, 60-80kg, 80-100kg and more than 100kg respectively.

[0142] Step D, weighing and measuring;

[0143] Step D1, the actual weight of the trash can in the rising state is calculated as follows:

[0144] When the position sensor 2 at point S1 is triggered first and the position sensor 1 at point S2 is triggered later, it is judged to be in the lifting state;

[0145] The main controller uses two position sensors to trigger and time the position respectively, and calculates the lifting rate V according to the fixed distance R1, and calculates the time t2 from point S2 to point C through the formula R2 / V;

[0146] The sampling start time is determined by timing, and when the weighing sensor reaches point C, the weighing sampling is performed to obtain the sample weight W' of the trash can;

[0147] The actual weight of the garbage bin in the rising state = the compensation coefficient of the rising state * the sampling weight W' of the garbage bin in the rising state.

[0148] Step D2, the actual weight of the trash can in the descending state is calculated as follows:

[0149] When position sensor 1 at point S2 is triggered first and position sensor 2 at point S1 is triggered later, it is judged as a descending state;

[0150] Weighing and sampling are performed by the weighing sensor at point S2 to obtain the sample weight W" of the trash can;

[0151] The actual weight of the trash can in the descending state = the compensation coefficient of the descending state * the sampling weight W of the trash can in the descending state.

[0152] Step D3, calculate the weight of the collected garbage by the following formula:

[0153] The weight of the garbage collected this time = the actual weight of the garbage bin in the rising state - the actual weight of the garbage bin in the falling state.

[0154] Step D4, calculation method of the total weight of garbage in the garbage collection vehicle:

[0155] Each time the garbage truck is triggered, the total weight of the garbage truck is reset to zero;

[0156] The total weight of garbage in the garbage collection truck is equal to the cumulative weight of each garbage dump.

[0157] It should be noted that, in this specification, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0158] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic weighing device for a compression garbage collection truck, characterized in that: include: Hydraulic lifting of the external frame; A weighing sensor module, used for mounting the trash can and weighing it, wherein the weighing sensor module performs lifting and lowering motion along the two side frames of the hydraulic lifting external frame; and a position sensor module, used for sensing the position of the trash can, wherein the position sensor module is mounted on a side frame of the hydraulic lifting external frame; The weighing sensor module includes a weighing sensor support frame mechanism and a trash can hanging plate mechanism, and the trash can hanging plate mechanism is fixed on the top of the weighing sensor support frame mechanism; the weighing sensor support frame mechanism includes an L-shaped support plate, a weighing sensor and a weighing sensor fixing plate 1; the L-shaped support plate includes a horizontal panel, a vertical panel and ear plates located on both sides of the vertical panel; the ear plate is fixedly connected to one side of the L-shaped connecting piece, and a plurality of sliders are vertically arranged on the outside of the other side of the L-shaped connecting piece, and the sliders are matched and embedded in the frame grooves on both sides of the hydraulic lifting external frame; a hole for accommodating the weighing sensor is opened on the horizontal panel, and the weighing sensor fixing plate 1 is located below the hole and fixed to the bottom of the horizontal panel; the weighing sensor is fixed on the weighing sensor fixing plate 1 through the hole; the weighing sensor support frame mechanism also includes an articulated seat and an L-shaped proximity switch trigger steel plate arranged on the bottom surface of the horizontal panel; the articulated seat is hinged to the hydraulic rod of the hydraulic cylinder located on the lower frame of the hydraulic lifting external frame; the L-shaped proximity switch trigger steel plate is fixed at the edge of the horizontal panel; The trash can hanging plate mechanism includes a trash can hanging tooth, a weighing sensor fixing plate 2 and a trash can side support plate; the trash can hanging tooth is used to hang the side eaves of the trash can, and is arranged above the trash can side support plate; the trash can side support plate is used to support the body of the trash can; the weighing sensor fixing plate 2 is horizontally fixed at the connection between the lower part of the trash can hanging tooth and the upper part of the trash can side support plate, and the upper part of the weighing sensor is fixedly connected to the weighing sensor fixing plate 2; the trash can hanging plate mechanism also includes an anti-trash can tilting channel steel, which is arranged at the lower outer side of the trash can side support plate.

2. The automatic weighing device for a compression garbage removal vehicle according to claim 1, characterized in that: The position sensor module includes a position sensor 1 and a position sensor 2 located below the position sensor 1, wherein the position sensor 1 and the position sensor 2 adopt an inductive proximity switch; the position sensor 1 and the position sensor 2 are fixed to a side frame of the hydraulic lifting external frame at intervals through a sensor bracket; the position sensor 1 and the position sensor 2 are used in conjunction with an L-shaped proximity switch trigger steel plate; The automatic weighing device also includes a main controller connected with the weighing sensor, the hydraulic cylinder, the position sensor 1 and the position sensor 2.

3. A weighing method based on the automatic weighing device of the compression type garbage removal vehicle according to claim 1 or 2, characterized in that: The following steps are involved: Calculate the rising state sampling position and the rising state compensation coefficient; Calculate the descent state sampling position and the descent state compensation coefficient; Calculate the actual weight of the garbage bin in the ascending state according to the ascending state sampling position and the ascending state compensation coefficient; The actual weight of the trash can in the descending state is calculated according to the sampling position in the descending state and the compensation coefficient in the descending state; the weight of the garbage collected this time = the actual weight of the trash can in the ascending state - the actual weight of the trash can in the descending state.

4. The automatic weighing method for a compression garbage removal vehicle according to claim 3, characterized in that: The calculation of the rising state sampling position and the rising state compensation coefficient specifically includes: The calculation method of the rising state sampling position is as follows: First, determine a reference sampling position t0 and the minimum position deviation unit Δt, and prepare a trash can with a known total weight W; Weighing measurements are performed at the reference sampling position t0, the upper deviation n*Δt, and the lower deviation n*Δt, where n represents the number of interval sampling positions. The total number of tests is 2n+1 times. During the measurement process at each position, the trash can is lifted continuously N times, and its weight is measured to be W1…W N , calculate the standard deviation σ of each position measurement by the known standard deviation formula; Among all the positions, the position with the smallest measurement standard deviation σ is the rising state sampling position; The calculation method of the compensation coefficient of the ascending state is as follows: The trash can is continuously lifted at the sampling position of the rising state determined above, and its weight is measured as W1…W N , calculate the arithmetic mean of weight W0=(W1+ W2+…W N ) / N; Rising state compensation coefficient = trash can weight W / arithmetic mean of rising state sampling positions W0.

5. The automatic weighing method for a compression garbage removal vehicle according to claim 4, characterized in that: The calculation of the falling state sampling position and the falling state compensation coefficient specifically includes: In the descending state, the descending state sampling position is the position of position sensor 1; The calculation method of the compensation coefficient of the descending state is as follows: The trash can is continuously lifted at the sampling position of the descending state determined above, and its weight is measured as W1…W N , calculate the arithmetic mean of the weight W0 ' =(W1+ W2+…W N ) / N; Compensation coefficient of falling state = weight of trash can W / arithmetic mean of sampling positions of falling state W0 ' .

6. The automatic weighing method for a compression garbage removal vehicle according to claim 5, characterized in that: First, define the meaning of the letters: from bottom to top, they are point A, point B, point C and point D during the lifting process of the trash can. Point A indicates the position where the trash can touches the trash can hanging teeth, point B indicates the position where the trash can starts to leave the ground, point C indicates the sampling position of the rising state, and point D indicates the highest point of the trash can lifting; point S1 indicates the position of position sensor 2, point S2 indicates the position of position sensor 1, R1 indicates the distance between point S1 and point S2, and R2 indicates the distance between point S2 and point C; The actual weight calculation method of the rising state trash can is as follows: When the position sensor 2 at point S1 is triggered first and the position sensor 1 at point S2 is triggered later, it is judged to be in the lifting state; During the lifting process, the time from point S1 to point S2 is t1, and the lifting rate V is calculated by R1 / t1; The time t2 from point S2 to point C is calculated by the formula R2 / V; The sampling start time is determined by timing, and when the weighing sensor reaches point C, the weighing sampling is performed to obtain the sample weight W' of the trash can; Actual weight of the garbage bin in rising state = compensation coefficient of rising state * sampling weight of the garbage bin in rising state W'; The actual weight calculation method of the trash can in the descending state is as follows: When position sensor 1 at point S2 is triggered first and position sensor 2 at point S1 is triggered later, it is judged as a descending state; Weighing and sampling are performed by the weighing sensor at point S2 to obtain the sample weight W'' of the trash can; Actual weight of the trash can in the descending state = compensation coefficient of the descending state * sampling weight of the trash can in the descending state W''; The weight of the garbage collected this time is calculated based on the actual weight of the garbage bin in the rising state and the actual weight of the garbage bin in the falling state calculated above: The weight of the garbage collected this time = the actual weight of the garbage bin in the rising state - the actual weight of the garbage bin in the falling state.

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