Garbage can weighing method and system based on dynamic jitter compensation

Abstract

The invention discloses a garbage can weighing method and system based on dynamic jitter compensation, and the method comprises the steps: firstly installing an acceleration sensor on a weighing module of a garbage truck, obtaining a jitter error, installing a gyroscope on the weighing module of the garbage truck, and obtaining an inclination error caused by the inclination angle of a garbage can; a weight signal jitter model is established according to the jitter error and the tilt error, and the measured weight of the strain sensor is obtained; according to the garbage can weighing method and system, the acceleration sensor and the gyroscope are additionally arranged in the weighing module of the garbage truck, and the shaking amplitude and frequency of the garbage truck are monitored in real time, so that the influence of shaking on garbage can weighing is eliminated; strain sensors are installed on the clamping device and the lifting arm, mechanical arm strain caused by the garbage weight is measured, the garbage can weight can be indirectly and accurately calculated, the weighing precision can be remarkably improved through multi-sensor fusion and dynamic compensation, and the garbage can weighing device is suitable for being widely popularized and used.

Description

Technical Field

[0001] The present invention relates to the technical field of trash can weighing technology, and in particular to a trash can weighing method and system based on dynamic jitter compensation. Background Art

[0002] The garbage collection method of the garbage truck is as follows: (1) Locate the garbage bin, the garbage truck drives along the predetermined route and stops next to the garbage bin; (2) Lift the garbage bin, the clamp opens to cover and clamp two standard garbage bins, and the tray holds the lower edge of the garbage bin; (3) Lift and clamp, the rising arm rises vertically to a certain height, the clamp and the tray clamp the upper edge of the garbage bin; (4) Dump the garbage, the rising arm continues to rise and tilt to flip the garbage bin, and the garbage is dumped into the truck bed; (5) Reset and lower, after dumping is completed, the lifting arm resets, the clamp releases the garbage bin and puts it back on the ground.

[0003] At present, although the garbage truck is in a parked state in most cases during the trash bin weighing process, the vehicle will still shake, and this shaking will cause the weighing data to continue to fluctuate. At the same time, the change in the angle of the trash bin during the weighing process will also affect the weighing accuracy; therefore, it is necessary to design a trash bin weighing method and system based on dynamic jitter compensation. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and to better and effectively solve the problem that although the garbage truck is in a parked state in most cases during the weighing of the garbage bin, the vehicle still shakes, and this shaking will cause the weighing data to continue to fluctuate, and the change in the angle of the garbage bin during the weighing process will also affect the weighing accuracy. A garbage bin weighing method and system based on dynamic jitter compensation are provided, which realizes that the garbage bin weighing method and system have the function of adding an acceleration sensor and a gyroscope to the weighing module of the garbage truck and monitoring the jitter amplitude and frequency of the garbage truck in real time to eliminate the influence of the jitter on the weighing of the garbage bin. This makes it possible to install strain sensors on the clamp and the lifting arm and measure the strain of the mechanical arm caused by the garbage weight, so as to indirectly and accurately calculate the weight of the garbage bin. This multi-sensor fusion and dynamic compensation can significantly improve the weighing accuracy.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A trash can weighing method based on dynamic jitter compensation comprises the following steps:

[0007] Step A, installing an acceleration sensor on a weighing module of a garbage truck and obtaining a jitter error;

[0008] Step B, installing a gyroscope on the weighing module of the garbage truck and obtaining the tilt error caused by the tilt angle of the garbage bin;

[0009] Step C, establishing a weight signal jitter model according to the jitter error and the tilt error, and obtaining the weight measured by the strain sensor;

[0010] Step D, using a Kalman filter to dynamically filter the weight measured by the strain sensor and obtain the weight of the trash can after filtering;

[0011] Step E: Calculate the weight of the trash can after compensation based on the weight of the trash can after filtering, the jitter error and the tilt error, and complete the trash can weighing operation.

[0012] In the above-mentioned garbage bin weighing method based on dynamic jitter compensation, in step A, an acceleration sensor is installed on the weighing module of the garbage truck and a jitter error is obtained, wherein the acceleration sensor is used to measure the acceleration a(t) of the vehicle in the vertical direction, and the jitter error ΔW vibration As shown in formula (1),

[0013] ΔW vibration =K a ·a(t)+k ω ω(t)(1)

[0014] Among them, K a is the influence coefficient of acceleration on weight error, k ω is the influence coefficient of angular velocity on weight error, and ω(t) is the vehicle angular velocity.

[0015] In the above-mentioned trash can weighing method based on dynamic jitter compensation, step B is to install a gyroscope on the weighing module of the garbage truck and obtain the tilt error ΔW caused by the tilt angle of the trash can. angle Specifically, a gyroscope is used to measure the tilt angle of the trash can, and the tilt error ΔW angle As shown in formula (2),

[0016] ΔW angle =W true ·(1-cosθ)(2)

[0017] Among them, W true is the real weight of the trash can, and θ is the tilt angle measured by the gyroscope.

[0018] In the above-mentioned trash can weighing method based on dynamic jitter compensation, step C is to establish a weight signal jitter model according to the jitter error and the tilt error to obtain the weight measured by the strain sensor, wherein the weight measured by the strain sensor W tmeasured As shown in formula (3),

[0019] W tmeasured =W true +ΔW vibration +ΔW angle (3).

[0020] In the aforementioned trash can weighing method based on dynamic jitter compensation, step D uses a Kalman filter to dynamically filter the weight measured by the strain sensor and obtain the weight of the trash can after filtering, wherein the dynamic filtering process includes state prediction, covariance prediction, Kalman gain calculation, state update and covariance update, and the input data of the Kalman filter is the weight W measured by the strain sensor tmeasured , acceleration a(t), angular velocity ω(t) and tilt angle θ, and the output data of the Kalman filter is the weight of the trash can after filtering W filtered .

[0021] In the above-mentioned method for weighing a trash can based on dynamic jitter compensation, step E is to calculate the weight of the trash can after compensation based on the weight of the trash can after filtering, the jitter error and the tilt error, and complete the weighing operation of the trash can, wherein the weight of the trash can after compensation W compensated As shown in formula (4),

[0022] W compensated =W filtered -ΔW vibration -ΔW angle .

[0023] A trash can weighing system based on dynamic jitter compensation includes a jitter error calculation module, a tilt error calculation module, a weight signal jitter model construction module, a dynamic filtering module and a trash can weight acquisition module, wherein the jitter error calculation module is used to install an acceleration sensor on the weighing module of a garbage truck and obtain the jitter error; the tilt error calculation module is used to install a gyroscope on the weighing module of the garbage truck and obtain the tilt error caused by the tilt angle of the trash can; the weight signal jitter model construction module is used to establish a weight signal jitter model according to the jitter error and the tilt error and obtain the weight measured by the strain sensor; the dynamic filtering module is used to use a Kalman filter to dynamically filter the weight measured by the strain sensor and obtain the weight of the trash can after filtering; the trash can weight acquisition module is used to calculate the compensated trash can weight based on the filtered trash can weight, jitter error and tilt error and complete the trash can weighing operation.

[0024] The beneficial effects of the present invention are as follows: a method and system for weighing a trash can based on dynamic jitter compensation of the present invention, firstly, an acceleration sensor is installed on the weighing module of the garbage truck to obtain the jitter error, then a gyroscope is installed on the weighing module of the garbage truck to obtain the tilt error caused by the tilt angle of the trash can, then a weight signal jitter model is established according to the jitter error and the tilt error to obtain the weight measured by the strain sensor, then a Kalman filter is used to dynamically filter the weight measured by the strain sensor to obtain the weight of the trash can after filtering, then the weight of the trash can after compensation is calculated based on the weight of the trash can after filtering, the jitter error and the tilt error, and the trash can weighing operation is completed; the present invention realizes the garbage can weighing method and system based on the dynamic jitter compensation of the garbage truck, firstly, an acceleration sensor is installed on the weighing module of the garbage truck to obtain the jitter error, then a gyroscope is installed on the weighing module of the garbage truck to obtain the tilt error caused by the tilt angle of the trash can, then a weight signal jitter model is established according to the jitter error and the tilt error to obtain the weight measured by the strain sensor, then a Kalman filter is used to dynamically filter the weight measured by the strain sensor to obtain the weight of the trash can after filtering, and then the weight of the trash can after compensation is calculated based on the weight of the trash can after filtering, the jitter error and the tilt error, and the trash can weighing operation is completed; the present invention realizes the garbage can weighing method and system based on the dynamic jitter compensation of the garbage truck, firstly, an acceleration sensor is installed on the weighing module of the garbage truck, then a gyroscope ... The trash can weighing method and system have the function of adding an acceleration sensor and a gyroscope to the weighing module of the garbage truck and monitoring the vibration amplitude and frequency of the garbage truck in real time to eliminate the influence of the vibration on the trash can weighing. This makes it possible to install strain sensors on the clamp and the lifting arm and measure the strain of the mechanical arm caused by the garbage weight, so as to indirectly and accurately calculate the weight of the trash can. This multi-sensor fusion and dynamic compensation can significantly improve the weighing accuracy, and the Kalman filter and dynamic compensation algorithm can process data in real time so that the trash can weighing method and system can be applicable to garbage truck weighing scenarios under different working conditions, effectively eliminating the influence of vehicle vibration and angle changes on the trash can weighing. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a flow chart of a trash can weighing method and system based on dynamic jitter compensation of the present invention. DETAILED DESCRIPTION

[0026] The present invention will be further described below in conjunction with the accompanying drawings.

[0027] like Figure 1 As shown, a trash can weighing method based on dynamic jitter compensation of the present invention comprises the following steps:

[0028] Step A: Install an acceleration sensor on the weighing module of the garbage truck and obtain the jitter error. Specifically, the acceleration sensor is used to measure the acceleration a(t) of the vehicle in the vertical direction, and the jitter error ΔW vibration As shown in formula (1),

[0029] ΔW vibration =K a ·a(t)+k ω ω(t)(1)

[0030] Among them, K a is the influence coefficient of acceleration on weight error, k ω is the influence coefficient of angular velocity on weight error, and ω(t) is the vehicle angular velocity.

[0031] Step B: Install a gyroscope on the weighing module of the garbage truck and obtain the tilt error ΔW caused by the tilt angle of the garbage bin angle Specifically, a gyroscope is used to measure the tilt angle of the trash can, and the tilt error ΔW angle As shown in formula (2),

[0032] ΔW angle =W true ·(1-cosθ)(2)

[0033] Among them, W true is the real weight of the trash can, and θ is the tilt angle measured by the gyroscope.

[0034] Step C: Establish a weight signal jitter model based on the jitter error and the tilt error to obtain the weight measured by the strain sensor, where the weight measured by the strain sensor W tmeasured As shown in formula (3),

[0035] W tmeasured =W true +ΔW vibration +ΔW angle (3).

[0036] Step D: Use the Kalman filter to dynamically filter the weight measured by the strain sensor and obtain the weight of the trash can after filtering, wherein the dynamic filtering process includes state prediction, covariance prediction, Kalman gain calculation, state update and covariance update, and the input data of the Kalman filter is the weight measured by the strain sensor W tmeasured , acceleration a(t), angular velocity ω(t) and tilt angle θ, and the output data of the Kalman filter is the weight of the trash can after filtering W filtered .

[0037] Step E: Calculate the weight of the trash can after compensation based on the weight of the trash can after filtering, the jitter error and the tilt error, and complete the trash can weighing operation, wherein the weight of the trash can after compensation is W compensated As shown in formula (4),

[0038] W compensated =W filtered -ΔW vibration -ΔW angle .

[0039] A trash can weighing system based on dynamic jitter compensation includes a jitter error calculation module, a tilt error calculation module, a weight signal jitter model construction module, a dynamic filtering module and a trash can weight acquisition module, wherein the jitter error calculation module is used to install an acceleration sensor on the weighing module of a garbage truck and obtain the jitter error; the tilt error calculation module is used to install a gyroscope on the weighing module of the garbage truck and obtain the tilt error caused by the tilt angle of the trash can; the weight signal jitter model construction module is used to establish a weight signal jitter model according to the jitter error and the tilt error and obtain the weight measured by the strain sensor; the dynamic filtering module is used to use a Kalman filter to dynamically filter the weight measured by the strain sensor and obtain the weight of the trash can after filtering; the trash can weight acquisition module is used to calculate the compensated trash can weight based on the filtered trash can weight, jitter error and tilt error and complete the trash can weighing operation.

[0040] In summary, the present invention provides a method and system for weighing a garbage can based on dynamic jitter compensation. First, an acceleration sensor is installed on the weighing module of the garbage truck to obtain the jitter error. Then, a gyroscope is installed on the weighing module of the garbage truck to obtain the tilt error caused by the tilt angle of the garbage can. Then, a weight signal jitter model is established according to the jitter error and the tilt error to obtain the weight measured by the strain sensor. Then, a Kalman filter is used to dynamically filter the weight measured by the strain sensor to obtain the weight of the garbage can after filtering. Subsequently, the weight of the garbage can after compensation is calculated based on the weight of the garbage can after filtering, the jitter error and the tilt error to complete the weighing operation of the garbage can. The present invention realizes the garbage can weighing method and system. The weighing method and system have the function of adding an accelerometer and a gyroscope to the weighing module of the garbage truck and monitoring the vibration amplitude and frequency of the garbage truck in real time to eliminate the influence of the vibration on the weighing of the garbage bin. This makes it possible to install strain sensors on the clamp and the lifting arm and measure the strain of the mechanical arm caused by the weight of the garbage, so as to indirectly and accurately calculate the weight of the garbage bin. This multi-sensor fusion and dynamic compensation can significantly improve the weighing accuracy, and the Kalman filter and dynamic compensation algorithm can process data in real time so that the garbage bin weighing method and system can be applicable to garbage truck weighing scenarios under different working conditions, effectively eliminating the influence of vehicle vibration and angle changes on the weighing of the garbage bin.

[0041] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A trash can weighing method based on dynamic jitter compensation, characterized in that: The following steps are included: Step A, installing an acceleration sensor on a weighing module of a garbage truck and obtaining a jitter error; Step B, installing a gyroscope on the weighing module of the garbage truck and obtaining the tilt error caused by the tilt angle of the garbage bin; Step C, establishing a weight signal jitter model according to the jitter error and the tilt error, and obtaining the weight measured by the strain sensor; Step D, using a Kalman filter to dynamically filter the weight measured by the strain sensor and obtain the weight of the trash can after filtering; Step E: Calculate the weight of the trash can after compensation based on the weight of the trash can after filtering, the jitter error and the tilt error, and complete the trash can weighing operation.

2. A trash can weighing method based on dynamic jitter compensation according to claim 1, characterized in that: Step A: Install an acceleration sensor on the weighing module of the garbage truck and obtain the jitter error. Specifically, the acceleration sensor is used to measure the acceleration a(t) of the vehicle in the vertical direction, and the jitter error ΔW vibration As shown in formula (1), ΔW vibration =K a ·a(t)+k ω ·ω(t)(1) Among them, K a is the influence coefficient of acceleration on weight error, k ω is the influence coefficient of angular velocity on weight error, and ω(t) is the vehicle angular velocity.

3. A trash can weighing method based on dynamic jitter compensation according to claim 2, characterized in that: Step B: Install a gyroscope on the weighing module of the garbage truck and obtain the tilt error ΔW caused by the tilt angle of the garbage bin angle Specifically, a gyroscope is used to measure the tilt angle of the trash can, and the tilt error ΔW angle As shown in formula (2), ΔW angle =W true ·(1-cosθ)(2) Among them, W true is the real weight of the trash can, and θ is the tilt angle measured by the gyroscope.

4. The method for weighing a trash can based on dynamic jitter compensation according to claim 3, characterized in that: Step C: Establish a weight signal jitter model based on the jitter error and the tilt error to obtain the weight measured by the strain sensor, where the weight measured by the strain sensor W tmeasured As shown in formula (3), IN tmeasured =In true +ΔW vibration +ΔW angle (3)。 5. A trash can weighing method based on dynamic jitter compensation according to claim 4, characterized in that: Step D: Use the Kalman filter to dynamically filter the weight measured by the strain sensor and obtain the weight of the trash can after filtering, wherein the dynamic filtering process includes state prediction, covariance prediction, Kalman gain calculation, state update and covariance update, and the input data of the Kalman filter is the weight measured by the strain sensor W tmeasured , acceleration a(t), angular velocity ω(t) and tilt angle θ, and the output data of the Kalman filter is the weight of the trash can after filtering W filtered .

6. A trash can weighing method based on dynamic jitter compensation according to claim 5, characterized in that: Step E: Calculate the weight of the trash can after compensation based on the weight of the trash can after filtering, the jitter error and the tilt error, and complete the trash can weighing operation, wherein the weight of the trash can after compensation is W compensated As shown in formula (4), IN compensated =In filtered -ΔW vibration -ΔW angle 。 7. A trash can weighing system based on dynamic jitter compensation, wherein the weighing process of the trash can weighing system is based on the trash can weighing method according to any one of claims 1 to 6, characterized in that: It includes a jitter error calculation module, a tilt error calculation module, a weight signal jitter model construction module, a dynamic filtering module and a garbage bin weight acquisition module. The jitter error calculation module is used to install an acceleration sensor on the weighing module of the garbage truck and obtain the jitter error; The tilt error calculation module is used to install a gyroscope on the weighing module of the garbage truck and obtain the tilt error caused by the tilt angle of the garbage bin; The weight signal jitter model building module is used to build a weight signal jitter model according to the jitter error and the tilt error and obtain the weight measured by the strain sensor; The dynamic filtering module is used to use a Kalman filter to dynamically filter the weight measured by the strain sensor and obtain the weight of the trash can after filtering; The trash can weight obtaining module is used to calculate the compensated trash can weight based on the filtered trash can weight, the jitter error and the tilt error and complete the trash can weighing operation.

Images