A garbage can weighing method and system based on dynamic dithering compensation

Abstract

The application discloses a garbage can weighing method and system based on dynamic jitter compensation, which comprises the following steps: firstly, installing an acceleration sensor on the weighing module of the garbage truck and obtaining a jitter error; then, installing a gyroscope on the weighing module of the garbage truck and obtaining a tilt error caused by the tilt angle of the garbage can; and finally, establishing a weight signal jitter model according to the jitter error and the tilt error and obtaining the weight measured by the strain sensor. The garbage can weighing method and system has the function of adding an acceleration sensor and a gyroscope in the weighing module of the garbage truck and monitoring the jitter amplitude and frequency of the garbage truck in real time, so as to eliminate the influence of jitter on the weighing of the garbage can. This makes it possible to install a strain sensor on the gripper 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 can. The weighing precision can be significantly improved through multi-sensor fusion and dynamic compensation, and the garbage can weighing method and system is suitable for being widely promoted and used.

Description

Technical Field

[0001] This invention relates to the field of garbage bin weighing technology, specifically to a garbage bin weighing method and system based on dynamic vibration compensation. Background Technology

[0002] The garbage collection method of the garbage truck is as follows: (1) Position 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 supports the lower edge of the garbage bin; (3) Lift and clamp, the lifting arm rises vertically to a certain height, the clamp and the tray clamp the upper edge of the garbage bin; (4) Discharge the garbage, the lifting arm continues to rise and tilts to make the garbage bin flip over, and the garbage is dumped into the truck bed; (5) Reset and lower, after the dumping is completed, the lifting arm resets, the clamp releases the garbage bin and puts it back on the ground.

[0003] Currently, although garbage trucks are mostly stationary during the weighing process of garbage bins, the vehicles still vibrate, and this vibration causes continuous fluctuations in the weighing data. At the same time, changes in the angle of the garbage bin during the weighing process also affect the weighing accuracy. Therefore, it is necessary to design a garbage bin weighing method and system based on dynamic vibration compensation. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies and to better and more effectively solve the problem that although garbage trucks are mostly stationary during the garbage bin weighing process, the vehicles still vibrate, and this vibration causes continuous fluctuations in the weighing data. Furthermore, changes in the angle of the garbage bin during the weighing process also affect the weighing accuracy. This invention provides a garbage bin weighing method and system based on dynamic vibration compensation. This method and system incorporates an accelerometer and gyroscope into the garbage truck's weighing module to monitor the amplitude and frequency of the garbage truck's vibration in real time, thereby eliminating the impact of vibration on the garbage bin weighing. This allows for the installation of strain sensors on the gripper and lifting arm to measure the strain of the robotic arm caused by the weight of the garbage, thus indirectly and accurately calculating the weight of the garbage bin. This multi-sensor fusion and dynamic compensation significantly improves weighing accuracy.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A method for weighing trash cans based on dynamic jitter compensation includes the following steps:

[0007] Step A: Install an acceleration sensor on the weighing module of the garbage truck and obtain the vibration error;

[0008] Step B: 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;

[0009] Step C: Establish a weight signal jitter model based on jitter error and tilt error to obtain the weight measured by the strain sensor;

[0010] Step D: Use a Kalman filter to dynamically filter the weight measured by the strain sensor and obtain the filtered weight of the trash can.

[0011] Step E: Calculate the compensated weight of the trash can based on the filtered weight, shaking error, and tilting error, and complete the trash can weighing operation.

[0012] The aforementioned method for weighing garbage bins based on dynamic vibration compensation involves step A, where an accelerometer is installed on the weighing module of the garbage truck to obtain the vibration error. Specifically, the accelerometer measures the vehicle's vertical acceleration a(t), and the vibration error ΔW is... vibration As shown in formula (1),

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

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

[0015] In the aforementioned method for weighing garbage bins based on dynamic jitter compensation, step B involves installing a gyroscope on the weighing module of the garbage truck and obtaining 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),

[0016] ΔW angle =W true ·(1-cosθ)(2)

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

[0018] In the aforementioned method for weighing trash cans based on dynamic vibration compensation, step C involves establishing a weight signal vibration model based on vibration error and tilt error to obtain the weight measured by the strain sensor, where the strain sensor measures the weight W. tmeasured As shown in formula (3),

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

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

[0021] In the aforementioned method for weighing trash cans based on dynamic jitter compensation, step E involves calculating the compensated weight of the trash can based on the filtered weight, jitter error, and tilt error, thus completing the trash can weighing operation. The compensated weight of the trash can is W. compensated As shown in formula (4),

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

[0023] A garbage bin 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 garbage bin weight acquisition module. The jitter error calculation module installs an accelerometer on the weighing module of the garbage truck to obtain the jitter error. The tilt error calculation module installs a gyroscope on the weighing module of the garbage truck to obtain the tilt error caused by the tilt angle of the garbage bin. The weight signal jitter model construction module establishes a weight signal jitter model based on the jitter error and tilt error and obtains the weight measured by a strain sensor. The dynamic filtering module uses a Kalman filter to dynamically filter the weight measured by the strain sensor and obtains the filtered garbage bin weight. The garbage bin weight acquisition module calculates the compensated garbage bin weight based on the filtered garbage bin weight, the jitter error, and the tilt error, and completes the garbage bin weighing operation.

[0024] The beneficial effects of this invention are as follows: This invention provides a method and system for weighing garbage bins based on dynamic jitter compensation. First, an accelerometer is installed on the weighing module of the garbage truck to obtain the jitter error. Then, a gyroscope is installed on the weighing module to obtain the tilt error caused by the tilt angle of the garbage bin. Next, a weight signal jitter model is established based on the jitter error and tilt error, and the weight measured by a strain sensor is obtained. Then, a Kalman filter is used to dynamically filter the weight measured by the strain sensor to obtain the filtered garbage bin weight. Finally, based on the filtered garbage bin weight, the jitter error, and the tilt error, the compensated garbage bin weight is calculated, completing the garbage bin weighing operation. This invention achieves the goal of... The garbage bin weighing method and system incorporates an accelerometer and gyroscope into the weighing module of the garbage truck to monitor the amplitude and frequency of the truck's vibration in real time, thereby eliminating the impact of vibration on the garbage bin weighing. This allows for the installation of strain sensors on the gripper and lifting arm to measure the strain of the robotic arm caused by the weight of the garbage, thus indirectly and accurately calculating the weight of the garbage bin. This multi-sensor fusion and dynamic compensation significantly improves weighing accuracy. Furthermore, the Kalman filter and dynamic compensation algorithm can process data in real time, making the garbage bin weighing method and system applicable to garbage truck weighing scenarios under different working conditions, effectively eliminating the impact of vehicle vibration and angle changes on garbage bin weighing. Attached Figure Description

[0025] Figure 1 This is a flowchart of a garbage bin weighing method and system based on dynamic shaking compensation according to the present invention. Detailed Implementation

[0026] The present invention will now be further described with reference to the accompanying drawings.

[0027] like Figure 1 As shown, a method for weighing trash cans based on dynamic vibration compensation according to the present invention includes the following steps:

[0028] Step A involves installing an accelerometer on the weighing module of the garbage truck and obtaining the vibration error. Specifically, the accelerometer measures the vehicle's vertical acceleration a(t), while the vibration error ΔW is calculated. vibration As shown in formula (1),

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

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

[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 θ represents the actual 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 jitter error and tilt error to obtain the weight measured by the strain sensor, where the weight measured by the strain sensor is W. tmeasured As shown in formula (3),

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

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

[0037] Step E: Calculate the compensated weight of the trash can based on the filtered weight, shaking error, and tilt error, thus completing the trash can weighing operation. The compensated weight of the trash can is W. compensated As shown in formula (4),

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

[0039] A garbage bin 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 garbage bin weight acquisition module. The jitter error calculation module installs an accelerometer on the weighing module of the garbage truck to obtain the jitter error. The tilt error calculation module installs a gyroscope on the weighing module of the garbage truck to obtain the tilt error caused by the tilt angle of the garbage bin. The weight signal jitter model construction module establishes a weight signal jitter model based on the jitter error and tilt error and obtains the weight measured by a strain sensor. The dynamic filtering module uses a Kalman filter to dynamically filter the weight measured by the strain sensor and obtains the filtered garbage bin weight. The garbage bin weight acquisition module calculates the compensated garbage bin weight based on the filtered garbage bin weight, the jitter error, and the tilt error, and completes the garbage bin weighing operation.

[0040] In summary, the present invention provides a method and system for weighing garbage bins based on dynamic jitter compensation. First, an accelerometer is installed on the weighing module of the garbage truck to obtain the jitter error. Then, a gyroscope is installed on the weighing module to obtain the tilt error caused by the tilt angle of the garbage bin. Next, a jitter model of the weight signal is established based on the jitter error and the tilt error, and the weight measured by a strain sensor is obtained. Then, a Kalman filter is used to dynamically filter the weight measured by the strain sensor to obtain the filtered weight of the garbage bin. Finally, based on the filtered weight of the garbage bin, the jitter error, and the tilt error, the compensated weight of the garbage bin is calculated, completing the garbage bin weighing operation. This invention realizes the weighing of garbage bins... The weighing method and system incorporates an accelerometer and gyroscope into the weighing module of the garbage truck to monitor the amplitude and frequency of the truck's vibration in real time, thereby eliminating the impact of vibration on the weighing of the garbage bins. This allows for the installation of strain sensors on the gripper and lifting arm to measure the strain of the robotic arm caused by the weight of the garbage, thus indirectly and accurately calculating the weight of the garbage bins. This multi-sensor fusion and dynamic compensation significantly improves weighing accuracy, and the Kalman filter and dynamic compensation algorithm can process data in real time, making the garbage bin weighing method and system applicable to garbage truck weighing scenarios under different working conditions, effectively eliminating the impact of vehicle vibration and angle changes on the weighing of garbage bins.

[0041] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for weighing trash cans based on dynamic vibration compensation, characterized in that: Includes the following steps, Step A involves installing an accelerometer on the weighing module of the garbage truck and obtaining the vibration error. Specifically, the accelerometer measures the vehicle's vertical acceleration a(t), while the vibration error ΔW is calculated. vibration As shown in Formula 1, ΔW vibration =K a ⋅a(t)+k ω ⋅ω(t); Formula 1; Among them, K a k is the coefficient representing the influence of acceleration on weight error. ω ω(t) is the coefficient of influence of angular velocity on weight error, where ω(t) is the angular velocity of the vehicle. Step B involves installing a gyroscope on the weighing module of the garbage truck to obtain the tilt error caused by the tilt angle of the garbage bin. Specifically, the gyroscope is used to measure the tilt angle of the garbage bin, and the tilt error ΔW is calculated. angle As shown in Formula 2 ΔW angle =W true ·(1−cosθ); Formula 2; Among them, W true θ represents the actual weight of the trash can, and θ is the tilt angle measured by the gyroscope. Step C: Establish a weight signal jitter model based on jitter error and tilt error to obtain the weight measured by the strain sensor, where the weight measured by the strain sensor is W. tmeasured As shown in Formula 3 W tmeasured =W true +ΔW vibration +ΔW angle ;Formula 3; Step D involves using a Kalman filter to dynamically filter the weight measured by the strain sensor and obtain the filtered weight of the trash can. The dynamic filtering process includes state prediction, covariance prediction, Kalman gain calculation, state update, and covariance update. The input data to the Kalman filter is the weight W measured by the strain sensor. tmeasured The acceleration a(t), angular velocity ω(t), and tilt angle θ are the values ​​of the trash can, while the output data of the Kalman filter is the weight W of the trash can after filtering. filtered ; Step E: Calculate the compensated weight of the trash can based on the filtered weight, shaking error, and tilt error, thus completing the trash can weighing operation. The compensated weight of the trash can is W. compensated As shown in Formula 4, W compensated =W filtered −ΔW vibration −ΔW angle ;Official 4.

2. A garbage bin weighing system based on dynamic vibration compensation, wherein the weighing process of the garbage bin weighing system is based on the garbage bin weighing method of claim 1, 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 construction module is used to establish a weight signal jitter model based on jitter error and tilt error and obtain the weight measured by the strain sensor. The dynamic filtering module is used to dynamically filter the weight measured by the strain sensor using a Kalman filter and obtain the filtered weight of the trash can. The trash can weight acquisition module is used to calculate the compensated trash can weight based on the filtered trash can weight, shaking error, and tilting error, and to complete the trash can weighing operation.

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