Weighing equipment and weighing vehicle

Abstract

The invention discloses a weighing device and a weighing car, and relates to the technical field of weighing, the weighing device comprises trundles which are used for being installed on a car and can move on the ground, the trundles are provided with weighing assemblies, the weighing assemblies comprise a first weighing sensor and a second weighing sensor, the second weighing sensor is a dynamic pressure sensor, and the first weighing sensor and the second weighing sensor are arranged on the ground. A dynamic weighing signal of a vehicle adopting the weighing equipment can be detected; the weighing device further comprises a control assembly in signal connection with the first weighing sensor and the second weighing sensor, and the control assembly is used for receiving and processing a weighing signal of the first weighing sensor and a weighing signal of the second weighing sensor and then outputting an integrated weighing signal. Therefore, the dynamic weighing signal of the second weighing sensor can compensate the weighing signal of the first weighing sensor, interference caused by dynamic movement of the vehicle is removed, and the weighing accuracy of the weighing equipment and the vehicle adopting the weighing equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of weighing, and in particular to a weighing device and a weighing cart. Background Art

[0002] In the prior art, vehicles such as shopping carts with weighing functions enable users to avoid queuing up for weighing at unified weighing locations such as cashier desks, making it more convenient for users to weigh. However, there are significant deviations in the weighing accuracy of vehicles with weighing functions in the prior art. Therefore, how to improve the weighing accuracy of vehicles with weighing functions has become a technical problem that needs to be urgently solved by those skilled in the art. Summary of the Invention

[0003] The purpose of the present invention is to provide a weighing device and a weighing cart to improve the weighing accuracy of vehicles using the weighing device in the present invention.

[0004] To achieve the above purpose, the present invention provides the following solutions:

[0005] The present invention provides a weighing device, which includes casters for installing on a vehicle and moving on the ground.

[0006] A weighing component is provided on the caster, and the weighing component includes a first weighing sensor and a second weighing sensor. The second weighing sensor is a dynamic pressure sensor and can detect the dynamic weighing signal of the vehicle, and the dynamic weighing signal includes the speed, acceleration, and amplitude of the vehicle.

[0007] The weighing device further includes a control component respectively signal-connected to the first weighing sensor and the second weighing sensor. The control component is used to receive and process the weighing signals of the first weighing sensor and the second weighing sensor, and then output the integrated weighing signal.

[0008] Preferably, the first weighing sensor is a kingpin sensor.

[0009] And / or, the first weighing sensor is fixed on the rotating shaft of the caster.

[0010] And / or, when there is one such weighing device at the bottom of the vehicle, the first weighing sensor and the second weighing sensor are located on the extension line of the center of gravity of the vehicle structure above the caster and the goods in the vehicle; when there are at least two such weighing devices at the bottom of the vehicle, all the weighing devices are centered on the center of gravity of the vehicle structure above the caster and the goods in the vehicle and are evenly distributed along the circumference of the center of gravity of the vehicle structure above the caster and the goods in the vehicle.

[0011] Preferably, the second load cell includes a plurality of piezoelectric induction weighing units that are signal-connected to the control component;

[0012] Wherein, a signal shielding unit is provided between adjacent piezoelectric induction weighing units; alternatively, there is a gap between adjacent piezoelectric induction weighing units, and the size of the piezoelectric induction weighing unit is a preset size.

[0013] Preferably, the casters include a support area, a shock-absorbing area, a piezoelectric induction weighing area, and a wear-resistant area arranged in sequence from the inside to the outside; wherein, the piezoelectric induction weighing area is signal-connected to the control component.

[0014] Preferably, the shock-absorbing area includes a plurality of support members arranged along the circumference of the caster. The support members are hexagonal hollow structures, and each support member includes a support layer, a buffer layer, and a shock-absorbing layer arranged in sequence from the inside to the outside. The hardness of the support layer is greater than that of the shock-absorbing layer, and the buffer layer is used to reduce stress concentration;

[0015] And / or, the wear-resistant area is provided with a friction part for increasing friction and a drain groove.

[0016] Preferably, the piezoelectric induction weighing area includes a plurality of piezoelectric induction weighing parts arranged along the circumference of the caster. A signal shielding part is provided between adjacent piezoelectric induction weighing parts, and the size of the piezoelectric induction weighing part is a preset size; the piezoelectric induction weighing part includes a piezoelectric induction detection piece and a signal transmission piece connected to the piezoelectric induction detection piece. The signal transmission piece is signal-connected to the control component, and sealing pieces and protective pieces are sequentially arranged on both sides of the piezoelectric induction detection piece and the signal transmission piece facing away from each other in opposite directions.

[0017] Preferably, the weighing device includes a power generation component. The power generation component includes a first bracket arranged to avoid the caster, and a transmission part fixed on the caster. A generator is provided on the first bracket, and the input shaft of the generator is connected to the transmission part. The caster can drive the input shaft to rotate through the transmission part.

[0018] Preferably, the weighing device includes a terrain compensation component. The terrain compensation component includes a first connecting piece arranged on the caster and avoiding the caster. The first connecting piece has a guiding cavity, and a compensating piece and a second connecting piece that abut against each other are arranged in the guiding cavity. The compensating piece is located on the side of the second connecting piece close to the caster, and the compensating piece can apply a force towards the ground direction to the caster. The second connecting piece can move vertically in the guiding cavity and has a connecting part for connecting to the vehicle.

[0019] Preferably, the second weighing sensor is a piezoresistive pressure sensor, a strain gauge pressure sensor, an inductive pressure sensor or a capacitive pressure sensor.

[0020] In addition, the present invention also discloses a weighing vehicle, which includes the above-mentioned weighing device.

[0021] The present invention has achieved the following technical effects compared with the prior art:

[0022] In the present invention, the weighing device includes casters for mounting on a vehicle and movable on the ground. A weighing assembly is provided on the casters, and the weighing assembly includes a first weighing sensor and a second weighing sensor. The second weighing sensor is a dynamic pressure sensor and can detect the dynamic weighing signal of the vehicle using the weighing device of the present invention. The dynamic weighing signal includes the speed, acceleration, and amplitude of the vehicle (for simplicity of description, hereinafter, unless otherwise specified, the vehicle refers to the vehicle using the weighing device of the present invention, and the application means using the casters of the present invention as the driving wheels of the vehicle). This enables the second weighing sensor to measure dynamic weighing signals such as vibration and obtain information such as the speed, acceleration, and amplitude during the movement of the vehicle. Moreover, the weighing device of the present invention further includes a control component that is respectively signal-connected to the first weighing sensor and the second weighing sensor. The control component is used to receive and process the weighing signal of the first weighing sensor and the weighing signal of the second weighing sensor, and then output the integrated weighing signal. This enables the dynamic weighing signal of the second weighing sensor to compensate for the weighing signal of the first weighing sensor, remove the interference caused by the dynamic movement of the vehicle, and obtain a more accurate weighing signal, further improving the weighing accuracy of the weighing device of the present invention and the vehicle using the weighing device of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0024] Figure 1 It is a schematic structural diagram of the weighing device;

[0025] Figure 2 It is an exploded schematic diagram of the caster;

[0026] Figure 3 It is a side view of the caster;

[0027] Figure 4 It is a schematic structural diagram of the piezoelectric induction weighing part;

[0028] Figure 5Schematic structural diagram of the first sensor and the caster wheel;

[0029] Figure 6 Schematic structural diagram of the power generation assembly;

[0030] Figure 7 Schematic structural diagram of the terrain compensation assembly;

[0031] Figure 8 Schematic structural diagram of the control assembly;

[0032] Wherein, 1. mounting frame; 2. caster wheel; 3. first weighing sensor; 4. power generation assembly; 5. control assembly; 6. terrain compensation assembly; 7. support area; 8. damping area; 9. piezoelectric induction weighing area; 10. wear-resistant area; 11. piezoelectric induction weighing part; 12. signal shielding part; 13. piezoelectric induction detection part; 14. signal transmission part; 15. seal; 16. protective part; 17. collar; 18. first fastener; 19. first bearing; 20. guiding cavity; 21. generator; 22. driving gear; 23. second fastener; 24. second bearing; 25. driven gear; 26. auxiliary mounting frame; 27. compensating part; 28. second connecting part; 29. mounting seat. Detailed implementation manners

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] To make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0035] Currently, the weighing systems of intelligent shopping carts or smart transport vehicles mainly rely on static weighing sensors, which are prone to large deviations in measurement results in scenarios such as movement, vibration, slopes, and impacts. Currently, the main method to solve slope weighing is to collect information on the horizontal and vertical accelerations of the shopping cart and the angle between the slope where the shopping cart is located and the ground through sensors, to realize the recognition of different motion states of the shopping cart itself, and to calibrate the slope information and compensate the weighing data. Currently, the main method to solve dynamic weighing signals is to collect multiple times and use the PID algorithm or other algorithms for adjustment. The algorithms cannot recognize and adapt to all road surfaces, and there are certain requirements for the application road surface in practice, and they cannot be applied to all complex road surfaces.

[0036] To alleviate or even completely solve the above problems, as Figures 1 to 8As shown in the figure, the present invention discloses a weighing device. The weighing device includes casters 2, which are used to be installed on a vehicle and can move on the ground. A weighing component is provided on the caster 2. The weighing component includes a first weighing sensor 3 and a second weighing sensor. The second weighing sensor is a dynamic pressure sensor and can detect the dynamic weighing signal of the vehicle. The dynamic weighing signal includes the speed, acceleration, and amplitude of the vehicle.

[0037] In the present invention, the weighing device includes casters 2 that are used to be installed on a vehicle and can move on the ground. A weighing component is provided on the caster 2. The weighing component includes a first weighing sensor 3 and a second weighing sensor. The second weighing sensor is a dynamic pressure sensor and can detect the dynamic weighing signal of the vehicle using the weighing device of the present invention. The dynamic weighing signal includes the speed, acceleration, and amplitude of the vehicle (for the sake of simplicity in description, hereinafter, unless otherwise specified, the vehicle refers to the vehicle using the weighing device of the present invention, and the application means using the caster 2 of the present invention as the driving wheel of the vehicle). This enables the second weighing sensor to measure dynamic weighing signals such as vibration and obtain information such as the speed, acceleration, and amplitude during the movement of the vehicle. Moreover, the weighing device of the present invention further includes a control component that is respectively signal-connected to the first weighing sensor 3 and the second weighing sensor. The control component is used to receive and process the weighing signals of the first weighing sensor 3 and the second weighing sensor, and then output the integrated weighing signal. This enables the dynamic weighing signal of the second weighing sensor to compensate for the weighing signal of the first weighing sensor 3, remove the interference caused by the dynamic movement of the vehicle, and obtain a more accurate weighing signal, further improving the weighing accuracy of the weighing device of the present invention and the vehicle using the weighing device of the present invention.

[0038] Furthermore, in the present invention, the first weighing sensor 3 is fixed on the rotating shaft of the caster 2. The first weighing sensor 3 is fixed on the rotating shaft of the caster 2, and the rotating shaft, as the connection structure between the vehicle and the caster 2, can transfer the overall weight of the vehicle structure above the caster 2 to the rotating shaft. This reduces the problem of generating an additional bending moment when the first weighing sensor 3 is arranged at a non-rotating shaft position of the caster 2 and reducing the detection accuracy of the first weighing sensor 3, and improves the weighing accuracy of the first weighing sensor 3 and the weighing device of the present invention. The first weighing sensor 3 can specifically be a pin sensor.

[0039] Such as Figure 5As shown in the figure, the first weighing sensor 3 is installed in the support area 7, that is, in the shaft hole of the caster 2. The first end of the first weighing sensor 3 is provided with a shoulder, and a collar 17 is sleeved on the shoulder. The first weighing sensor 3 is fixed to the caster 2 through the collar 17. The second end of the first weighing sensor 3 is fixed by a first fastener 18 such as a lock nut (when the first fastener 18 is a lock nut, the second end of the first weighing sensor 3 is threadedly connected to the first fastener 18). The first weighing sensor 3 is fixed by the collar 17, the shoulder and the first fastener 18, so that the first weighing sensor 3 can keep its position fixed relative to the support rod and does not rotate, thereby reducing the problem that the weighing result of the first weighing sensor 3 is in error due to the rotation of the first weighing sensor 3 with the caster 2 and being affected by vibration interference; two grooves for sleeving the support rod (the support rod can also be replaced by a support plate) are provided on the first weighing sensor 3, and the two grooves are respectively arranged near both ends of the first weighing sensor 3; two second bearings 24 are provided between the first weighing sensor 3 and the shaft hole, and the second bearings 24 can specifically be thrust bearings.

[0040] And / or, when there is one weighing device at the bottom of the vehicle, the first weighing sensor 3 and the second weighing sensor are located on the extension line of the center of gravity of the vehicle structure above the caster and the goods in the vehicle; when there are at least two weighing devices at the bottom of the vehicle, all the weighing devices are centered on the center of gravity of the vehicle structure above the caster and the goods in the vehicle and are evenly distributed along the circumference of the center of gravity of the vehicle structure above the caster and the goods in the vehicle; through the above settings, no matter one weighing device or more than one weighing device is installed at the bottom of the vehicle, the weight of the vehicle structure above the caster and the goods in the vehicle can be evenly distributed to the first weighing sensor 3 and the second weighing sensor, thereby reducing the problem that the weighing accuracy of the first weighing sensor 3 and the second weighing sensor is reduced due to the influence of bending moment on the weighing of the first weighing sensor 3 and the second weighing sensor, and improving the weighing accuracy of the weighing device in the present invention.

[0041] And / or, the second weighing sensor includes a plurality of piezoelectric induction weighing units signal-connected to the control component 5; wherein, a signal shielding unit is provided between adjacent piezoelectric induction weighing units; or, there is a gap between adjacent piezoelectric induction weighing units, and the size of the piezoelectric induction weighing unit is a preset size, and the preset size means that the piezoelectric induction weighing unit is not too large, which can avoid signal interference, aliasing and cancellation caused by too large an area of a single piezoelectric induction weighing unit; through the above two methods, the weighing accuracy of the weighing sensor in the present invention is ensured: the size of a single piezoelectric induction weighing unit is within the required range, reducing signal interference, aliasing and cancellation caused by too large an area of a single piezoelectric induction weighing unit.

[0042] Such as Figure 2As shown, the caster wheel 2 in the present invention includes a hub, a support area 7, a shock-absorbing area 8, a piezoelectric induction weighing area 9, and a wear-resistant area 10 arranged in sequence from the inside to the outside. Among them, the piezoelectric induction weighing area 9 is signal-connected to the control component 5. The support area 7 is used to support structures such as the shock-absorbing area 8, the piezoelectric induction weighing area 9, and the wear-resistant area 10. The support area 7 can specifically be made of solid nylon material. Inside the support area 7, that is, inside the axle hole of the caster wheel, there are two first bearings 19. The first bearings 19 can specifically be rolling bearings. The shock-absorbing area 8 can absorb vibrations and impacts during the movement of the vehicle, enabling the vehicle to maintain stable movement on various terrains. The piezoelectric induction weighing area 9, here the piezoelectric induction weighing area 9 is a specific embodiment of the above-mentioned piezoelectric induction weighing unit. The dynamic weighing signal is measured through the piezoelectric induction weighing area 9 to compensate for the weighing deviation of the first weighing sensor 3. The wear-resistant area 10 is used for direct friction with the ground. The wear-resistant area 10 can specifically be made of wear-resistant rubber material to enhance the movement performance of the tire on various road surfaces. The area of the wear-resistant area 10 in direct contact with the ground can specifically be made of graphene / silicon carbide nanocomposite material; there are also friction parts on the wear-resistant area 10 that can increase the friction force, and drainage grooves for draining water. The direction of the drainage grooves can be set according to the working conditions. Among them, the friction parts can specifically be grooves or protrusions provided on the surface of the tire, or, in the present invention, the friction parts can also be bionic centipede foot textures (textures shaped like centipede feet) with a depth of 20 μm formed by laser micro-texturing technology; in cooperation with the drainage grooves, the friction coefficient on the wet and slippery road surface is increased to 0.78, thereby improving the smoothness of the vehicle applying the weighing device in the present invention when driving on the wet and slippery road surface; the shape and size of the drainage grooves are not limited, but it is necessary to ensure that the drainage grooves can improve the drainage performance of the caster wheel 2, and the setting of the drainage grooves does not affect the smooth realization of the functions of the caster wheel 2 walking and the friction parts and other structures.

[0043] As Figure 2 , Figure 3 shown, the shock-absorbing area 8 includes a plurality of support members arranged along the circumferential direction of the caster wheel 2. The support members can be made of polyurethane material. The support members are hexagonal hollow structures. The support members include a support layer, a buffer layer, and a shock-absorbing layer arranged in sequence from the inside to the outside. The hardness of the support layer is greater than that of the shock-absorbing layer. The buffer layer is used to reduce stress concentration. The support layer can bear a large load, reduce the deformation amount inside the support member, and avoid the occurrence of local collapse problems. The shock-absorbing layer can absorb vibration and impact energy and reduce the vibration amplitude transmitted to other parts of the vehicle.

[0044] The shock-absorbing area 8 can also be referred to as a honeycomb shock-absorbing layer. The honeycomb shock-absorbing layer includes a plurality of densely arranged hexagonal honeycomb micro-units, i.e., support members. Through the vibration and impact of the support members, the vehicle applying the weighing device of the present invention can maintain smooth movement in different vehicle models. Among them, based on the finite element topology optimization algorithm, a gradient modulus distribution model of the hexagonal honeycomb cell, i.e., the support member, can be constructed. The central area, i.e., the support layer, uses a photocuring resin (Shore hardness 85HA, elastic modulus 1.2 GPa), and the edge area, i.e., the shock-absorbing layer, is filled with a silicone rubber composite material (60HA, modulus 0.3 GPa). Through the microstructural interface interlocking design, i.e., the buffer layer, a modulus transition zone (transition gradient 0.5 mm) is realized, reducing the stress concentration coefficient to less than 1.3, automatically adjusting the grounding area according to the load, and still maintaining equal-pressure contact of the caster 2 (four wheels) on a 15° slope. The tread wear rate is greatly reduced compared with traditional pneumatic tires; the stress distribution is made more uniform, improving the fatigue life and impact resistance of the structure.

[0045] Meanwhile, the setting of the support members eliminates the pneumatic tires required in the prior art. The support is carried out through the stretching deformation of the support members, reducing the maintenance cost of the caster 2 and the risk of tire blowout. At the same time, because the hexagons of the support members can support each other, the honeycomb shock-absorbing layer can undergo large deformations, effectively alleviating impacts, thereby improving the smoothness of the caster 2 when driving on bumpy roads or under load, and improving the application range and universality of the weighing device of the present invention.

[0046] Between adjacent two of the support area 7, the shock-absorbing area 8, the piezoelectric induction weighing area 9, and the wear-resistant area 10, adhesives can be used for adhesion; the adhesives can be uniformly mixed by resin and curing agent in equal proportions. The adhesives are evenly applied to the support area 7 and the hub surface for adhesion. When the adhesives are completely cured, the support area 7 and the hub achieve high-strength bonding.

[0047] As Figures 2 to 4 shown, the piezoelectric induction weighing area 9 includes a plurality of piezoelectric induction weighing parts 11 arranged along the circumferential direction of the caster 2. A signal shielding part 12 is provided between adjacent piezoelectric induction weighing parts 11. The piezoelectric induction weighing part 11 has a preset size, and the preset size means that the piezoelectric induction weighing part 11 is not too large, avoiding signal interference, aliasing, and cancellation caused by too large an area of a single piezoelectric induction weighing part 11.

[0048] The signal shielding part 12 here is a specific embodiment of the signal shielding unit in the above text. The piezoelectric induction weighing part 11 detects the vibration signal during movement through piezoelectric fibers with piezoelectric effects and fabric flexibility; the piezoelectric induction weighing part 11 is a piezoelectric fiber composite material for measuring the dynamic weighing signal during vibration, and compensation is carried out through signal processing and algorithms. As Figure 2As shown in the figure, the piezoelectric induction weighing unit 11 can specifically be provided with 6 or other numbers of piezoelectric induction weighing units 11. Each piezoelectric induction weighing unit 11 can separately perform signal transmission. The signal between adjacent piezoelectric induction weighing units 11 is blocked by a signal shielding unit 12. The signal shielding unit 12 can specifically be a structure such as silica gel that can shield the signal transmission between adjacent piezoelectric induction weighing units 11.

[0049] As Figure 4 As shown in the figure, the piezoelectric induction weighing unit 11 includes a piezoelectric induction detection component 13 and a signal transmission component 14 connected to the piezoelectric induction detection component 13. The signal transmission component 14 is signal-connected to the control component 5. On both sides of the piezoelectric induction detection component 13 and the signal transmission component 14 facing away from each other, a sealing component 15 and a protective component 16 are sequentially provided in the direction away from each other; using ferroelectric polymer polyvinylidene fluoride and its trifluoroethylene copolymer and hexafluoropropylene copolymer as raw materials, the piezoelectric induction detection component 13 is prepared by electrospinning technology and used as a detection unit for detection; the sealing component 15 can specifically be an epoxy resin layer. The sealing component 15 isolates the piezoelectric induction detection component 13 and the signal transmission component 14 from the outside, avoiding the problem that external dust, moisture and other impurities invade the piezoelectric induction detection component 13 and the signal transmission component 14, resulting in the failure of the piezoelectric induction detection component 13 and the signal transmission component 14 to operate; the protective component 16 can specifically be a packaging film; the protective component 16 plays a protective role for the piezoelectric induction detection component 13 and the signal transmission component 14, reducing the damage of the piezoelectric induction detection component 13 and the signal transmission component 14 during the operation of the weighing device, and ensuring the normal operation of the piezoelectric induction detection component 13 and the signal transmission component 14; the signal transmission component 14 includes interdigital electrodes, and the interdigital electrodes are used as signal transmission carriers.

[0050] In addition to the above structure, the second weighing sensor can also be a piezoresistive pressure sensor, a strain gauge pressure sensor, an inductive pressure sensor or a capacitive pressure sensor.

[0051] The existing vehicles with weighing functions have poor endurance. Since multiple sensors and data processing chips need to be arranged, a large-capacity battery is required to meet the requirements of long endurance, which will at the same time lead to an increase in the vehicle body weight and cannot significantly improve the endurance. Once charging or even power failure occurs during the user's use, it will cause a bad user experience.

[0052] To solve the above problems, as Figure 6As shown in the figure, the weighing device in the present invention includes a power generation assembly 4. The power generation assembly 4 includes a first bracket arranged to avoid interfering with the casters 2, and a transmission member fixed to the casters 2. A generator 21 is provided on the first bracket, and the input shaft of the generator 21 is connected to the transmission member. The casters 2 can drive the input shaft to rotate through the transmission member. The first bracket is arranged to avoid interfering with the casters 2 means that the setting of the first bracket will not affect the normal movement of the casters 2. When the casters 2 move on the ground, the casters 2 drive the transmission member to rotate, and the transmission member drives the input shaft to rotate. Spontaneous current is generated through electromagnetic induction inside the generator 21, so that the generator 21 generates electricity (the generator 21 can specifically be a micro electromagnetic generator). The generator 21 is connected to an electric energy storage module, and the electric energy storage module can process the generated current and supply it to charge the battery for the operation of structures such as the first weighing sensor 3. This enables the weighing device in the present invention to have a self-power generation function, automatically replenish electric energy during the movement of the casters 2, reduces the demand for the battery power of the weighing device, can continuously work, and avoids the time consumed for battery charging and the cumbersome operation of personnel.

[0053] As Figure 6 shown, the transmission member includes a driving gear 22 and a driven gear 25. The driving gear 22 is fixed to the caster 2 and fixed to the caster 2 through a second fastener 23. The driven gear 25 is installed on the input shaft of the generator 21 and meshes with the driving gear 22. Both the driving gear 22 and the driven gear 25 are bevel gears. The second fastener 23 can specifically be a structure such as a bolt.

[0054] With the change of road conditions, when several weighing devices in the present invention are provided at the bottom of the vehicle, it may also be caused by the unevenness of the ground that some casters 2 are suspended, that is, the number of weighing devices actually weighing is not determined and may be any three. At this time, the weighing result is interfered by this situation, which easily causes deviation of the weighing result and results in an unstable situation.

[0055] To solve the above problems, as Figure 7As shown, the weighing device in the present invention includes a terrain compensation component 6. The terrain compensation component 6 includes a first connecting member. The first connecting member is provided on the caster 2 and is arranged in an avoidance manner with respect to the caster 2. The first connecting member has a guiding cavity 20. A compensating member 27 and a second connecting member 28 that are in contact with each other are provided in the guiding cavity 20. The compensating member 27 is located on the side of the second connecting member 28 close to the caster 2. The compensating member 27 can apply a force towards the ground direction to the caster 2. The second connecting member 28 has a connecting portion connected to the vehicle and can move vertically in the guiding cavity. This enables the second connecting member 28 and the vehicle structure above the caster 2 to float up and down in the guiding cavity, suitable for ground with different unevenness degrees. The compensating member 27 enables the caster 2 to continuously receive a downward pressure, ensuring that the caster 2 of the weighing device in the present invention can have stable contact with the ground, thereby ensuring the weighing accuracy of the vehicle using the weighing device in the present invention. The first connecting member includes a mounting bracket 1 and a mounting seat 29 provided above the mounting bracket 1. The mounting bracket 1 includes support rods provided on both sides of the rotating shaft and respectively connected to the two ends of the rotating shaft of the caster 2, and a support plate provided above the support rods. The support rods and the caster 2 can be fixed by structures such as bolts. Active gears 22 and auxiliary mounting brackets 26 are respectively installed on both end faces of the caster 2. The auxiliary mounting brackets 26 can be connected to the caster 2 through second fasteners 23 such as bolts. A second bearing 24 is provided between the auxiliary mounting brackets 26 and the caster 2 for axial fixation. There is a certain gap between the auxiliary mounting brackets 26 and the first weighing sensor 3 to prevent direct friction between the first weighing sensor 3 and the auxiliary mounting brackets 26. The mounting seat 29 can be fixed on the support plate through a bottom flange. A guiding cavity 20 is provided in the mounting seat 29 along the vertical direction. The connecting portion of the second connecting member 28 can specifically be a threaded hole or other structures connected to the vehicle body. When the vehicle using the weighing device in the present invention travels on the road surface, due to the unevenness of the ground, the second connecting member 28 can float up and down in the guiding cavity 20.

[0056] As Figure 8As shown in the figure, the weighing device in the present invention further includes a control component 5, which includes a power storage module, a data processing module, a wireless communication module, a housing and other structures; the power storage module, the data processing module, and the wireless communication module are arranged inside the housing, and the housing is installed on the side wall of the mounting frame 1 and is subjected to waterproof sealing treatment. The power storage module includes a battery, a generator 21, and a power processing unit; the power processing unit rectifies and stabilizes the power generated by the generator 21 and supplies power to the battery. The data processing module includes a signal amplification and sampling unit, a filtering and processing unit, and a compensation and calculation unit; the signal amplification and sampling unit amplifies, performs AD conversion, and samples the signal detected by the first weighing sensor 3, and performs charge amplification, data acquisition and conversion on the charge signal obtained by the piezoelectric induction weighing part 11, and then filters and adjusts these two signals through the filtering and processing unit to obtain a stable weighing signal per unit time. Finally, the compensation and calculation unit performs compensation calculation on the two measurement data of the first weighing sensor 3 and the second weighing sensor to obtain the final measurement result and transmits it to the wireless communication module. The first weighing sensor 3 uses the arithmetic mean measurement method for data calculation, and the signal of the second weighing sensor is calculated by the singular spectrum analysis method, and finally accurate weighing data is output through the compensation method. The wireless communication module includes a WIFI communication unit, a radio frequency transmission unit, and a Bluetooth transmission unit. The weighing device can communicate with the vehicle upper computer through the WIFI communication unit or the Bluetooth transmission unit to transmit the detected weighing data in real time. The radio frequency transmission unit can perform intelligent identification and alarm on the supermarket or warehouse access control, improving the user experience and transportation efficiency.

[0057] And the signal processing and information communication interaction of the control component 5 in the present invention further include the following contents: constructing a spatio-temporal attention neural network model to synchronously process the static load signal of the first weighing sensor 3 and the dynamic vibration spectrum of the piezoelectric material. 1. For the static load signal of the first weighing sensor 3 and the dynamic vibration spectrum of the piezoelectric material, normalization processing is performed before inputting into the spatio-temporal attention neural network model. 2. Use Kalman filtering to remove interference and improve the quality of data. 3. The convolution kernel of the convolutional neural network (CNN) can be used to calculate the spatial attention to obtain the spatial attention feature map. 4. The long short-term memory network (LSTM) in the recurrent neural network (RNN) is used to implement the temporal attention. 5. A fully connected layer is used to integrate the features of different layers, but some Dropout layers can be added before the fully connected layer to prevent overfitting. 6. For the adversarial generative network (GAN) of the road surface condition, its generator can use a transposed convolutional layer to gradually generate simulated road surface condition data. 7. The loss function of Wasserstein GAN is used to improve the stability of training. 8. When realizing the self-calibration of the dynamic compensation coefficient, by sharing the weights of some network layers, the adaptation speed of the model under the new road surface condition is accelerated.

[0058] For communication transmission, a hybrid TDMA / CSMA access mechanism is developed to construct a MESH network among wheel groups. The TDMA mode is enabled in high-density scenarios and an improved Lamport logical clock synchronization algorithm is adopted, with the time slot allocation error < 5 μs; in low-density scenarios, it switches to the CSMA / CA mode, and the contention window is dynamically adjusted through RSSI sensing. A load data-driven time synchronization technology is adopted to dynamically allocate time slot resources through the spatio-temporal correlation of weighing signals. The MESH network topology among weighing devices is optimized, the optimal multi-hop path is calculated based on the Floyd-Warshall algorithm, and a carrier sense dual-threshold mechanism is adopted between nodes to ensure an end-to-end delay at the 12 ms level.

[0059] Using multiple weighing devices (multiple ≥ 1) in the present invention, together with the vehicle frame and the upper computer interface, can form a set of intelligent freight vehicles or intelligent shopping carts (intelligent in that they adopt the weighing devices in the present invention and can achieve weighing).

[0060] In summary, through the integration of various functions, the weighing device in the present invention realizes functions such as self-power generation, wireless communication, intelligent weighing and compensation, non-inflatable, multi-terrain, modularization, etc., and can achieve full contact with the ground in various terrains (four wheels). Just by simply bolting the mounting bracket 1, the weighing device can be installed on the original vehicle body, rapidly enhancing the intelligent functions of the vehicle and reducing the intelligent transformation cost. At the same time, the dynamic signal is collected by the second weighing sensor to compensate the weighing result of the first weighing sensor 3, obtaining an accurate measurement result.

[0061] In addition, the present invention also discloses a weighing vehicle, which includes the above-mentioned weighing device. The weighing vehicle can be a shopping cart or other vehicles that can apply the weighing device in the present invention.

[0062] The present invention discloses multiple technical solutions, but there is no situation of giving opposite technical revelations.

[0063] Specific examples are applied in the present invention to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A weighing device, characterized in that: The weighing device comprises casters, which are used to be mounted on a vehicle and can be moved on the ground; The caster is provided with a weighing assembly, the weighing assembly includes a first weighing sensor and a second weighing sensor, the second weighing sensor is a dynamic pressure sensor, and can detect a dynamic weighing signal of the vehicle, the dynamic weighing signal includes the speed, acceleration, and amplitude of the vehicle; The weighing device also includes a control component connected to the first weighing sensor and the second weighing sensor signals respectively, and the control component is used to receive and process the weighing signal of the first weighing sensor and the weighing signal of the second weighing sensor, and then output an integrated weighing signal.

2. The weighing device according to claim 1, characterized in that: The first weighing sensor is a shaft pin sensor; And / or, the first weighing sensor is fixed on the rotating shaft of the caster; And / or, when one of the weighing devices is provided at the bottom of the vehicle, the first weighing sensor and the second weighing sensor are located on the extension line of the center of gravity of the vehicle structure above the casters and the cargo in the vehicle; when at least two of the weighing devices are provided at the bottom of the vehicle, all of the weighing devices are centered on the center of gravity of the vehicle structure above the casters and the cargo in the vehicle, and are evenly distributed along the circumference of the center of gravity of the vehicle structure above the casters and the cargo in the vehicle.

3. The weighing device according to claim 1, characterized in that: The second weighing sensor includes a plurality of piezoelectric induction weighing units connected to the control component signal; Wherein, a signal shielding unit is provided between adjacent piezoelectric inductive weighing units; or, there is a gap between adjacent piezoelectric inductive weighing units, and the size of the piezoelectric inductive weighing units is a preset size.

4. The weighing device according to claim 1, characterized in that: The caster comprises a support area, a vibration reduction area, a piezoelectric induction weighing area and a wear-resistant area which are arranged in sequence from the inside to the outside; wherein the piezoelectric induction weighing area is connected to the control component signal.

5. The weighing device according to claim 4, characterized in that: The vibration reduction zone includes a plurality of support members arranged along the circumference of the caster, the support members are hexagonal hollow structures, and the support members include a support layer, a buffer layer and a vibration reduction layer arranged in sequence from the inside to the outside, the hardness of the support layer is greater than the hardness of the vibration reduction layer, and the buffer layer is used to reduce stress concentration; And / or, the wear-resistant area is provided with a friction portion for increasing friction and a drainage groove.

6. The weighing device according to claim 4, characterized in that: The piezoelectric induction weighing area includes a plurality of piezoelectric induction weighing parts arranged along the circumference of the caster, a signal shielding part is provided between adjacent piezoelectric induction weighing parts, and the size of the piezoelectric induction weighing part is a preset size; the piezoelectric induction weighing part includes a piezoelectric induction detection element, and a signal transmission element connected to the piezoelectric induction detection element, the signal transmission element is connected to the control component signal, and the piezoelectric induction detection element and the signal transmission element are opposite to each other and sealing elements and protective elements are provided in sequence in opposite directions.

7. The weighing device according to claim 1, characterized in that: The weighing equipment includes a power generation component, which includes a first bracket arranged to avoid the caster, and a transmission member fixed on the caster. A generator is provided on the first bracket, and the input shaft of the generator is connected to the transmission member. The caster can drive the input shaft to rotate through the transmission member.

8. The weighing device according to claim 1, characterized in that: The weighing equipment includes a terrain compensation component, and the terrain compensation component includes a first connecting member. The first connecting member is arranged on the caster and is arranged to avoid the caster. The first connecting member has a guide cavity. The guide cavity is provided with a compensating member and a second connecting member that offset each other. The compensating member is located on the side of the second connecting member close to the caster. The compensating member can apply a force to the caster in a direction close to the ground. The second connecting member can move in the guide cavity along the vertical direction and has a connecting portion for connecting to the vehicle.

9. The weighing device according to claim 1, characterized in that: The second weighing sensor is a piezoresistive pressure sensor, a strain gauge pressure sensor, an inductive pressure sensor or a capacitive pressure sensor.

10. A weighing vehicle, characterized in that: The weighing vehicle comprises the weighing device according to any one of claims 1-9.

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