Object weight detection method and system and computer readable medium

Abstract

The invention relates to an object weight detection method and system and a computer readable medium, and the method comprises the steps: S1, judging whether a weighing offset is obtained or not, and if not, executing S2; if yes, the step S3 is executed; s2, collecting a first weighing signal and a first weight signal of the object within a first preset time length; calculating a weighing offset according to the first weighing signal and the first weight signal; s3, collecting a second weighing signal and a second weight signal of the object within a second preset time length; taking the second weight signal as an anchor point, and performing remapping processing on the second weighing signal according to the weighing offset to obtain a remapped second weighing signal; and S4, calculating the actual weight of the object according to the remapped second weighing signal and the remapped second weight signal. According to the invention, accurate object weight can be detected.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of dynamic product weighing, and specifically relates to a method and system for detecting the weight of an object and a computer-readable medium. Background Art

[0002] During the process of product logistics transportation, etc., it is necessary to weigh the package objects. Figure 1 It is an exemplary schematic diagram of the theoretical installation state of the weighing device. Figure 1 The weighing device 100 shown in [reference] is a belt scale weighing device. Referring to Figure 1 shown, exemplarily, during the weighing process, the running direction of the belt in the belt scale weighing device is the X direction. The object is weighed on the belt scale 103 after being on the scale from the input conveyor belt 101 and off the scale from the output conveyor belt 102. The weighing device 100 is provided with an on-scale position sensor 104 (also called an in-scale position sensor) and an off-scale position sensor 105 (also called an out-scale position sensor) to judge the on-scale and off-scale situations of the object. If the on-scale position sensor 104 is triggered by the object, it means that an object is on the scale; if the off-scale position sensor 105 is triggered by the object, it means that an object is off the scale. During the process of detecting the weight of the object, the data of the on-scale position sensor 104 and the off-scale position sensor 105 can be used to obtain the timing of the object from on-scale to off-scale, so as to determine which section of data is used for the final weight calculation.

[0003] Continuing to refer to Figure 1 shown, usually the on-scale position sensor 104 is installed at the front end of the belt scale 103 in the same vertical direction as the belt head (or slightly moved towards the center of the belt scale 103), and the off-scale position sensor 105 is installed at the rear end of the belt scale 103 in the same vertical direction as the belt tail (or slightly moved towards the center of the belt scale 103).

[0004] Figure 2A It is an exemplary schematic diagram of the actual installation state of the weighing device. Referring to Figure 2A shown, during the actual operation process, due to the limitation of the mechanical structure, the on-scale position sensor 104 and the off-scale position sensor 105 may not be installed at the theoretically optimal positions. Compared with Figure 1 in Figure 2A the on-scale position sensor 104 may generate an early on-scale offset (offset1), and the off-scale position sensor 105 may generate a late off-scale offset (offset2). Figure 2AThe up-scale offset offset1 shown in the figure may cause the object to be measured to trigger the up-scale position sensor 104, but in fact, it takes a certain period of time for the object to be measured to actually contact the weighing platform (belt scale 103); the down-scale offset offset2 may cause the object to be measured to trigger the down-scale position sensor 105 after it has left the belt scale 103 for a certain period of time.

[0005] Figure 2B is another exemplary schematic diagram of the actual installation state of the weighing device. Refer to Figure 2B As shown, during the actual operation process, compared with Figure 1 for Figure 2B the up-scale position sensor 104 in it may generate a lagging up-scale offset (offset1), and the down-scale position sensor 105 may generate a leading down-scale offset (offset2). During the actual application process, there may also be a situation where both the up-scale position sensor and the down-scale position sensor may generate a leading up-scale offset (not shown in the figure), or a situation where both the up-scale position sensor and the down-scale position sensor may generate a lagging up-scale offset (not shown in the figure).

[0006] The existence of the offset will affect the time when the object actually goes onto the scale and off the scale, which may cause the signal data in the wrong time period to be used in the calculation of the final weight of the object, resulting in an incorrect calculated weight. In the existing object weight detection methods, the up-scale offset and the down-scale offset are not considered, resulting in inaccurate detected object weights, and users may obtain incorrect object weight data. Summary of the Invention

[0007] The technical problem to be solved by this application is to provide a method, system and computer-readable medium for detecting the weight of an object, which can detect the accurate weight of the object.

[0008] The technical solution adopted by this application to solve the above technical problem is a method for detecting the weight of an object. During the process of detecting the weight of an object, the up-scale signal of the object is obtained according to the up-scale position sensor. There is an up-scale offset between the actual installation position and the theoretical installation position of the up-scale position sensor. The weight detection method includes: Step S1: Determine whether the up-scale offset has been obtained. If the determination is no, then proceed to execute Step S2; if the determination is yes, then proceed to execute Step S3; Step S2: Collect the first up-scale signal and the first weight signal of the object within the first preset time period; calculate the up-scale offset according to the first up-scale signal and the first weight signal; Step S3: Collect the second up-scale signal and the second weight signal of the object within the second preset time period; using the second weight signal as an anchor point, perform remapping processing on the second up-scale signal according to the up-scale offset to obtain the remapped second up-scale signal; and Step S4: Calculate the actual weight of the object according to the remapped second up-scale signal and the second weight signal.

[0009] In one embodiment of the present application, in step S2, before the step of calculating the weighing-in offset according to the first weighing-in signal and the first weight signal, the following steps are further included: filtering the first weight signal RW(t) by using the following formula to obtain the filtered first weight signal Rf(t):

[0010]

[0011] where T S1 represents the sampling period within the first preset duration; t represents a certain moment within the first preset duration; A represents the preset frequency, and the steps of obtaining the preset frequency A include: collecting the empty-scale weight signal within the third preset duration in the empty-scale state of the weighing device; processing the empty-scale weight signal according to the discrete Fourier transform and selecting the frequency with the highest amplitude within the preset frequency band as the preset frequency A; and in step S2, calculating the weighing-in offset according to the first weighing-in signal and the filtered first weight signal.

[0012] In one embodiment of the present application, the weighing-in signal includes a weighed-in signal and an unweighed-in signal. If the weighing-in position sensor is triggered at a certain moment t, the weighing-in position sensor outputs a weighed-in signal at the moment t; if the weighing-in position sensor is not triggered at a certain moment t, the weighing-in position sensor outputs an unweighed-in signal at the moment t.

[0013] In one embodiment of the present application, in step S2, the step of calculating the weighing-in offset according to the first weighing-in signal and the filtered first weight signal includes: calculating the first weight mutation curve Q(t) according to the filtered first weight signal; calculating the first integral S1 according to the first weight mutation curve Q(t) by using the following formula:[[]]

[0014]

[0015] where T 01 represents a certain moment within the first preset duration when the object is in the state of being fully weighed in and not weighed out, and the steps of obtaining the moment T 01 include: letting k be any moment within the first preset duration, and according to the formula calculating the moment k corresponding to the maximum value of Sk, and taking the moment k as the moment T 01 ; solving according to the formula to obtain the moment z; calculating the weighing-in moment Tw of the object according to the moment z by using the following formula:[[]]

[0016]

[0017] Wherein, A represents a preset frequency; Ti represents the duration for which the first on-scale signal is obtained within the first preset duration; the on-scale offset Of is calculated using the following formula:

[0018] Of = T1 - Tw

[0019] Wherein, T1 represents the moment when the first on-scale signal is first obtained within the first preset duration.

[0020] In an embodiment of the present application, in step S2, the step of calculating the first weight mutation curve Q(t) based on the filtered first weight signal Rf(t) includes: calculating the first weight mutation curve Q(t) using the following formula:

[0021]

[0022]

[0023] Wherein, T S1 represents the sampling period within the first preset duration; B is a constant greater than 0, and B is set according to the length of the object.

[0024] In an embodiment of the present application, in step S2, after the step of calculating the on-scale offset based on the first on-scale signal and the first weight signal, it further includes: determining whether the number of executions of step S2 is greater than or equal to the preset number n. If the determination is no, then step S2 is repeatedly executed; if the determination is yes, then step S3 is executed; wherein, the preset number n is an integer greater than or equal to 1.

[0025] In an embodiment of the present application, in step S2, after the step of obtaining the on-scale offset Of, it further includes: calculating the average on-scale offset O1 using the following formula:

[0026]

[0027] Wherein, n represents the preset number of executions of step S2; Of(i) represents the on-scale offset Of obtained when step S2 is executed for the i-th time.

[0028] In an embodiment of the present application, in step S3, with the second weight signal as the anchor point, remapping the second on-scale signal according to the average on-scale offset includes: remapping the second on-scale signal Lf(t) using the following formula to obtain the remapped second on-scale signal Mf(t):

[0029] Mf(t) = Lf(t + O1)

[0030] Wherein, t represents a certain moment within the second preset duration; O1 represents the average on-scale offset.

[0031] In an embodiment of the present application, in step S4, the step of calculating the actual weight of the object according to the remapped second weighing signal and the second weight signal includes: calculating the weight coefficient g(t) according to the remapped second weighing signal by using the following formula:

[0032]

[0033]

[0034] where D is a constant greater than 0; C is a constant greater than 1; E1 represents the moment when the weighing signal changes. The step of obtaining the moment E1 when the weighing signal changes includes: sequentially traversing the remapped second weighing signal within the second preset duration, and taking the moment when the remapped second weighed signal becomes the remapped second unweighed signal as the moment E1 when the weighing signal changes; E2 represents the moment when the first weighing-off signal changes; Tx represents the weighing-off moment of the object; filtering the second weight signal Wr(t) by using the following formula to obtain the filtered second weight signal Wf(t):

[0035]

[0036] where T s2 represents the sampling period within the second preset duration; t represents a certain moment within the second preset duration; A represents a preset frequency; calculating the actual weight W of the object by using the following formula true :

[0037]

[0038]

[0039] In an embodiment of the present application, in step S4, the step of obtaining the weighing-off moment Tx of the object includes: calculating the second weight mutation curve P(t) according to the filtered second weight signal Wf(t) by using the following formula:

[0040]

[0041]

[0042] where T S2 represents the sampling period within the second preset duration; b is a constant greater than 0, and B is set according to the length of the object; Ti2 represents the duration during which the second weighed signal is obtained within the second preset duration; calculating the second integral S2 according to the second weight mutation curve P(t) by using the following formula:

[0043]

[0044] where T 02Indicating a certain moment within the second preset duration when the object is in a state of being fully on the scale and not off the scale, obtaining moment T 02 The steps of 02 include: Let k be any moment within the second preset duration, and according to the formula Calculate the moment k corresponding to the maximum value of Sk, and take moment k as moment T 02 ; U 02 Indicates the moment corresponding to the last second weight signal within the second preset duration; According to the formula Solve to obtain moment y; According to moment y, use the following formula to calculate the off-scale moment Tx of the object:

[0045]

[0046] Where A represents the preset frequency.

[0047] In an embodiment of the present application, during the process of detecting the weight of the object, it further includes: Obtaining the off-scale signal of the object according to the off-scale position sensor, and there is an off-scale offset between the actual installation position and the theoretical installation position of the off-scale position sensor; The off-scale signal includes an off-scale signal and a non-off-scale signal. If the off-scale position sensor is triggered at a certain moment t, the off-scale position sensor outputs an off-scale signal at moment t; If the off-scale position sensor is not triggered at a certain moment t, the off-scale position sensor outputs a non-off-scale signal at moment t; Step S1 includes: Judging whether the on-scale offset and the off-scale offset have been obtained. If the judgment is no, then proceed to execute step S2; If the judgment is yes, then proceed to execute step S3; Step S2 further includes: Collecting the first off-scale signal within the first preset duration; Calculating the off-scale offset according to the first off-scale signal and the first weight signal; Step S3 further includes: Collecting the second off-scale signal within the second preset duration; Using the second weight signal as an anchor point, performing remapping processing on the second off-scale signal according to the off-scale offset to obtain the remapped second off-scale signal; Step S4 includes: Calculating the actual weight of the object according to the remapped second on-scale signal, the remapped second off-scale signal, and the second weight signal.

[0048] In an embodiment of the present application, in step S2, the step of calculating the off-scale offset according to the first off-scale signal and the first weight signal includes: Calculating the third weight mutation curve P3(t) according to the filtered first weight signal Rf(t) using the following formula:

[0049]

[0050]

[0051] Calculating the third integral S3 according to the third weight mutation curve P3(t) using the following formula:

[0052]

[0053] Among them, U 01 represents the moment corresponding to the last first weight signal within the first preset duration; according to the formula the moment y is calculated; according to the moment y, the following formula is used to calculate the object's off-scale moment Tx1:

[0054]

[0055] The following formula is used to calculate the off-scale offset Or:

[0056] Or = T2 - Tx1

[0057] Among them, T2 represents the moment when the first off-scale signal is first obtained within the first preset duration.

[0058] In an embodiment of the present application, in step S2, after the step of obtaining the off-scale offset Or, it further includes: using the following formula to calculate the average off-scale offset O2:

[0059]

[0060] Among them, n represents the preset number of times of executing step S2; Or(i) represents the off-scale offset Or obtained when step S2 is executed for the i-th time.

[0061] In an embodiment of the present application, in step S3, taking the second weight signal as an anchor point, according to the average off-scale offset, remapping processing is performed on the second off-scale signal, including: using the following formula to perform remapping processing on the second off-scale signal Lr(t) to obtain the remapped second off-scale signal Mr(t):

[0062] Mr(t) = Lr(t + O2)

[0063] In an embodiment of the present application, in step S4, in the step of calculating the actual weight of the object, it further includes: sequentially traversing the remapped second off-scale signals within the second preset duration, and taking the moment when the remapped second non-off-scale signal becomes the remapped second off-scale signal as the second off-scale signal change moment E2 new ; taking the second off-scale signal change moment E2 new as the first off-scale signal change moment E2 to calculate the weight coefficient g(t); taking the second off-scale signal change moment E2 new as the first off-scale signal change moment E2 to calculate the actual weight W of the object according to the weight coefficient g(t) true .

[0064] The present application also provides a weight detection system for an object to solve the above technical problems, including: a memory for storing instructions executable by a processor; and a processor for executing the instructions to implement the weight detection method for an object as described above.

[0065] The present application also provides a computer-readable medium storing computer program code, which implements the weight detection method for an object as described above when executed by a processor.

[0066] In an application scenario where a weighing device is provided with an on-scale position sensor but not with an off-scale position sensor, the technical solution of the present application takes into account the on-scale offset during the installation of the on-scale position sensor. In the case where the on-scale offset cannot be obtained through manual measurement, the present application can automatically calculate the on-scale offset based on the on-scale signal and the weight signal within a preset duration; the on-scale signal is remapped through the on-scale offset, and subsequently, the accurate actual weight of the object can be calculated based on the remapped on-scale signal and the weight signal, thereby eliminating the influence caused by the incorrect installation position of the on-scale position sensor.

[0067] In an application scenario where a weighing device is provided with both an on-scale position sensor and an off-scale position sensor, the technical solution of the present application takes into account both the on-scale offset and the off-scale offset, can eliminate the influence caused by the incorrect installation positions of the on-scale position sensor and the off-scale position sensor, and the present application can calculate the accurate actual weight of the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] To make the above objects, features, and advantages of the present application more obvious and understandable, the following detailed description of the specific embodiments of the present application is provided in conjunction with the accompanying drawings, where:

[0069] Figure 1 is an exemplary schematic diagram of the theoretical installation state of the weighing device;

[0070] Figure 2A is an exemplary schematic diagram of the actual installation state of the weighing device;

[0071] Figure 2B is another exemplary schematic diagram of the actual installation state of the weighing device;

[0072] Figure 3 is an exemplary flowchart of the weight detection method for an object according to an embodiment of the present application;

[0073] Figure 4 is an exemplary flowchart of the weight detection method for an object according to another embodiment of the present application;

[0074] Figure 5 is a system block diagram of the weight detection system for an object according to an embodiment of the present application. Detailed Implementation Modes

[0075] To make the above objects, features, and advantages of the present application more obvious and understandable, the following provides a detailed description of the specific implementation modes of the present application in conjunction with the accompanying drawings.

[0076] In the following description, many specific details are set forth to facilitate a thorough understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0077] As shown in the present application and the claims, unless the context clearly indicates otherwise, the words "a", "an", "one", and / or "the" are not specifically singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0078] Flowcharts are used in the present application to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the operations described above or below do not necessarily need to be executed precisely in order. On the contrary, they can be executed in reverse order or simultaneously. At the same time, other operations may be added to these processes, or one or more steps may be removed from these processes.

[0079] The present application proposes a method for detecting the weight of an object, which can be applied to an application scenario where a weighing device is provided with an upper weighing position sensor but no lower weighing position sensor. The weighing device can be of any type, such as a belt scale and a non-belt scale. For the dynamic weighing scenario of a non-belt scale, for example, when the object to be measured is transported to the weighing platform by a robotic arm, an upper weighing position sensor can be placed at an appropriate position above the weighing platform. When the object triggers the upper weighing position sensor, it indicates that the object has fully contacted the weighing platform plane, and weighing can start. However, in actual application scenarios, it is difficult to install the upper weighing position sensor at an appropriate position above the weighing platform. Therefore, when the object triggers the upper weighing position sensor, it may not have fully contacted the weighing platform plane, and in this case, it can be considered that an early upper weighing offset has occurred. The present application can also be applied to an application scenario where the weighing device is provided with both an upper weighing position sensor and a lower weighing position sensor.

[0080] Exemplarily, the on-scale position sensor can output an on-scale signal, which includes an on-scale signal (signal value is 1) and an off-scale signal (signal value is 0). If the on-scale position sensor is triggered at a certain moment t, the on-scale position sensor outputs an on-scale signal at moment t (for example, Uf(t) = 1); if the on-scale position sensor is not triggered at a certain moment t, the on-scale position sensor outputs an off-scale signal at moment t (for example, Uf(t) = 0). The off-scale position sensor can output an off-scale signal, which includes an off-scale signal (signal value is 1) and an on-scale signal (signal value is 0). If the off-scale position sensor is triggered at a certain moment t, the off-scale position sensor outputs an off-scale signal at moment t (for example, Dr(t) = 1); if the off-scale position sensor is not triggered at a certain moment t, the off-scale position sensor outputs an on-scale signal at moment t (for example, Dr(t) = 0). This application does not limit the signal value settings of the on-scale signal, off-scale signal, off-scale signal, and on-scale signal.

[0081] The object weight detection method of this application can run in the controller of the weighing device or in the cloud platform. When the object weight detection method runs on the cloud platform, the data of the weighing device and the cloud platform data are interacted through a wireless network. Exemplarily, the cloud platform can include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, interconnected cloud, multi-cloud, etc. or any combination thereof. This application does not limit the operating environment of the object weight detection method.

[0082] Figure 3 is an exemplary flowchart of the object weight detection method according to an embodiment of this application. Figure 3 In the illustrated embodiment, an on-scale position sensor is provided in the weighing device, and an off-scale position sensor is not provided. Refer to Figure 3 As shown, the object weight detection method of this embodiment includes the following steps:

[0083] Step S1: Determine whether the on-scale offset has been obtained. If the determination is no, proceed to step S2; if the determination is yes, proceed to step S3.

[0084] Step S2: Collect the first on-scale signal and the first weight signal of the object within the first preset time period; calculate the on-scale offset according to the first on-scale signal and the first weight signal.

[0085] Step S3: Collect the second on-scale signal and the second weight signal of the object within the second preset time period; using the second weight signal as an anchor point, remap the second on-scale signal according to the on-scale offset to obtain the remapped second on-scale signal.

[0086] Step S4: Calculate the actual weight of the object according to the remapped second on-scale signal and the second weight signal.

[0087] Exemplarily, it can be considered that step S1 and step S2 are equivalent to the configuration phase, and step S3 and step S4 are equivalent to the running phase. In some embodiments, both an upper scale position sensor and a lower scale position sensor can be provided in the weighing device. Then, during the process of processing the weight signal of the object, relevant data of both the upper scale position sensor and the lower scale position sensor need to be considered simultaneously in the aforementioned steps S1 to S4, so as to obtain the actual weight of the object. The processing methods for the data of the upper scale position sensor, the data of the lower scale position sensor, and the weight signal in this weighing scenario will be introduced together in the corresponding steps later.

[0088] Exemplarily, during the actual application process, the second preset duration in step S3 can be set to a fixed value or a value calculated through dynamic detection. When the second preset duration is set to a fixed value (such as 5 seconds), the weighing scenario includes: weighing at a fixed rhythm. For example, the robotic arm transports an object to the scale platform of the weighing device every 5 seconds. When the second preset duration is set to a value calculated through dynamic detection, the weighing scenario includes: randomly weighing the packaged objects in the logistics system. For example, step S3 is equivalent to the formal operation phase of the system. Then, during the formal operation phase, the up and down scale signals can be continuously detected. Generally, the time from the moment when the up scale signal changes from a signal value of 0 to a signal value of 1 plus the up scale offset calculated in step S2 to the next moment when the up scale signal changes from a signal value of 0 to a signal value of 1 plus the up scale offset calculated in step S2 is used as the second preset duration; if both an up scale signal and a down scale signal exist in the weighing scenario, then the time from when the up scale signal changes from a signal value of 0 to a signal value of 1 to when the down scale signal changes from a signal value of 1 to a signal value of 0 can be used as the second preset duration. Generally, the second preset duration can be set in the case of dynamic detection calculation, so as to adapt to more weighing scenarios. The present application does not limit the setting method of the second preset duration.

[0089] The above steps S1 to S4 will be described in detail below:

[0090] In step S1, it is judged whether the up scale offset has been obtained. If the judgment result is negative, then proceed to execute step S2; if the judgment result is positive, then proceed to execute step S3. In some embodiments, if both an upper scale position sensor and a lower scale position sensor are provided in the weighing device, then step S1 includes: judging whether the up scale offset and the down scale offset have been obtained. If the judgment result is negative, then proceed to execute step S2; if the judgment result is positive, then proceed to execute step S3.

[0091] Exemplarily, the offset of the present application refers to the offset in the time dimension, which can be understood as the deviation between the actual output signal time of the position sensor and the theoretical output signal time. The on-scale offset and the off-scale offset can be directly provided by the user. The user can also provide the belt running speed and the installation error distance of the position sensor, and the offset in the time dimension can be calculated based on the installation error distance and the belt running speed. The offset of the position sensor being advanced or lagged can be identified by a plus sign (+) and a minus sign (-). For example, the plus sign (+) is used to represent the advanced offset, and the minus sign (-) is used to represent the lagged offset, which is not limited in the present application.

[0092] In step S2, the first on-scale signal and the first weight signal of the object within the first preset duration are collected; the on-scale offset is calculated based on the first on-scale signal and the first weight signal. In some embodiments, if both an on-scale position sensor and an off-scale position sensor are provided in the weighing device, step S2 further includes: collecting the first off-scale signal within the first preset duration; calculating the off-scale offset based on the first off-scale signal and the first weight signal. Exemplarily, the first preset duration T S can be set to any number of seconds, and can be based on (hertz) sampling frequency to collect the first on-scale signal, the first off-scale signal, and the first weight signal, and store these signals in the corresponding data buffer for subsequent calculation.

[0093] In some embodiments, in step S2, after the steps of calculating the on-scale offset based on the first on-scale signal and the first weight signal, and calculating the off-scale offset based on the first off-scale signal and the first weight signal, it further includes: determining whether the number of times of executing step S2 is greater than or equal to the preset number n. If the determination is no, then step S2 is repeatedly executed; if the determination is yes, then it proceeds to execute step S3; where the preset number n is an integer greater than or equal to 1. Exemplarily, in step S2, the same measured object can be used to perform weighing n times according to the normal weighing process. Such a setting can obtain multiple sets of signal data, and calculate the on-scale offset and the off-scale offset based on the multiple sets of signal data, which can improve the accuracy of data calculation. The measured object preferably has a regular shape and a mass of at least 20% greater than the capacity of the weighing platform, and the greater the density of the measured object, the better.

[0094] In some embodiments, in step S2, before the step of calculating the on-scale offset based on the first on-scale signal and the first weight signal, it further includes:

[0095] Step S2a: Filter the first weight signal RW(t) using the following formula (1) to obtain the filtered first weight signal Rf(t):

[0096]

[0097] Among them, T S1 represents the sampling period within the first preset duration. For example, during the complete weighing process, it takes 10 seconds for the object to go from being placed on the scale to being removed. Then, sampling can be performed according to a sampling period of 0.001 seconds (i.e., the sampling frequency is 1000 Hz, which is the reciprocal of 0.001 seconds). In this case, the first preset duration is 10 seconds, and T S1 is 0.001 seconds; t represents a certain moment within the first preset duration; A represents the preset frequency. The steps to obtain the preset frequency A include: keeping the weighing platform of the weighing device empty and running for several seconds (such as 30 seconds, 60 seconds, 120 seconds, etc.); collecting the empty-scale weight signal W(t) within the third preset duration in the empty-scale state of the weighing device; processing the empty-scale weight signal W(t) according to the discrete Fourier transform and selecting the frequency with the highest amplitude within a preset frequency band (such as 20 Hz - 100 Hz) as the preset frequency A. Exemplarily, in step S2, the on-scale offset can be calculated based on the first on-scale signal and the filtered first weight signal.

[0098] In some embodiments, in step S2, the steps of calculating the on-scale offset according to the first on-scale signal and the filtered first weight signal include:

[0099] Step S2c1: Calculate the first weight mutation curve Q(t) according to the filtered first weight signal; in some embodiments, the steps of calculating the first weight mutation curve Q(t) according to the filtered first weight signal Rf(t) include: calculating the first weight mutation curve Q(t) using the following formulas (2) and (3):

[0100]

[0101]

[0102] Among them, T S1 represents the sampling period within the first preset duration; B is a constant greater than 0. For example, B can be selected from 10 - 40 according to the length of the object. The longer the measured object, the smaller the value of B. B can also take a fixed value of 20, and this application does not make any restrictions; Ti represents the duration during which the first on-scale signal (e.g., Pf(t) = 1) is obtained within the first preset duration. Exemplarily, the x calculated in formula (3) needs to be rounded up to ensure that the final x is an integer.

[0103] Step S2c2: Calculate the first integral S1 using the following formula (4) according to the first weight mutation curve Q(t):

[0104]

[0105] Among them, T 01Indicates a moment in the first preset time when the object is completely on the scale but not off the scale, and obtains the time T 01 The steps include: let k be any time within the first preset time length, according to the formula Calculate the time k when Sk reaches its maximum value and take time k as time T 01 ;

[0106] Step S2c3: According to the formula Solve to get the time z;

[0107] Step S2c4: Calculate the weighing time Tw of the object according to the time z using the following formula (5):

[0108]

[0109] Wherein, A represents the preset frequency;

[0110] Step S2c5: Calculate the scale offset Of using the following formula (6):

[0111] Of=T1-Tw (6)

[0112] T1 represents the time when the first on-scale signal (eg, Pf(t)=1) is first obtained within the first preset time period.

[0113] In some embodiments, in step S2, the step of calculating the offset of the lower scale according to the first lower scale signal and the first weight signal includes:

[0114] Step S2d1: Calculate the third weight mutation curve P3(t) using the following formula (7) according to the filtered first weight signal Rf(t):

[0115]

[0116] Exemplarily, the value of x in formula (7) can be obtained according to the above formula (3).

[0117] Step S2d2: Calculate the third integral S3 according to the third weight mutation curve P3(t) using the following formula (8):

[0118]

[0119] Among them, U 01 represents the time corresponding to the last first weight signal within the first preset time length, U 01 It can also indicate the time corresponding to the last first weight signal after the object has been weighed.

[0120] Step S2d3: According to the formula The calculated moment is y;

[0121] Step S2d4: Calculate the moment Tx1 when the object leaves the scale according to the moment y using the following formula (9):

[0122]

[0123] Step S2d5: Calculate the off-scale offset Or using the following formula (10):

[0124] Or = T2 - Tx1 (10)

[0125] Wherein, T2 represents the moment when the first off-scale signal (for example, Pr(t)=1) is obtained for the first time within the first preset time period.

[0126] Exemplarily, after repeating step S2 n times, n sets of on-scale offsets Of and off-scale offsets Or can be obtained, and subsequently, these offsets can be further processed to obtain more accurate offsets.

[0127] In some embodiments, in step S2, after the step of obtaining the on-scale offset Of, the following is further included:

[0128] Step S2c6: Calculate the average on-scale offset O1 using the following formula (11):

[0129]

[0130] Wherein, n represents the preset number of times of executing step S2; Of(i) represents the on-scale offset Of obtained when step S2 is executed for the i-th time.

[0131] In some embodiments, in step S2, after the step of obtaining the off-scale offset Or, the following is further included:

[0132] Step S2d6: Calculate the average off-scale offset O2 using the following formula (12):

[0133]

[0134] Wherein, n represents the preset number of times of executing step S2; Or(i) represents the off-scale offset Or obtained when step S2 is executed for the i-th time.

[0135] In step S3, a second weighing signal and a second weight signal of the object within a second preset duration are collected; taking the second weight signal as an anchor point (reference point), the second weighing signal is remapped according to the weighing offset to obtain a remapped second weighing signal. In some embodiments, if both a weighing position sensor and a weighing-off position sensor are provided in the weighing device, step S3 further includes: collecting a second weighing-off signal within the second preset duration; taking the second weight signal as an anchor point, the second weighing-off signal is remapped according to the weighing-off offset to obtain a remapped second weighing-off signal. Exemplarily, the second preset duration and the first preset duration may be set to be equal or unequal, which is not limited in this application. Taking the weight signal as an anchor point can be understood as that the moment corresponding to the weight signal never changes. During the remapping process of the signal, the weighing signal or the weighing-off signal can also be used as an anchor point, which is not limited in this application.

[0136] In some embodiments, in step S3, taking the second weight signal as an anchor point, remapping the second weighing signal according to the average weighing offset includes: remapping the second weighing signal Lf(t) by using the following formula (13) to obtain a remapped second weighing signal Mf(t):

[0137] Mf(t) = Lf(t + O1) (13)

[0138] where t represents a certain moment within the second preset duration; O1 represents the average weighing offset. Exemplarily, in some weighing scenarios, the weighing position sensor may be installed relatively forward, and the weighing signal may be triggered before the object is officially weighed, resulting in the weighing signal arriving too early. Therefore, formula (13) can be understood as logically delaying the weighing signal appropriately.

[0139] In some embodiments, in step S3, taking the second weight signal as an anchor point, remapping the second weighing-off signal according to the average weighing-off offset includes: remapping the second weighing-off signal Lr(t) by using the following formula (14) to obtain a remapped second weighing-off signal Mr(t):

[0140] Mr(t) = Lr(t + O2) (14)

[0141] Exemplarily, in some weighing scenarios, the weighing-off position sensor may be installed relatively backward, and the weighing-off signal may be triggered after the object has been weighed off for some time, resulting in the weighing-off signal arriving too late. Therefore, formula (14) can be understood as logically advancing the weighing-off signal appropriately.

[0142] Taking Table 1 and Table 2 as examples, this application introduces the process of remapping the on-scale signal based on the on-scale offset and the off-scale signal based on the off-scale offset with the weight signal as the anchor point. The sampling frequency of the signals in Table 1 and Table 2 is 1000Hz. Assume that the on-scale offset of the on-scale position sensor in the time dimension is +2ms (milliseconds), and the off-scale offset of the off-scale position sensor in the time dimension is -2ms. Remap the on-scale signal and off-scale signal in Table 1 according to the on-scale offset of +2ms and the off-scale offset of -2ms (equivalent to performing a displacement operation on the signal data corresponding to different moments), thereby obtaining Table 2.

[0143] Table 1 Original Signal Data Table

[0144]

[0145]

[0146] Table 2 Signal Data Table after Remapping Processing

[0147]

[0148] Exemplarily, as shown in Table 2, after the signal is remapped, at the same moment, only when the on-scale signal, off-scale signal, and weight signal are all non-empty can the actual weight of the object be calculated based on these signal data (such as the signal data corresponding to the 5th ms to the 12th ms in Table 2).

[0149] Exemplarily, in some embodiments, when the signal data is sampled to time tn, the latest remapped signal data can be truncated at time ta according to the following formula (15). Sampling can continue and traverse the remapped signal data, but the traversal cannot exceed time ta.

[0150]

[0151] In step S4, calculate the actual weight of the object according to the remapped second on-scale signal and second weight signal. In some embodiments, in step S4, the step of calculating the actual weight of the object according to the remapped second on-scale signal and second weight signal includes:

[0152] Step S4a: Calculate the weight coefficient g(t) according to the remapped second on-scale signal using the following formulas (16) and (17):

[0153]

[0154]

[0155] Wherein, D is a constant greater than 0. For example, according to experience, D can usually be set to 1. In practical applications, if there is obvious jitter when the object is placed on or taken off the scale due to mechanical structure problems (such as the jitter caused by the manipulator placing and taking the object), then D can be set to a smaller value; C is a constant greater than 1. For example, according to experience, C can be set to 10. In the weighing scenario of using a belt scale, C can be set according to the length of the object. In the weighing scenario of using a non-belt scale, C can be set according to the time when the object is completely on the scale. If the time when the object is on the scale is longer, C can take a smaller value; E1 represents the moment of the change of the signal when the object is placed on the scale. The steps to obtain the moment E1 of the change of the signal when the object is placed on the scale include: sequentially traversing the remapped second signal when the object is placed on the scale within the second preset duration, and taking the moment when the remapped second signal that the object has been placed on the scale (for example, Mf(t)=1) becomes the remapped second signal that the object has not been placed on the scale (for example, Mf(t)=0) as the moment E1 of the change of the signal when the object is placed on the scale; E2 represents the first moment of the change of the signal when the object is taken off the scale; Tx represents the moment when the object is taken off the scale;

[0156] Step S4b: Filter the second weight signal Wr(t) using the following formula (18) to obtain the filtered second weight signal Wf(t):

[0157]

[0158] Wherein, T S2 represents the sampling period within the second preset duration. For example, in the complete weighing process, it takes a total of 10 seconds for the object to be placed on and taken off the scale. Then, sampling can be performed at a sampling period of 0.001 seconds (that is, the sampling frequency is 1000 Hz, which is the reciprocal of 0.001 seconds). Then, the second preset duration is 10 seconds, and T S2 is 0.001 seconds; t represents a certain moment within the second preset duration; A represents a preset frequency. Exemplarily, after filtering the second weight signal Wr(T) according to formula (18), the interference caused by high-frequency noise can be eliminated.

[0159] Step S4c: Calculate the actual weight W of the object using the following formula (19) and formula (20) true :

[0160]

[0161]

[0162] In some embodiments, the steps to obtain the moment Tx when the object is taken off the scale in formula (17) of step S4a include:

[0163] Step S4a1: Calculate the second weight mutation curve P(t) according to the filtered second weight signal Ef(t) using the following formulas (21) and (22):

[0164]

[0165]

[0166] where T S2 represents the sampling period within the second preset duration; B is a constant greater than 0, and B is set according to the length of the object; Ti2 represents the duration during which the second on-scale signal is obtained within the second preset duration; Exemplarily, in a weighing scenario with only an on-scale position sensor and no off-scale position sensor, the weight mutation curve can be used to replace the function of the off-scale position sensor.

[0167] Step S4a2: Calculate the second integral S2 according to the second weight mutation curve P(t) using the following formula (23):

[0168]

[0169] where T 02 represents a certain moment within the second preset duration when the object is in the state of being fully on the scale and not off the scale, and the step of obtaining moment T 02 includes: Let k be any moment within the second preset duration, and according to the formula calculate the moment k corresponding to the maximum value of Sk, and take the moment k as moment T 02 ; U 02 represents the moment corresponding to the last second weight signal within the second preset duration;

[0170] Step S4a3: Solve to obtain moment y according to the formula

[0171] Step S4a4: Calculate the off-scale moment Tx of the object according to moment y using the following formula (24):

[0172]

[0173] In some embodiments, if both an on-scale position sensor and an off-scale position sensor are provided in the weighing device, step S4 needs to include: calculating the actual weight of the object according to the remapped second on-scale signal, the remapped second off-scale signal, and the second weight signal.

[0174] ​Exemplarily, in the step of calculating the actual weight of the object, it further includes: sequentially traversing the remapped second off-scale signal within the second preset duration, and taking the moment when the remapped second non-off-scale signal (e.g., Mr(t)=0) becomes the remapped second off-scale signal (e.g., Mr(t)=1) as the second off-scale signal change moment E2 new ; taking the second off-scale signal change moment E2 new as the first off-scale signal change moment E2, so as to calculate the weight coefficient g(t) according to formula (16) of the previous step S4a; taking the second off-scale signal change moment E2 new as the first off-scale signal change moment E2, so as to calculate the actual weight W of the object according to the weight coefficient g(t) and formula (19) of the previous step S4c true .

[0175] The following uses an embodiment to generally summarize the object weight detection method introduced above in this application. Figure 4 is an exemplary flowchart of the object weight detection method according to another embodiment of this application. Refer to Figure 4 as shown. In step S410, it enters the configuration stage; in step S420, it is judged whether the offset of the position sensor can be directly obtained. If the judgment is yes, it turns to execute step S440; if the judgment is no, it executes step S430; in step S430, the object is weighed multiple times, and the offset is automatically calculated according to the signal data during the weighing process; in step S440, it enters the operation stage; in step S450, the object is weighed, and the signals of the position sensor and the weight signal of the object are collected; in step S460, taking the weight signal as an anchor point, the signal of the position sensor is remapped using the offset; in step S470, the weight signal is filtered and denoised; in step S480, the actual weight of the object is calculated according to the remapped position sensor signal and the filtered weight signal.

[0176] In an application scenario where an on-scale position sensor is provided in the weighing device but no off-scale position sensor is provided, the technical solution of this application takes into account the on-scale offset during the installation of the on-scale position sensor. In the case where the on-scale offset cannot be obtained through manual measurement, this application can automatically calculate the on-scale offset according to the on-scale signal and the weight signal within the preset duration; the on-scale signal is remapped using the on-scale offset, and subsequently, the accurate actual weight of the object can be calculated according to the remapped on-scale signal and the weight signal, thereby eliminating the influence caused by the incorrect installation position of the on-scale position sensor.

[0177] In an application scenario where both an upper weighing position sensor and a lower weighing position sensor are provided in a weighing device, the technical solution of the present application takes into account both the upper weighing offset and the lower weighing offset, can eliminate the influence caused by incorrect installation positions of the upper weighing position sensor and the lower weighing position sensor, and the present application can calculate the accurate actual weight of an object.

[0178] The present application further includes a weight detection system for an object, including a memory and a processor. Among them, the memory is used to store instructions executable by the processor; the processor is used to execute the instructions to implement the weight detection method for the object described above.

[0179] Figure 5 It is a system block diagram of the weight detection system for an object according to an embodiment of the present application. Refer to Figure 5 As shown, the weight detection system 500 for the object may include an internal communication bus 501, a processor 502, a read-only memory (ROM) 503, a random access memory (RAM) 504, and a communication port 505. The weight detection system 500 for the object may further include a hard disk 506. The internal communication bus 501 can realize data communication between components of the weight detection system 500 for the object. The processor 502 can make judgments and issue prompts. In some embodiments, the processor 502 may be composed of one or more processors. The communication port 505 can realize data communication between the weight detection system 500 for the object and the outside. In some embodiments, the weight detection system 500 for the object can send and receive information and data from a network through the communication port 505. The weight detection system 500 for the object may further include different forms of program storage units and data storage units, such as a hard disk 506, a read-only memory (ROM) 503, and a random access memory (RAM) 504, which can store various data files used for computer processing and / or communication, as well as possible program instructions executed by the processor 502. The processor executes these instructions to implement the main part of the method. The result processed by the processor is transmitted to the user device through the communication port and displayed on the user interface.

[0180] The above-mentioned weight detection method for an object can be implemented as a computer program, stored in the hard disk 506, and can be loaded into the processor 502 for execution to implement the weight detection method for the object of the present application.

[0181] The present application further includes a computer-readable medium storing computer program code, and the computer program code implements the weight detection method for the object described above when executed by the processor.

[0182] When the method for detecting the weight of an object is implemented as a computer program, it can also be stored in a computer-readable storage medium as an article of manufacture. For example, the computer-readable storage medium may include, but is not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic strips), optical disks (e.g., compact disks (CDs), digital versatile disks (DVDs)), smart cards, and flash memory devices (e.g., electrically erasable programmable read-only memories (EPROMs), cards, sticks, key drives). In addition, the various storage media described herein can represent one or more devices and / or other machine-readable media for storing information. The term "machine-readable medium" may include, but is not limited to, wireless channels and various other media (and / or storage media) that can store, contain, and / or carry code and / or instructions and / or data).

[0183] It should be understood that the embodiments described above are merely illustrative. The embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the processor can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, and / or other electronic units designed to perform the functions described herein, or a combination thereof.

[0184] Some aspects of the present application can be executed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software can all be referred to as "data blocks", "modules", "engines", "units", "components", or "systems". The processor can be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or a combination thereof. In addition, aspects of the present application may be embodied as a computer product located in one or more computer-readable media, the product including computer-readable program code. For example, the computer-readable media may include, but is not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic tapes...), optical disks (e.g., compact disks CD, digital versatile disks DVD...), smart cards, and flash memory devices (e.g., cards, sticks, key drives...).

[0185] A computer-readable medium may include a propagated data signal having computer program code embodied therein, for example, on a baseband or as part of a carrier wave. The propagated signal may take any of a variety of forms, including electromagnetic, optical, and the like, or any suitable combination thereof. The computer-readable medium may be any computer-readable medium other than a computer-readable storage medium that can communicate, propagate, or transport a program for use by an instruction execution system, apparatus, or device. Program code located on a computer-readable medium may be propagated by any suitable medium, including radio, cable, fiber optic cable, RF signals, or similar media, or any combination of the foregoing media.

[0186] The basic concepts have been described above. Obviously, for those skilled in the art, the above application disclosure is only an example and does not constitute a limitation to the present application. Although not explicitly stated here, those skilled in the art may make various modifications, improvements, and corrections to the present application. Such modifications, improvements, and corrections are proposed in the present application, so such modifications, improvements, and corrections still fall within the spirit and scope of the exemplary embodiments of the present application.

[0187] Meanwhile, the present application uses specific terms to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" mean a certain feature, structure, or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that the "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more at different positions in this specification is not necessarily the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the present application may be combined appropriately.

[0188] In some embodiments, numbers are used to describe components and attribute quantities. It should be understood that such numbers used in the description of embodiments are modified by the modifiers "about", "approximately", or "substantially" in some examples. Unless otherwise specified, "about", "approximately", or "substantially" indicate that the said numbers allow a variation of ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may vary according to the characteristics required by individual embodiments. In some embodiments, the numerical parameters should consider the specified significant digits and adopt the method of retaining general digits. Although the numerical ranges and parameters used to confirm the scope breadth in some embodiments of the present application are approximate values, in specific embodiments, such numerical settings are as precise as possible within the feasible range.

Claims

1. A method for detecting the weight of an object, during the process of detecting the weight of the object, obtaining the on-scale signal of the object according to the on-scale position sensor, there is an on-scale offset between the actual installation position and the theoretical installation position of the on-scale position sensor, characterized in that, Including: Step S1: Determine whether the on-scale offset has been obtained. If the determination result is no, then proceed to execute Step S2; If the determination result is yes, then proceed to execute Step S3; Step S2: Collect a first on-scale signal and a first weight signal of the object within a first preset duration; Calculate the on-scale offset according to the first on-scale signal and the first weight signal; Step S3: Collect a second on-scale signal and a second weight signal of the object within a second preset duration; Using the second weight signal as an anchor point, perform remapping processing on the second on-scale signal according to the on-scale offset to obtain a remapped second on-scale signal; And Step S4: Calculate the actual weight of the object according to the remapped second on-scale signal and the second weight signal.

2. The weight detection method according to claim 1, characterized in that, In Step S2, before the step of calculating the on-scale offset according to the first on-scale signal and the first weight signal, it further includes: Filter the first weight signal RW(t) using the following formula to obtain a filtered first weight signal Rf(t): Among them, T S1 represents the sampling period within the first preset duration; t represents a certain moment within the first preset duration; A represents a preset frequency. The steps of obtaining the preset frequency A include: collecting an empty scale weight signal within a third preset duration in the empty scale state of the weighing device; processing the empty scale weight signal according to the discrete Fourier transform and selecting the frequency with the highest amplitude within a preset frequency band as the preset frequency A; and In Step S2, calculate the on-scale offset according to the first on-scale signal and the filtered first weight signal.

3. The weight detection method according to claim 2, wherein The on-scale signal includes an on-scale signal and an off-scale signal. If the on-scale position sensor is triggered at a certain moment t, the on-scale position sensor outputs the on-scale signal at moment t; If the on-scale position sensor is not triggered at a certain moment t, the on-scale position sensor outputs the off-scale signal at moment t.

4. The weight detection method according to claim 3, wherein In Step S2, the step of calculating the on-scale offset according to the first on-scale signal and the filtered first weight signal includes: Calculate a first weight mutation curve Q(t) according to the filtered first weight signal; Calculate a first integral S1 according to the first weight mutation curve Q(t) using the following formula: Among them, T 01 represents a certain moment within the first preset duration when the object is in a state of being fully on the scale and not off the scale, and obtaining the moment T 01 The steps of 01 include: Let k be any moment within the first preset duration. According to the formula calculate the moment k corresponding to the maximum value of Sk, and take the moment k as the moment T 01 ; According to the formula Solve to obtain the moment z; Calculate the on-scale moment Tw of the object according to the moment z using the following formula: Where, A represents the preset frequency; Ti represents the duration during which a first on-scale signal is obtained within the first preset duration; Calculate the on-scale offset Of using the following formula: Of = T1 - Tw Where, T1 represents the moment when the first on-scale signal is first obtained within the first preset duration.

5. The weight detection method according to claim 4, wherein In Step S2, the step of calculating the first weight mutation curve Q(t) according to the filtered first weight signal Rf(t) includes: Calculate the first weight mutation curve Q(t) using the following formula: Among them, T S1 represents the sampling period within the first preset duration; B is a constant greater than 0, and B is set according to the length of the object.

6. The weight detection method according to claim 1 or 4 or 5, characterized in that, In Step S2, after the step of calculating the on-scale offset according to the first on-scale signal and the first weight signal, it further includes: Determine whether the number of executions of Step S2 is greater than or equal to a preset number n. If the determination result is no, then repeat the execution of Step S2; If the determination result is yes, then proceed to execute Step S3; Wherein, the preset number n is an integer greater than or equal to 1.

7. The weight detection method according to claim 1 or 6, characterized in that, In Step S2, after the step of obtaining the on-scale offset Of, it further includes: Calculate an average on-scale offset O1 using the following formula: Wherein, n represents the preset number of times for executing the step S2; Of(i) represents the on-scale offset Of obtained when the step S2 is executed for the i-th time.

8. The weight detection method according to claim 7, wherein In the step S3, with the second weight signal as an anchor point, remapping the second on-scale signal according to the average on-scale offset includes: remapping the second on-scale signal Lf(t) by using the following formula to obtain the remapped second on-scale signal Mf(t): Mf(t) = Lf(t + O1) Wherein, t represents a certain moment within the second preset duration; O1 represents the average on-scale offset.

9. The weight detection method according to claim 8, wherein In the step S4, the step of calculating the actual weight of the object according to the remapped second on-scale signal and the second weight signal includes: Calculating a weight coefficient g(t) according to the remapped second on-scale signal by using the following formula: Where D is a constant greater than 0; c is a constant greater than 1; E1 represents the moment when the on-scale signal changes. The step of obtaining the moment E1 when the on-scale signal changes includes: sequentially traversing the remapped second on-scale signal within the second preset duration, and taking the moment when the remapped second on-scale signal that has been on the scale becomes the remapped second on-scale signal that has not been on the scale as the moment E1 when the on-scale signal changes; E2 represents the moment when the first off-scale signal changes; Tx represents the off-scale moment of the object. Filtering the second weight signal Wr(t) by using the following formula to obtain the filtered second weight signal Wf(t): Among them, T S2 represents the sampling period within the second preset duration; t represents a certain moment within the second preset duration; A represents the preset frequency; The actual weight W of the object is calculated using the following formula true :[[-END]] 10. The weight detection method according to claim 9, wherein In the step S4, the step of obtaining the off-scale moment Tx of the object includes: Calculating a second weight mutation curve P(t) according to the filtered second weight signal Wf(t) by using the following formula: Among them, T S2 represents the sampling period within the second preset duration; B is a constant greater than 0, and B is set according to the length of the object; Ti2 represents the duration for which the second weighed signal has been obtained within the second preset duration; Calculating a second integral S2 according to the second weight mutation curve P(t) by using the following formula: Among them, T 02 represents a certain moment within the second preset duration when the object is in a state of being fully on the scale and not off the scale, and the moment T is obtained 02 The step of 02 includes: Let k be any moment within the second preset duration, and according to the formula calculate the moment k corresponding to the maximum value of Sk, and take the moment k as the moment T 02 ; U 02 represents the moment corresponding to the last second weight signal within the second preset duration; According to the formula Solve to obtain the time y; Calculating the off-scale moment Tx of the object according to the moment y by using the following formula: Wherein, A represents the preset frequency.

11. The weight detection method according to claim 10, wherein During the process of detecting the weight of the object, it further includes: obtaining the off-scale signal of the object according to the off-scale position sensor. There is an off-scale offset between the actual installation position and the theoretical installation position of the off-scale position sensor; the off-scale signal includes an off-scale signal that has been off the scale and an off-scale signal that has not been off the scale. If the off-scale position sensor is triggered at a certain moment t, the off-scale position sensor outputs the off-scale signal that has been off the scale at the moment t; if the off-scale position sensor is not triggered at a certain moment t, the off-scale position sensor outputs the off-scale signal that has not been off the scale at the moment t. The step S1 includes: judging whether the on-scale offset and the off-scale offset have been obtained. If the judgment is no, then turn to execute the step S2; if the judgment is yes, then turn to execute the step S3. The step S2 further includes: collecting the first off-scale signal within the first preset duration; calculating the off-scale offset according to the first off-scale signal and the first weight signal. The step S3 further includes: collecting a second weighing-off signal within the second preset duration; using the second weight signal as an anchor point, and remapping the second weighing-off signal according to the weighing-off offset to obtain a remapped second weighing-off signal; The step S4 includes: calculating the actual weight of the object according to the remapped second weighing-on signal, the remapped second weighing-off signal, and the second weight signal.

12. The weight detection method according to claim 11, wherein, In the step S2, the step of calculating the weighing-off offset according to the first weighing-off signal and the first weight signal includes: Calculating a third weight mutation curve P3(t) according to the filtered first weight signal Rf(t) using the following formula: Calculating a third integral S3 according to the third weight mutation curve P3(t) using the following formula: Among them, U 01 represents the moment corresponding to the last first weight signal within the first preset duration; According to the formula The moment y is calculated and obtained; Calculating the weighing-off moment Tx1 of the object according to the moment y using the following formula: Calculating the weighing-off offset Or using the following formula: Or = T2 - Tx1 where T2 represents the moment when the first weighed-off signal is first obtained within the first preset duration.

13. The weight detection method according to claim 12, characterized in that, In the step S2, after the step of obtaining the weighing-off offset Or, it further includes: Calculating an average weighing-off offset O2 using the following formula: where n represents the preset number of times of executing the step S2; Or(i) represents the weighing-off offset Or obtained when the step S2 is executed for the i-th time.

14. The weight detection method according to claim 13, wherein In the step S3, using the second weight signal as an anchor point and remapping the second weighing-off signal according to the average weighing-off offset includes: remapping the second weighing-off signal Lr(t) using the following formula to obtain the remapped second weighing-off signal Mr(t): Mr(t) = Lr(t + O2) 15. The weight detection method according to claim 14, characterized in that In the step S4, in the step of calculating the actual weight of the object, it further includes: Traverse the remapped second weighing-off signal within the second preset duration in sequence, and use the moment when the remapped second non-weighing-off signal becomes the remapped second weighed-off signal as the second weighing-off signal change moment E2 new ; Take the second signal change time E2 when weighing down as the first signal change time E2 when weighing down, so as to calculate the weight coefficient g(t); new ​ Take the second signal change moment E2 when the object is weighed less as new the first signal change moment E2 when the object is weighed less, and calculate the actual weight W of the object according to the weight coefficient g(t). true .

16. A weight detection system for an object, characterized in that, including: a memory for storing instructions executable by a processor; a processor for executing the instructions to implement the object weight detection method according to any one of claims 1-15.

17. A computer-readable medium storing computer program code, characterized in that, The computer program code implements the object weight detection method according to any one of claims 1-15 when executed by a processor.

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