Weighing system and method based on motion state correction and used for hanging barrel overturning and charging mechanism

Abstract

The invention relates to the technical field of weighing, and particularly discloses a hanging barrel overturning charging mechanism weighing system and method based on motion state correction, and the system comprises a weighing tool, a weighing sensor, a tool pedestal, a position sensor, a mechanical working state collector, and a data analysis and processing system. The weighing tool is installed on the weighing sensor, the weighing sensor is installed on the tool base, and the tool base is fixed to the turnover mechanism. The position sensor is installed on the turnover mechanism and used for collecting position information of the turnover mechanism. The mechanical working state collector is used for collecting working state signals of the turnover mechanism after isolating, filtering, de-noising and amplifying the working state signals; the data analyzing and processing system is used for collecting data collected by the weighing sensor, the position sensor and the mechanical working state collector in real time. According to the invention, interference caused by mechanism movement is corrected, weighing errors caused by mechanism movement state changes can be effectively reduced, and the measurement precision is effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of weighing technology, and in particular to a weighing system and method of a hanging barrel flip loading mechanism based on motion state correction. Background Art

[0002] Bucket-tumbling loading mechanisms are common in industry, with typical applications including dumping sanitation vehicles and loading and unloading at mines. However, due to structural limitations, the bucket is not always vertical during the system's up and down motions. Furthermore, the system is subject to significant impact and vibration, significantly increasing the difficulty of accurate weighing.

[0003] Currently, the main weighing methods for drum-tumbling loading mechanisms include direct weighing (e.g., CN201720149336.3) and indirect weighing (e.g., CN201620048721.4). The former directly measures the cargo weight by installing a load cell at the bottom of the weighing system, while the indirect weighing method infers the cargo weight by analyzing the load on the moving components.

[0004] However, both of the above methods are greatly affected by external factors and the working status of the system, and it is difficult to eliminate the collection errors caused by the impact during the operation of the mechanical system. Summary of the Invention

[0005] The purpose of the present invention is to provide a weighing system and method for a hanging barrel flip loading mechanism based on motion state correction, so as to solve the problems existing in the above-mentioned prior art.

[0006] To achieve the above-mentioned object, the present invention provides a weighing system for a hanging barrel flip loading mechanism based on motion state correction, comprising:

[0007] Weighing fixture, said weighing fixture is used for installing and unloading barrels;

[0008] A weighing sensor, on which the weighing fixture is mounted, and for weighing the loading and unloading bucket on the weighing fixture;

[0009] A tooling base, the weighing sensor is mounted on the tooling base, and the tooling base is fixed on the turning mechanism;

[0010] A position sensor, the position sensor being mounted on the flip mechanism and configured to collect position information of the flip mechanism;

[0011] A mechanical working status collector, which is used to isolate, filter, eliminate noise and amplify the working status signal of the flip mechanism before collecting it;

[0012] A data analysis and processing system is used to collect data collected by the weighing sensor, the position sensor and the mechanical working status collector in real time.

[0013] Preferably, the flipping mechanism is a lifting arm of a sanitation vehicle or a lifting arm of a loader.

[0014] Preferably, when the position sensor is provided at the arm root of the flip mechanism, the number of the position sensor is one;

[0015] When the position sensors are arranged at other positions of the flip mechanism, the number of the position sensors is no less than two.

[0016] Preferably, the mechanical working status collector is also used to collect required working status information from the control panel.

[0017] Preferably, the number of the weighing sensors is one or more;

[0018] When there are multiple weighing sensors, the weighing sensors are arranged in a bilateral mirror-symmetrical manner.

[0019] Preferably, when the flip mechanism reaches the set weighing working area, the position sensor transmits a signal to the data analysis and processing system.

[0020] Preferably, the data collected by the data analysis and processing system is judged and corrected based on the motion state to calculate the nominal weight of the two processes of upward feeding and downward unloading during the working process, thereby obtaining the actual weight of the goods put into the loading and unloading barrels.

[0021] A weighing method for a hanging barrel flip loading mechanism based on motion state correction specifically comprises the following steps:

[0022] The loading and unloading barrels are weighed during the upward process. The data collected by the data analysis and processing system is judged and corrected based on the motion state to obtain the nominal weight of the upward process.

[0023] The loading and unloading barrels are weighed during the downward process. The data collected by the data analysis and processing system is judged and corrected based on the motion state to obtain the downward nominal weight.

[0024] Subtract the upper nominal weight from the lower nominal weight to obtain the net weight of the current loading process.

[0025] Preferably, the data collected by the data analysis and processing system is determined and corrected based on the motion state, including:

[0026] The data collected by the position sensor and the mechanical working status collector are used as triggers. When the preset collection conditions are met, the data of the load cell is collected in the time domain until the collection termination threshold set by the position sensor is reached. Then, the data collection of the load cell is stopped and the corrected collection parameters are saved.

[0027] The working status data collected by the mechanical working status collector is used to perform data quality judgment and data quality coding on the time domain interval of the collected data to obtain the nominal weight in the current process.

[0028] Preferably, the workflow of the determination and correction based on the motion state is as follows:

[0029] S1, time domain data quality evaluation, based on the working state of the position sensor, constructs the time domain data quality code a through the time domain data penalty coefficient a1 t ;

[0030] S2, working state quality evaluation, combined with the data collected by the mechanical working state collector, constructs the working state quality code a through the working state penalty coefficient a2 w ;

[0031] S3. Obtaining the total penalty factor. After obtaining the time domain data penalty factor and the working status data quality penalty factor, the total penalty factor of each weighing data can be obtained. The acquisition method is:

[0032] a overall =k1a t +k2a w

[0033] Among them, k1 represents the time domain coding weight, k2 represents the working state coding weight;

[0034] S4, data sorting and optimization: after obtaining the sum penalty factor, sort the weight data from low to high according to its data matrix; select data with lower penalty factors until the number of selected data meets the preset number of data in the calculation data sample library;

[0035] S5. Eliminate outliers and obtain nominal weight values. Calculate the mean square error of the data in the data sample library, exclude data with large discreteness through the outlier elimination method, and obtain the single nominal weight through the homogenization method.

[0036] Compared with the prior art, the present invention has the following advantages and technical effects:

[0037] The present invention provides a weighing system for a hanging barrel flip loading mechanism based on motion state correction. Without significantly increasing the hardware complexity of the equipment, it introduces the recognition of working state data and corrects the interference caused by the movement of the mechanism. This can effectively reduce the weighing error caused by changes in the mechanism's motion state, thereby effectively improving the measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 Schematic diagram of the weighing system of the hanging barrel flip loading mechanism based on motion state correction of the present invention;

[0040] Figure 2 Time domain data quality coding for the uplink process (left) and downlink process (right) of the present invention;

[0041] Figure 3 Encoding the working state penalty coefficient of the present invention;

[0042] In the figure: 1. Weighing tooling; 2. Weighing sensor; 3. Tooling base; 4. Position sensor; 5. Mechanical working status collector; 6. Data analysis and processing system; 7. Loading and unloading barrel; 8. Turning mechanism. DETAILED DESCRIPTION

[0043] It should be noted that, unless there is a conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other. The embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0044] like Figure 1 As shown, the present invention provides a weighing system for a hanging barrel flip loading mechanism based on motion state correction, comprising:

[0045] Weighing fixture 1, which is used to install the loading and unloading barrel 7;

[0046] The weighing sensor 2 is mounted on the weighing tool 1 and is used to weigh the loading and unloading bucket 7 on the weighing tool 1;

[0047] A tooling base 3, the weighing sensor 2 is mounted on the tooling base 3, and the tooling base 3 is fixed on the turning mechanism 8;

[0048] Position sensor 4, the position sensor 4 is installed on the flip mechanism 8, and the position sensor 4 is used to collect position information of the flip mechanism 8;

[0049] Mechanical working state collector 5, which is used to isolate, filter, eliminate noise and amplify the working state signal of the flip mechanism 8 before collecting it;

[0050] The data analysis and processing system 6 is used to collect data collected by the weighing sensor 2, the position sensor 4 and the mechanical working status collector 5 in real time.

[0051] According to a further optimization scheme, the flipping mechanism 8 is a lifting arm of a sanitation vehicle or a lifting arm of a loader.

[0052] In a further optimized solution, when the position sensor 4 is arranged at the arm root of the flip mechanism 8, the number of the position sensor 4 is one;

[0053] When the position sensors 4 are arranged at other positions of the flip mechanism 8 , the number of the position sensors 4 is not less than two.

[0054] To further optimize the solution, in order to adapt to different types of hanging barrel flip loading mechanisms and control systems, the mechanical working status collector 5 is also used to collect the required working status information from the control panel.

[0055] Further optimization scheme, in order to avoid the problem of sensor output drift caused by off-plane load of the sensor during the barrel hanging process, the number of weighing sensors 2 is one or more;

[0056] When there are multiple weighing sensors 2, the weighing sensors 2 are arranged in a bilateral mirror-symmetrical manner.

[0057] According to a further optimized solution, when the flipping mechanism 8 reaches the set weighing working area, the position sensor 4 transmits a signal to the data analysis and processing system 6 .

[0058] To further optimize the solution, the data collected by the data analysis and processing system 6 is used to calculate the nominal weight of the two processes of upward feeding and downward unloading during the working process through judgment and correction based on the motion state, and then the actual weight of the goods put into the loading and unloading barrel 7 is obtained.

[0059] The present invention provides a weighing system for a hanging bucket flip loading mechanism based on motion state correction. During the upward loading (i.e., when there is cargo in the loading bucket) or downward loading (i.e., when loading is complete and the bucket is empty), position sensor 4 acquires its upward or downward motion direction signal. When the signal is within the set upward or downward threshold range, data analysis and processing system 6 begins to operate, collecting data from weighing sensor 2 and position sensor 4 in real time. It then calculates the actual weight values ​​collected at multiple points using a motion state correction method. Data quality is determined and encoded in the time domain of the collected data. Subsequently, data with higher data quality codes are preferentially selected for mean-variance calculation to obtain the nominal weight data for the upward or downward loading process. After completing a complete upward-downward loading process, data analysis and processing system 6 subtracts the nominal weight data calculated for the upward loading process from the nominal weight data calculated for the downward loading process to obtain the actual weight of the cargo placed in the warehouse.

[0060] The system can be used in an intelligent weighing system. Compared with the traditional weighing scheme using only the weighing sensor 2, the present invention can effectively reduce the weighing error caused by the change of the mechanism's motion state (such as the start and stop of the system during the weighing process), and through the outlier elimination and homogenization methods, it can eliminate the interference in the weighing process without significantly increasing the complexity of the structure, thereby improving the weighing accuracy.

[0061] The weighing method of the hanging barrel flip loading mechanism based on motion state correction provided by the present invention specifically includes the following steps:

[0062] S1. Before the weighing system starts working, the staff installs the loading and unloading bucket 7 on the weighing fixture 1, so that the weighing fixture 1 is firmly connected to the loading and unloading bucket 7; then the weighing system is started and the upward loading work begins.

[0063] S2. During the upward movement of the mechanism, the position sensor 4 installed on the lifting arm of the turning mechanism 8 collects the position of the lifting arm in real time and determines its movement direction. When the lifting arm reaches the set initial threshold for upward collection, the data analysis and processing system 6 is triggered to collect data from the weighing sensor 2 and the acceleration sensor and posture sensor of the turning mechanism 8 according to the preset sampling frequency; until the position sensor 4 reaches the sampling termination threshold, the system stops data collection; at this time, the lifting arm continues to ascend and the feeding work is completed.

[0064] S3. After completing the loading work, the weighing system moves downward with the empty bucket. At this time, when the output value of the position sensor 4 reaches the downward collection threshold, the data analysis and processing system 6 is triggered to collect data from the weighing sensor 2 and the acceleration sensor and posture sensor of the flip mechanism 8 according to the preset sampling frequency. This is until the position sensor 4 reaches the sampling termination threshold, completing one working cycle of weighing and collection operations. The lifting arm then continues to move downward until the loading and unloading bucket 7 falls to the ground. After the worker unloads the empty bucket, he hangs up the next unloading bucket and starts the next loading cycle.

[0065] During operation, the mechanical working status collector 5 collects the system's working status data (e.g., the opening status of the upstream and downstream solenoid valves) and transmits it to the data analysis and processing system 6 after signal isolation, filtering, and amplification. Combined with the position data from the position sensor 4, when the preset trigger conditions (as shown in Table 1) are met, the system triggers the collection of the working status data and the data from the weighing sensor 2 in a timed sequence until the termination conditions (as shown in Table 1) are met. At this point, the system completes a single working data collection. Here, 1 indicates that the status is met, and 0 indicates that the status is not met.

[0066] Table 1. Acquisition preset trigger and termination conditions

[0067]

[0068] During operation, the data analysis and processing system 6 analyzes the collected values ​​of the weighing sensor 2 during the up and down processes, and the acceleration sensor data and posture sensor data of the flip mechanism 8. Taking the up process as an example, the workflow based on the motion state determination and correction method is as follows:

[0069] A. Temporal Data Quality Evaluation

[0070] During the weighing process, the weight data close to the upper and lower limits of the preset position sensor 4 is representative. Therefore, during the acquisition process, based on the working state of the position sensor 4, the time domain data quality code a is constructed by defining the data penalty coefficient a1. t , its encoding mode is as follows Figure 2 As shown in the figure, during the encoding process, the data penalty coefficient is directly related to the timing of the trigger point (or end point). Data close to the trigger point (or end point) has a lower penalty coefficient. Data farther from the trigger point (or end point) has a higher penalty coefficient. Here, a1 represents the time domain data penalty coefficient, t1 represents the rise time during the uplink process, and t2 represents the fall time during the downlink process.

[0071] In order to explain the encoding process more intuitively, taking a1=5, t1=5s as an example, during the system ascent, the uplink position sensor 4 signal with a collection interval of 1s and the time domain penalty coefficient encoding are shown in Table 2.

[0072] Table 2

[0073] Time(s) 1 2 (trigger point) 3 4 5 6 Uplink position sensor signal 0 1 1 1 1 1 <![CDATA[Time-domain penalty coefficient coding a t > 0 1 2 3 4 5

[0074] B. Work status quality evaluation

[0075] During the weighing process, the system start and stop caused by accident or human factors will cause the weighing system to be impacted, resulting in measurement deviation. At this time, combined with the data collected by the mechanical working state collector 5, the working state penalty coefficient code a can be constructed by determining the state of the solenoid valve. w , its encoding mode is as follows Figure 3 As shown in Figure 2, a2 ​​represents the working state penalty coefficient, t3 and t4 represent the freezing time and the falling time respectively.

[0076] In order to explain the encoding process more intuitively, taking a2=5, t3=1s, t4=5s as an example, during the uplink operation of the system, the uplink position sensor 4 signal with a collection interval of 1s and the time domain penalty coefficient encoding are shown in Table 3.

[0077] Table 3

[0078]

[0079] C. Obtaining the total penalty factor

[0080] After obtaining the time domain data penalty factor and the working status data quality penalty factor, the total penalty factor of each weighing data can be obtained; the acquisition method is:

[0081] a overall =k1a t +k2a w

[0082] Among them, k1 represents the time domain coding weight, and k2 represents the working state coding weight.

[0083] D. Data sorting and optimization

[0084] After obtaining the summed penalty factor, the weight data is sorted from low to high according to its data matrix (i.e., parameters with lower penalty factors have better quality and are ranked higher). Data with lower penalty factors have better accuracy. This continues until the number of selected data meets the preset number of data in the calculation data sample library.

[0085] E. Exclusion of abnormal values ​​and acquisition of nominal weight values

[0086] Calculate the mean square error of the data in the data sample library, and use outlier exclusion methods (such as the 3σ method, the maximum and minimum value removal method, etc.) to exclude data with large discreteness, and use the homogenization method to obtain the single nominal weight.

[0087] S5, in the process of descending, the empty barrel weighing method is consistent with the process of ascending. After the complete loading process is completed, the data analysis and processing system 6 subtracts the nominal weight of the ascending process from the nominal weight of the descending process to obtain the net weight of the current loading process.

[0088] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A weighing system for a hanging barrel flip loading mechanism based on motion state correction, characterized in that: include: Weighing fixture, said weighing fixture is used for installing and unloading barrels; A weighing sensor, on which the weighing fixture is mounted, and for weighing the loading and unloading bucket on the weighing fixture; A tooling base, the weighing sensor is mounted on the tooling base, and the tooling base is fixed on the turning mechanism; A position sensor, the position sensor being mounted on the flip mechanism and configured to collect position information of the flip mechanism; A mechanical working status collector, which is used to isolate, filter, eliminate noise and amplify the working status signal of the flip mechanism before collecting it; A data analysis and processing system is used to collect data collected by the weighing sensor, the position sensor and the mechanical working status collector in real time.

2. The weighing system of the hanging barrel flip loading mechanism based on motion state correction according to claim 1 is characterized in that: The turning mechanism is a lifting arm of a sanitation vehicle or a lifting arm of a loader.

3. The weighing system of the hanging barrel flip loading mechanism based on motion state correction according to claim 2 is characterized in that: When the position sensor is arranged at the arm root of the flip mechanism, the number of the position sensor is one; When the position sensors are arranged at other positions of the flip mechanism, the number of the position sensors is no less than two.

4. The weighing system of the hanging barrel flip loading mechanism based on motion state correction according to claim 1 is characterized in that: The mechanical working status collector is also used to collect required working status information from the control panel.

5. The weighing system of the hanging barrel flip loading mechanism based on motion state correction according to claim 1 is characterized in that: The number of the weighing sensors is one or more; When there are multiple weighing sensors, the weighing sensors are arranged in a bilateral mirror-symmetrical manner.

6. The weighing system of the hanging barrel flip loading mechanism based on motion state correction according to claim 1 or 3, characterized in that: When the flip mechanism reaches the set weighing working area, the position sensor transmits a signal to the data analysis and processing system.

7. The weighing system of the hanging barrel flip loading mechanism based on motion state correction according to claim 1 is characterized in that: The data collected by the data analysis and processing system is used to calculate the nominal weight of the two processes of upward feeding and downward unloading during the working process through judgment and correction based on the motion state, thereby obtaining the actual weight of the goods put into the loading and unloading barrels.

8. A weighing method for a hanging barrel flip loading mechanism based on motion state correction, characterized in that: The weighing system of the hanging barrel flip loading mechanism based on motion state correction according to any one of claims 1 to 7 specifically comprises the following steps: The loading and unloading barrels are weighed during the upward process. The data collected by the data analysis and processing system is judged and corrected based on the motion state to obtain the nominal weight of the upward process. The loading and unloading barrels are weighed during the downward process. The data collected by the data analysis and processing system is judged and corrected based on the motion state to obtain the downward nominal weight. Subtract the upper nominal weight from the lower nominal weight to obtain the net weight of the current loading process.

9. The weighing method of the hanging barrel flip loading mechanism based on motion state correction according to claim 1 is characterized in that: The data collected by the data analysis and processing system is judged and corrected based on the motion state, including: The data collected by the position sensor and the mechanical working status collector are used as triggers. When the preset collection conditions are met, the data of the load cell is collected in the time domain until the collection termination threshold set by the position sensor is reached. Then, the data collection of the load cell is stopped and the corrected collection parameters are saved. The working status data collected by the mechanical working status collector is used to perform data quality judgment and data quality coding on the time domain interval of the collected data to obtain the nominal weight in the current process.

10. The weighing method of the hanging barrel flip loading mechanism based on motion state correction according to claim 9 is characterized in that: The workflow of motion state determination and correction is as follows: S1, time domain data quality evaluation, based on the working state of the position sensor, constructs the time domain data quality code a through the time domain data penalty coefficient a1 t ; S2, working state quality evaluation, combined with the data collected by the mechanical working state collector, constructs the working state quality code a through the working state penalty coefficient a2 w ; S3. Obtaining the total penalty factor. After obtaining the time domain data penalty factor and the working status data quality penalty factor, the total penalty factor of each weighing data can be obtained. The acquisition method is: a overall =k1a t +k2a w Among them, k1 represents the time domain coding weight, k2 represents the working state coding weight; S4, data sorting and optimization: after obtaining the sum penalty factor, sort the weight data from low to high according to its data matrix; select data with lower penalty factors until the number of selected data meets the preset number of data in the calculation data sample library; S5. Eliminate outliers and obtain nominal weight values. Calculate the mean square error of the data in the data sample library, exclude data with large discreteness through the outlier elimination method, and obtain the single nominal weight through the homogenization method.

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