A weighing system and method for a bucket tipping and filling mechanism based on a motion state correction

Abstract

The application relates to the technical field of weighing, and particularly discloses a hanging-bucket overturning and loading mechanism weighing system and method based on motion state correction, which comprises a weighing tool, a weighing sensor, a tool base, 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 on an overturning mechanism. The position sensor is installed on the overturning mechanism and used for collecting position information of the overturning mechanism. The mechanical working state collector is used for collecting working state signals of the overturning mechanism after isolation, filtering, noise elimination and amplification. The data analysis 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. The application can effectively reduce weighing errors caused by changes in the motion state of the mechanism and effectively improve the measurement accuracy by correcting the interference caused by the motion of the mechanism.

Description

Technical Field

[0001] This invention relates to the field of weighing technology, and in particular to a weighing system and method for a bucket-turning loading mechanism based on motion state correction. Background Technology

[0002] The hanging bucket tipping loading mechanism is one of the most common loading mechanisms in industry, with typical applications including sanitation vehicle tipping mechanisms and mine loading and unloading mechanisms. However, due to the structural limitations of the hanging bucket tipping loading mechanism, the hanging bucket is not always vertical during the system's up and down movement, and the system suffers from problems such as large impacts and vibrations, which greatly increases the difficulty of accurate weighing.

[0003] Currently, the main methods for weighing hanging bucket tipping loading mechanisms are direct weighing (e.g., CN201720149336.3) and indirect weighing (e.g., CN201620048721.4). The former directly measures the weight of the goods by installing a weighing sensor at the bottom of the weighing system, while the latter infers the weight of the goods by analyzing the load on its moving components.

[0004] Both of these methods are greatly affected by external factors and the operating state of the system, and it is difficult to eliminate the acquisition errors caused by impacts during the operation of the mechanical system. Summary of the Invention

[0005] The purpose of this invention is to provide a weighing system and method for a bucket-turning loading mechanism based on motion state correction, so as to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides a weighing system for a bucket tilting and loading mechanism based on motion state correction, comprising:

[0007] A weighing fixture, used for installing and unloading barrels;

[0008] A weighing sensor is provided, and the weighing fixture is mounted on the weighing sensor. The weighing sensor is used to weigh the loading and unloading buckets on the weighing fixture.

[0009] The tooling base, on which the weighing sensor is mounted, and the tooling base is fixed to the flipping mechanism;

[0010] A position sensor is mounted on the flipping mechanism and is used to collect the position information of the flipping mechanism;

[0011] A mechanical working status acquisition device is used to acquire the working status signal of the flipping mechanism after isolation, filtering, noise reduction and amplification.

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

[0013] Preferably, the tilting mechanism is one of the lifting arm of a sanitation vehicle or the lifting arm of a loading machine.

[0014] Preferably, when the position sensor is located at the root of the arm of the flipping mechanism, the number of the position sensor is one.

[0015] When the position sensor is located in another position of the flipping mechanism, the number of the position sensor shall not be less than two.

[0016] Preferably, the mechanical working status collector is also used to collect the 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 double-sided mirror symmetrical configuration.

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

[0020] Preferably, the data analysis and processing system collects data and calculates the nominal weight of the two processes of upward feeding and downward unloading in the working process based on the determination and correction of motion state, thereby obtaining the actual weight of the goods put into the loading and unloading barrels.

[0021] A weighing method for a bucket tilting and loading mechanism based on motion state correction specifically includes the following steps:

[0022] The loading and unloading of barrels during the upward process is weighed, and the data analysis and processing system collects the data and obtains the nominal weight of the upward movement by judging and correcting based on the motion state.

[0023] The loading and unloading of barrels during the descent process is weighed, and the data analysis and processing system collects the data and obtains the nominal weight of the descent by judging and correcting based on the motion state.

[0024] Subtracting the nominal weight of the upward movement from the nominal weight of the downward movement yields the net weight during the current loading process.

[0025] Preferably, the data collected by the data analysis and processing system is processed through motion state-based determination and correction, including:

[0026] Using the data collected by the position sensor and the mechanical working status acquisition device as the trigger, the data of the weighing sensor is collected in the time domain under the condition that the preset acquisition conditions are met, until the acquisition termination threshold set by the position sensor is reached, the data acquisition of the weighing sensor is stopped, and the corrected acquisition parameters are saved.

[0027] By collecting the working status data from the mechanical working status acquisition device, the time domain interval of the collected data is judged and encoded to obtain the nominal weight in the current process.

[0028] The preferred workflow for determining and correcting motion states is as follows:

[0029] S1. Time-domain data quality evaluation, based on the working status of the position sensor, constructs a time-domain data quality code a1 using a time-domain data penalty coefficient a1. t ;

[0030] S2. Working condition quality evaluation: Based on the data collected by the machine working condition acquisition device, a working condition quality code a is constructed using the working condition 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 for each weighing data can be obtained. The method for obtaining it is as follows:

[0032] a overall =k1a t +k2a w

[0033] Where k1 represents the time-domain coding weight, and k2 represents the working state coding weight;

[0034] S4. Data sorting and optimization: After obtaining the total penalty factor, sort the repeated 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. Outlier exclusion and nominal weight acquisition: Calculate the mean squared error of data in the data sample library, exclude data with large dispersion through outlier exclusion methods, and obtain the single nominal weight through a normalization method.

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

[0037] The weighing system for the bucket tilting and loading mechanism based on motion state correction provided by this invention introduces the identification of working state data to correct the interference caused by the movement of the mechanism without significantly increasing the hardware complexity of the equipment. This can effectively reduce the weighing error caused by changes in the movement state of the mechanism, thereby effectively improving the measurement accuracy. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the weighing system of the hanging bucket tilting and loading mechanism based on motion state correction of the present invention;

[0040] Figure 2 This invention provides time-domain data quality encoding for the uplink (left) and downlink (right) processes.

[0041] Figure 3 This is the encoding of the penalty coefficient for the working state of the present invention;

[0042] In the diagram: 1. Weighing fixture; 2. Weighing sensor; 3. Fixture base; 4. Position sensor; 5. Mechanical working status acquisition device; 6. Data analysis and processing system; 7. Loading and unloading drum; 8. Tilting mechanism. Detailed Implementation

[0043] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other. The described embodiments are merely some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this invention. The invention will now be described in detail with reference to the accompanying drawings and embodiments.

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

[0045] Weighing fixture 1 is used to install and unload barrel 7.

[0046] Weighing sensor 2, weighing fixture 1 is installed on weighing sensor 2, weighing sensor 2 is used to weigh the loading and unloading barrel 7 on weighing fixture 1;

[0047] The tooling base 3 is on which the weighing sensor 2 is mounted, and the tooling base 3 is fixed to the flipping mechanism 8.

[0048] Position sensor 4 is mounted on the flipping mechanism 8 and is used to collect position information of the flipping mechanism 8;

[0049] Mechanical working status acquisition device 5 is used to acquire the working status signal of the flipping mechanism 8 after isolation, filtering, noise reduction and amplification.

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

[0051] The scheme has been further optimized, and the tilting mechanism 8 is one of the lifting arms of a sanitation vehicle or a loading machine.

[0052] In a further optimized design, when position sensor 4 is located at the root of the arm of the flipping mechanism 8, the number of position sensors 4 is one.

[0053] When the position sensor 4 is located in other positions of the flipping mechanism 8, the number of position sensors 4 shall not be less than two.

[0054] To further optimize the solution and adapt to different types of hanging bucket tipping and 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] To further optimize the scheme and avoid sensor output drift caused by off-plane loading of the sensor during the 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 double-sided mirror symmetric manner.

[0057] In a further optimized scheme, 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 scheme, the data analysis and processing system 6 collects data and calculates the nominal weight of the two processes of upward feeding and downward unloading in the work process based on motion state judgment and correction, thereby obtaining the actual weight of goods put into the loading and unloading barrel 7.

[0059] The weighing system for the bucket tilting loading mechanism provided by this invention, based on motion state correction, involves position sensor 4 acquiring its upward or downward direction signal during loading (i.e., when the bucket contains goods) or downward (i.e., when loading is complete and the bucket is empty). When the signal falls within a set upward or downward threshold range, data analysis and processing system 6 begins operation, collecting data from weighing sensor 2 and position sensor 4 in real time. It then calculates the actual weight values ​​collected from multiple points using a motion state correction method. The system performs data quality assessment and encoding on the time-domain interval of the collected data. Subsequently, it selects data with higher data quality encoding and calculates the mean and variance to obtain the nominal weight data during the upward or downward process. After completing a full upward-downward process, data analysis and processing system 6 subtracts the nominal weight data calculated for the upward process from the nominal weight data calculated for the downward process to obtain the actual weight of the goods loaded into the warehouse.

[0060] This system can be used in intelligent weighing systems. Compared with traditional weighing schemes that rely solely on the weighing sensor 2, this invention can effectively reduce weighing errors caused by changes in the motion state of the mechanism (such as system start-up and shutdown during weighing). Furthermore, through outlier elimination and homogenization methods, interference during the weighing process can be eliminated without significantly increasing structural complexity, thereby improving weighing accuracy.

[0061] The weighing method for a bucket-turning loading mechanism based on motion state correction provided by this invention specifically includes the following steps:

[0062] S1. Before the weighing system starts working, the staff installs the loading and unloading barrel 7 onto the weighing fixture 1, so that the weighing fixture 1 is firmly connected to the loading and unloading barrel 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 tilting mechanism 8 collects the position of the lifting arm in real time and determines its direction of movement. When the lifting arm reaches the set initial threshold for upward collection, the data analysis and processing system 6 is triggered and collects the data of the weighing sensor 2, the acceleration sensor and the attitude sensor of the tilting mechanism 8 according to the preset sampling frequency. The system stops data collection until the position sensor 4 reaches the sampling termination threshold. At this time, the lifting arm continues to move upward to complete the feeding work.

[0064] S3. After the loading work is completed, the weighing system descends with the empty bucket. At this time, when the output value of the position sensor 4 reaches the descent acquisition threshold, the data analysis and processing system 6 is triggered. The system collects data from the weighing sensor 2, the acceleration sensor and the attitude sensor of the flipping mechanism 8 according to the preset sampling frequency. The weighing acquisition operation of one work cycle is completed until the position sensor 4 reaches the sampling termination threshold. Then the lifting arm continues to descend until the loading and unloading bucket 7 falls to the ground. After the workers unload the empty bucket, they hang the next unloading bucket to start the loading work of the next cycle.

[0065] S4. During operation, the mechanical working status acquisition unit 5 collects the system's working status data (such as the opening status of the up and down 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 preset trigger conditions are met (as shown in Table 1), the system triggers the sequential acquisition of working status data and data from the weighing sensor 2 until the termination condition is met (as shown in Table 1). At this point, the system completes a single working data acquisition. Here, 1 indicates that the state is met, and 0 indicates that the state is not met.

[0066] Table 1. Preset Triggering and Termination Conditions for Data Acquisition

[0067]

[0068] During operation, the data analysis and processing system 6 analyzes the data collected from the weighing sensor 2, the acceleration sensor data, and the attitude sensor data of the flipping mechanism 8 during the upward and downward processes. Taking the upward process as an example, its workflow based on the motion state determination and correction method is as follows:

[0069] A. Time-domain data quality evaluation

[0070] During the weighing process, weight data near the upper and lower limits of the preset position sensor 4 are representative. Therefore, during data acquisition, based on the working state of position sensor 4, a time-domain data quality code 'a' is constructed by defining a data penalty coefficient 'a1'. t Its encoding pattern is as follows Figure 2 As shown, during the encoding process, the data penalty coefficient is directly related to the timing of the trigger point (or termination point). Data closer to the trigger point (or termination point) has a lower penalty coefficient, while data farther from the trigger point (or termination 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] To illustrate the encoding process more intuitively, taking a1=5 and t1=5s as an example, the encoding of the uplink position sensor 4 signal with a 1s acquisition interval and the time-domain penalty coefficient during the system's ascent process is shown in Table 2.

[0072] Table 2

[0073] 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. Evaluation of Work Status and Quality

[0075] During the weighing process, accidental or human-induced system start-up and shutdown can cause impacts to the weighing system, leading to measurement deviations. In this case, by combining the data collected by the mechanical operating status acquisition device 5 and determining the status of its solenoid valve, the operating status penalty coefficient code 'a' can be constructed. w Its encoding pattern is as follows Figure 3 As shown in the figure. Here, a2 represents the working state penalty coefficient, and t3 and t4 represent the freeze time and descent time, respectively.

[0076] To illustrate the encoding process more intuitively, taking a2=5, t3=1s, t4=5s as an example, the encoding of the uplink position sensor 4 signal with a 1s acquisition interval and the time-domain penalty coefficient during the uplink operation of the system is shown in Table 3.

[0077] Table 3

[0078]

[0079] C. Acquisition of 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 for each weighing data can be obtained; the method for obtaining it is as follows:

[0081] a overall =k1a t +k2a w

[0082] Where 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 total penalty factor, the repeated data are sorted from low to high according to their data matrix (i.e., parameters with lower penalty factors are of better quality and are ranked higher); among them, data with lower penalty factors have better accuracy. This process continues until the number of selected data meets the preset number of data in the calculation data sample library.

[0085] E. Outlier exclusion and nominal weight value acquisition

[0086] Calculate the mean squared error of the data in the data sample library, and exclude data with large dispersion by outlier exclusion methods (such as the 3σ method, the maximum and minimum value removal method, etc.). Then, obtain the single nominal weight by the normalization method.

[0087] S5. During the downward movement, the empty bucket is weighed using the same method as during the upward movement. After the entire loading process is completed, the data analysis and processing system 6 subtracts the nominal weight of the upward movement from the nominal weight of the downward movement to obtain the net weight during the current loading process.

[0088] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A weighing system for a bucket-turning loading mechanism based on motion state correction, characterized in that, include: A weighing fixture, used for installing and unloading barrels; A weighing sensor is provided, and the weighing fixture is mounted on the weighing sensor. The weighing sensor is used to weigh the loading and unloading buckets on the weighing fixture. The tooling base, on which the weighing sensor is mounted, and the tooling base is fixed to the flipping mechanism; A position sensor is mounted on the flipping mechanism and is used to collect the position information of the flipping mechanism; A mechanical working status acquisition device is used to acquire the working status signal of the flipping mechanism after isolation, filtering, noise reduction and amplification. A data analysis and processing system is used to collect data from the weighing sensor, the position sensor, and the mechanical working status collector in real time. The data analysis and processing system collects data and calculates the nominal weight of the two processes of upward feeding and downward unloading in the work process based on the determination and correction of motion state, thereby obtaining the actual weight of goods put into the loading and unloading barrels. The motion state-based determination and correction includes: Using data collected by position sensors and mechanical working status acquisition devices as triggers, and under the condition that preset acquisition conditions are met, the data of the weighing sensor is acquired in the time domain until the acquisition termination threshold set by the position sensor is reached. At this point, the acquisition of the weighing sensor data is stopped, and the corrected acquisition parameters are saved. Through the working status data collected by the mechanical working status acquisition device, the time domain interval of the acquired data is judged and encoded to obtain the nominal weight in the current process.

2. The weighing system of the bucket tilting and loading mechanism based on motion state correction according to claim 1, characterized in that, The tilting mechanism is either a sanitation vehicle lifting arm or a loading machine lifting arm.

3. The weighing system for the bucket tilting and loading mechanism based on motion state correction according to claim 2, characterized in that, When the position sensor is located at the root of the arm of the flipping mechanism, the number of the position sensor is one. When the position sensor is located in another position of the flipping mechanism, the number of the position sensor shall not be less than two.

4. The weighing system for the bucket tilting and loading mechanism based on motion state correction according to claim 1, characterized in that, The mechanical working status acquisition device is also used to collect the required working status information from the control panel.

5. The weighing system for the bucket tilting and loading mechanism based on motion state correction according to claim 1, 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 double-sided mirror symmetrical configuration.

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

7. A weighing method for a bucket-turning loading mechanism based on motion state correction, characterized in that, The weighing system of the bucket tilting and loading mechanism based on motion state correction as described in any one of claims 1-6 specifically includes the following steps: The loading and unloading of barrels during the upward process is weighed, and the data analysis and processing system collects the data and obtains the nominal weight of the upward movement by judging and correcting based on the motion state. The loading and unloading of barrels during the descent process is weighed, and the data analysis and processing system collects the data and obtains the nominal weight of the descent by judging and correcting based on the motion state. Subtracting the nominal weight of the upward movement from the nominal weight of the downward movement yields the net weight during the current loading process.

8. The weighing method for the bucket tilting and loading mechanism based on motion state correction according to claim 7, characterized in that, The workflow for determining and correcting motion states is as follows: S1. Time-domain data quality evaluation, based on the working status of the position sensor, constructs a time-domain data quality code a1 using a time-domain data penalty coefficient a1. t ; S2. Working condition quality evaluation: Based on the data collected by the machine working condition acquisition device, a working condition quality code a is constructed using the working condition 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 for each weighing data can be obtained; the method for obtaining it is as follows: a overall =k1a t +k2a w Where k1 represents the time-domain coding weight, and k2 represents the working state coding weight; S4. Data sorting and optimization: After obtaining the total penalty factor, sort the repeated 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. Outlier exclusion and nominal weight acquisition: Calculate the mean squared error of data in the data sample library, exclude data with large dispersion through outlier exclusion methods, and obtain the single nominal weight through a normalization method.

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