Garbage transfer method based on smart city internet of things

Abstract

The present application relates to garbage transfer technical field, especially in a kind of garbage transfer method based on wisdom city internet of things, comprising: according to the signal occlusion intensity of transfer station and the real-time operation state of the area where transfer car is located Determine first trigger condition;According to whether operation action feature meets timing coordination determination condition and garbage physical feature Determine second trigger condition;According to first trigger condition and second trigger condition Determine whether to trigger positioning switching;In positioning switching, it is switched from first positioning mode to fusion positioning mode, and whether it is switched from fusion positioning mode to second positioning mode is judged based on whether the variance of continuous preset number of positioning coordinates and fusion switching length reach switching window length;According to switching frequency Determine whether to carry out switching frequency suppression;Based on the current positioning mode switching result, garbage transfer operation is carried out.The present application can realize the adaptive accurate switching of vehicle positioning in garbage transfer process.

Description

Technical Field

[0001] This invention relates to the field of waste transfer technology, and in particular to a waste transfer method based on the Internet of Things in smart cities. Background Technology

[0002] With the continuous advancement of smart city construction, the amount of urban domestic waste generated continues to rise. As a crucial intermediate link connecting waste collection and final disposal, the efficiency of waste transfer operations directly impacts the level of urban environmental sanitation management and the operational effectiveness of smart cities. After arriving at the transfer station, transfer vehicles need to be located to determine whether they have accurately entered the unloading position, completed loading operations, and are ready to leave the site. However, waste transfer vehicles suffer from insufficient positioning stability, failing to meet the urgent needs of smart city refined management and green, low-carbon operation for efficient and precise transfer operations. Therefore, how to achieve adaptive and precise switching of vehicle positioning during waste transfer to ensure a synergistic improvement in positioning stability and operational efficiency is a problem that urgently needs to be solved by those skilled in the art.

[0003] Chinese Patent Publication No. CN118816903A discloses a processing method, apparatus, and storage medium for a multi-sensor fusion positioning mode, including: determining key frame data during the construction of a point cloud map of an operational scenario, and determining GNSS data corresponding to the timestamps in the key frame data from the operational scenario; determining the fusion positioning mode corresponding to the timestamp as a first multi-sensor fusion positioning mode when the target information carried by the GNSS data meets preset conditions; and determining the fusion positioning mode corresponding to the timestamp as a second multi-sensor fusion positioning mode when any target information does not meet preset conditions. However, the above solution has the following problems: it passively triggers switching based solely on signal quality, lacks an adaptive switching mechanism based on the dynamic characteristics of waste transfer operations, and cannot actively optimize the switching timing, thus resulting in poor positioning stability under complex working conditions. Summary of the Invention

[0004] To address this, the present invention provides a waste transfer method based on the Internet of Things in smart cities, which overcomes the problem in the prior art that the switching is passively triggered based on signal quality, lacks an adaptive switching mechanism based on the dynamic characteristics of waste transfer operations, cannot actively optimize the switching timing, and thus leads to poor positioning stability under complex working conditions.

[0005] To achieve the above objectives, the present invention provides a waste transfer method based on the Internet of Things in smart cities, comprising: The first triggering condition is determined based on the signal obstruction intensity of the transfer station and the real-time operational status of the area where the transfer vehicle is located. The second triggering condition is determined based on whether the characteristics of the operation actions meet the timing coordination judgment conditions and the physical characteristics of the waste. Determine whether to trigger a location switch based on the first and second trigger conditions; During the location switching, the system switches from the first location mode to the fusion location mode, and determines whether to switch from the fusion location mode to the second location mode based on the variance of a consecutive preset number of location coordinates and whether the fusion switching time reaches the switching window duration. Specifically, the basic switching time is determined based on the operational urgency coefficient of the transfer vehicle, and whether to increase the correction time is determined based on the fluctuation value of the garbage transport weight, so as to obtain the switching window time. Whether to suppress the switching frequency is determined based on the switching frequency. Based on the current location mode switching result, execute the waste transfer operation.

[0006] Furthermore, the first triggering condition is that the signal obstruction intensity of the transfer station is greater than the preset signal obstruction intensity or the real-time operation status of the area where the transfer vehicle is located changes from an outdoor area identifier to an indoor area identifier.

[0007] Furthermore, the second triggering condition is determined as follows: The physical characteristics of the waste are obtained, including at least one of the following: the moisture content of the waste inside the waste bin and waste type information; wherein, the waste type information includes at least one of the following: general waste, high-moisture waste, metal waste, and underground deep-buried bin markings; The operational action characteristics are obtained, including the vehicle body tilt angle of the transfer vehicle, the pressure change rate of the lifting mechanism, and the weight change rate of the on-board weighing system. In response to the waste moisture content being greater than the preset waste moisture content, or the waste type information containing any one of the following: high-moisture waste label, metal waste label, or underground deep-buried bin label, or the operation action characteristics meeting the time-series coordination judgment condition, the second triggering condition is triggered.

[0008] Furthermore, the operation action features satisfy the temporal coordination determination conditions, including: Within a preset time window, if the lifting mechanism pressure change rate is greater than a preset pressure change rate, the vehicle body tilt angle is greater than a preset vehicle body tilt angle, and the weight change rate is greater than a preset weight change rate, in that order, the operation action characteristics are determined to meet the timing coordination judgment condition.

[0009] Furthermore, if the first triggering condition or the second triggering condition is met, a location switch is triggered.

[0010] Furthermore, if the variance of a consecutive preset number of positioning coordinates is less than the preset variance or the fusion switching time reaches the switching window time, the fusion positioning mode is switched to the second positioning mode.

[0011] Furthermore, the basic switchover time is determined based on the operational urgency coefficient of the transfer vehicle; The basic switching time is positively correlated with the urgency coefficient of the transfer vehicle's operation.

[0012] Furthermore, if the fluctuation value of the waste transport weight is greater than the preset fluctuation value of the waste transport weight, it is determined that the correction time will be increased; The correction duration is positively correlated with the fluctuation value of the waste transport weight.

[0013] Furthermore, the method for obtaining the task urgency coefficient includes: The instantaneous load reference value is determined based on the number of transfer vehicles in the transfer station that are under load influence. The operation phase value is determined based on the ratio of each parameter in the operation action characteristics to the corresponding preset value; The task urgency coefficient is determined based on the instantaneous load reference value and the task phase value.

[0014] Furthermore, if the response switching frequency is greater than the preset switching frequency, then switching frequency suppression is performed.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: the technical solution of the present invention constructs a multi-dimensional triggering system that couples signal obstruction intensity discrimination, operation action timing collaborative discrimination, and waste physical characteristic discrimination, as well as a three-stage progressive switching architecture of TDOA main positioning, TDOA and RSSI fusion positioning, and RSSI auxiliary positioning. Based on the operation urgency coefficient and the waste transport weight fluctuation value, the switching window duration is dynamically determined. This achieves accurate triggering, smooth transition, and adaptive control of the positioning mode of the waste transfer station in complex operating environments, avoiding the problems of false triggering, switching lag, and positioning jump caused by the reliance on a single signal strength threshold in the prior art. This improves the continuity, reliability, and scenario adaptability of the positioning service of the waste transfer station.

[0016] Furthermore, in this invention, the first triggering condition is determined by jointly using the signal obstruction intensity and the real-time operation status area identifier. The environmental signal obstruction degree is quantified by using the average signal-to-noise ratio of the reference base station and combined with the electronic fence to achieve adaptive identification of outdoor and indoor areas. At the same time, the timing coordination condition is determined by the pressure change rate of the lifting mechanism, the vehicle tilt angle, and the weight change rate satisfying the preset thresholds in a chronological order within a preset time window. The second triggering condition is triggered by combining the garbage moisture content, high-moisture garbage identifier, metal garbage identifier, and underground deep-buried bin identifier. This can proactively trigger the switch before the positioning accuracy drops significantly, avoiding the positioning drift accumulation and switching lag problems caused by passive response after the signal quality deteriorates. This significantly improves the predictability and proactive protection capability of positioning switching.

[0017] Furthermore, this invention constructs a three-stage progressive switching architecture consisting of TDOA primary positioning, TDOA and RSSI fusion positioning, and RSSI auxiliary positioning. In the fusion positioning mode, the fusion weight is dynamically adjusted according to the current signal obstruction intensity. A dual-condition exit mechanism is set up with a continuously preset number of positioning coordinate variances and fusion switching duration. This facilitates a smooth transition of positioning output during signal quality deterioration, effectively avoiding the positioning jump problem caused by directly switching from TDOA primary positioning mode to RSSI auxiliary positioning mode. At the same time, the variance determination ensures that the positioning is stable before switching, and the upper limit of the window duration prevents the fusion mode from being maintained indefinitely. This overcomes the output jump problem caused by direct switching and the resource consumption problem caused by the infinite operation of the fusion mode in the prior art, taking into account both positioning stability and system operating efficiency.

[0018] Furthermore, in this invention, the basic switching time is determined based on the urgency coefficient of the transfer vehicle's operation, and the adjustment time is determined based on the fluctuation value of the garbage transport weight. This is beneficial for dynamically binding the switching window time with the real-time scheduling load level and the vehicle's physical vibration level at the system level. When the number of vehicles relying on positioning services in the station increases, the basic switching time is adaptively extended to avoid congestion of the entire station's operation chain caused by a single vehicle's positioning jump. When the impact of garbage dumping causes low-frequency large-amplitude vibration of the vehicle body, the adjustment time is increased to provide additional convergence time for fusion positioning. This avoids the defects of insufficient switching reliability in complex scenarios caused by fixed switching time or static setting based solely on signal parameters, and achieves adaptive matching of switching time to the complexity of the operation scenario.

[0019] Furthermore, by introducing switching frequency statistics and switching dead time suppression mechanisms, this invention helps to suppress repeated oscillation switching of positioning modes in signal critical areas or scenarios with frequent alternation of operating states, avoids positioning output jumps and system resource consumption caused by frequent switching, overcomes the problem of decreased positioning continuity caused by the lack of oscillation suppression mechanisms in existing technologies, and improves the long-term continuity of positioning services and the robustness of system operation. Attached Figure Description

[0020] Figure 1 This is a flowchart of a waste transfer method based on the Internet of Things in smart cities, as described in an embodiment of the present invention. Figure 2 This is a flowchart illustrating how a location switch is triggered based on a first triggering condition and a second triggering condition, according to an embodiment of the present invention. Figure 3 This is a flowchart illustrating how to determine whether to increase the correction time based on the fluctuation value of the waste transport weight, as an embodiment of the present invention. Figure 4 This is a flowchart illustrating how to determine whether to suppress switching frequency based on the switching frequency, according to an embodiment of the present invention. Detailed Implementation

[0021] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0022] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0023] Please see Figure 1 The diagram shows a flowchart of a waste transfer method based on the Internet of Things in a smart city, according to an embodiment of the present invention. The method of the present invention includes: Step S1: Determine the first triggering condition based on the signal obstruction intensity of the transfer station and the real-time operating status of the area where the transfer vehicle is located; Step S2: Determine the second triggering condition based on whether the characteristics of the operation action meet the timing coordination judgment condition and the physical characteristics of the waste; Step S3: Determine whether to trigger location switching based on the first trigger condition and the second trigger condition; Step S4, during the positioning switch, the first positioning mode is switched to the fusion positioning mode, and the fusion switching time is determined based on the variance of a consecutive preset number of positioning coordinates and whether the switching window time has been reached to determine whether to switch from the fusion positioning mode to the second positioning mode. Specifically, the basic switching time is determined based on the operational urgency coefficient of the transfer vehicle, and whether to increase the correction time is determined based on the fluctuation value of the garbage transport weight, so as to obtain the switching window time. Step S5: Determine whether to perform switching frequency suppression based on the switching frequency; Step S6: Based on the current location mode switching result, perform waste transfer operation.

[0024] In this embodiment of the invention, the first positioning mode is the TDOA primary positioning mode. The TDOA primary positioning mode is a positioning method based on the time difference of arrival principle. It uses multiple reference base stations located at fixed positions within the transfer station to receive positioning signals emitted by the positioning tag, measures the time difference between the arrival of the positioning tag signal at each reference base station, and calculates the positioning tag's position by combining this with the known position coordinates of each reference base station. The TDOA primary positioning mode has high positioning accuracy under good signal transmission conditions.

[0025] In this embodiment of the invention, the fusion positioning mode is a positioning method that combines TDOA positioning and RSSI positioning. In fusion positioning mode, the system performs a weighted fusion of the location data calculated by the primary TDOA positioning mode and the location data calculated by the secondary RSSI positioning mode. The fusion weight is dynamically adjusted according to the current signal obstruction intensity. The fusion positioning mode serves as a transitional stage between the primary TDOA positioning mode and the secondary RSSI positioning mode, enabling a smooth switch of positioning output during signal quality degradation, avoiding positioning jumps when directly switching from the primary TDOA positioning mode to the secondary RSSI positioning mode.

[0026] In this embodiment of the invention, the second positioning mode is an RSSI-assisted positioning mode. The RSSI-assisted positioning mode is a positioning method based on received signal strength indication. It measures the received signal strength of the positioning tag at each reference base station, converts the RSSI value into an estimated distance between the positioning tag and each reference base station based on a preset signal propagation loss model, and then uses a multilateral positioning algorithm to calculate the positioning tag's position. The positioning accuracy of the RSSI-assisted positioning mode is lower than that of the TDOA primary positioning mode, but it has stronger resistance to signal obstruction and interference, and can maintain positioning output indoors and in environments with signal obstruction.

[0027] In this embodiment of the invention, a waste transfer operation is performed based on the current positioning mode switching result. The path planning and routing based on the vehicle position, the heading and speed adjustment during the driving process, and the precise docking and unloading action triggering control after arriving at the unloading point are all known waste transfer operation control methods in the art. The specific implementation methods will not be described in detail here.

[0028] Specifically, the first triggering condition is that the signal obstruction intensity of the transfer station is greater than the preset signal obstruction intensity or the real-time operation status of the area where the transfer vehicle is located changes from an outdoor area identifier to an indoor area identifier.

[0029] In this embodiment of the invention, the signal obstruction intensity of the transfer station is used to determine the current positioning signal quality of the transfer station. The greater the signal obstruction intensity, the more severe the positioning signal in the current area of ​​the transfer station is obstructed or reflected by building walls, steel structure ceilings and internal equipment, and the worse the positioning tag signal quality received by the reference base station is. The signal obstruction intensity is determined based on the signal reception quality parameters of reference base stations set in multiple fixed locations within the transfer station. The system uses multiple reference base stations located at fixed positions within the transfer station to receive positioning signals transmitted by positioning tags in real time, and calculates the average signal-to-noise ratio of the positioning signals received by each reference base station, which is then used as the signal obstruction strength of the transfer station.

[0030] In this embodiment, the location and number of reference base stations at multiple fixed locations within the transfer station are not limited and can be flexibly configured according to the site area of ​​the transfer station, the distribution of surrounding buildings, and actual monitoring needs.

[0031] In this embodiment of the invention, the preset signal blocking intensity is determined based on the signal blocking intensity corresponding to the normal positioning state and the positioning failure state during historical operations within the transfer station. This ensures that the decrease in positioning accuracy caused by signal blocking can be effectively distinguished from normal signal fluctuations. If the preset signal blocking intensity is set too low, normal signal attenuation may be mistakenly identified as positioning failure, increasing unnecessary positioning mode switching and reducing system operating efficiency. If the preset signal blocking intensity is set too high, abnormal positioning output caused by signal blocking in the first positioning mode is difficult to identify in a timely manner, leading to an accumulation of positioning errors and reducing the timeliness and reliability of positioning switching. Therefore, this embodiment sets the preset signal blocking intensity within the transition range between the normal positioning signal blocking intensity and the positioning failure signal blocking intensity, ensuring that positioning mode switching is based on signal quality deteriorating to the point of affecting positioning reliability, while simultaneously considering system operating efficiency and positioning switching accuracy.

[0032] In this embodiment of the invention, the real-time operating status of the area where the transfer vehicle is located includes outdoor area markers and indoor area markers. The outdoor area markers indicate that the transfer vehicle is currently in an open outdoor environment, and the indoor area markers indicate that the transfer vehicle is currently in an indoor environment. The indoor environment includes at least one of the following: the internal parking lot of the transfer station, the garbage unloading hall, and the underground transfer station.

[0033] In this embodiment, the real-time operation status can also be determined by the positional relationship between the positioning coordinates of the transport vehicle's onboard positioning module and the preset electronic fence. Specifically, the electronic fence boundaries of the outdoor operation area and the indoor operation area are pre-defined on the electronic map. The onboard positioning module continuously acquires the real-time positioning coordinates of the transport vehicle. When it detects that the positioning coordinates of the transport vehicle cross the boundary from the outdoor electronic fence area into the indoor electronic fence area, it determines that the real-time operation status of the area where the transport vehicle is located is switched from the outdoor area identifier to the indoor area identifier.

[0034] Understandably, when the real-time operation status is detected to switch from an outdoor area marker to an indoor area marker, after the transport vehicle enters the indoor environment from the open outdoor environment, the building walls, ceilings and internal facilities will block and reflect the positioning signal, making it difficult to maintain reliable positioning in the first positioning mode. It is necessary to switch the positioning mode in time to ensure positioning continuity.

[0035] Specifically, the second triggering condition is determined as follows: The physical characteristics of the waste are obtained, including at least one of the following: the moisture content of the waste inside the waste bin and waste type information; wherein, the waste type information includes at least one of the following: general waste, high-moisture waste, metal waste, and underground deep-buried bin markings; The operational action characteristics are obtained, including the vehicle body tilt angle of the transfer vehicle, the pressure change rate of the lifting mechanism, and the weight change rate of the on-board weighing system. In response to the waste moisture content being greater than the preset waste moisture content, or the waste type information containing any one of the following: high-moisture waste label, metal waste label, or underground deep-buried bin label, or the operation action characteristics meeting the time-series coordination judgment condition, the second triggering condition is triggered.

[0036] In this embodiment of the invention, a capacitive moisture sensor installed at the bottom or side wall of the trash can is used to calculate the moisture content by measuring the change in the dielectric constant of the trash. The trash type information includes at least one of ordinary trash, high-moisture trash, metal trash, and underground buried trash can markings. In this embodiment, each trash can is equipped with an RFID electronic tag, which stores the trash type information of that trash can. The lifting mechanism of the transfer vehicle is equipped with an RFID reader / writer. When the lifting mechanism contacts or approaches the trash can, the RFID reader / writer reads the trash type information from the RFID electronic tag. For trash cans without RFID electronic tags, the transfer vehicle operator can manually select the type of trash to be processed via the onboard touchscreen. The operator selects the corresponding trash type option on the touchscreen based on the classification markings on the trash can or by visual observation.

[0037] It should be noted that the physical characteristics of the waste refer to the physical characteristics of the waste inside the waste bins where the transfer vehicle is currently performing its operations.

[0038] Understandably, the physical characteristics of the waste and the dynamic response of the vehicle during the lifting and tipping operation affect the reliability of the first positioning mode from two dimensions: signal transmission interference and positioning measurement stability. High-moisture waste, due to its high water content, significantly absorbs and attenuates the positioning signal, leading to a deterioration in the TDOA measurement signal-to-noise ratio. Metal waste exhibits electromagnetic shielding and reflection effects on the positioning signal, introducing multipath components and causing random errors in positioning. Underground buried bins operate in semi-enclosed or fully enclosed spaces, where non-line-of-sight propagation dominates, significantly reducing positioning accuracy. During the lifting and tipping operation, the pressure change rate of the lifting mechanism, the vehicle tilt angle, and the weight change rate change sequentially according to a strict physical time sequence, accurately reflecting the complete lifting and tipping process. During this process, the vehicle is in a highly dynamic state, and the signal transmission path between the positioning tag and the reference base station is constantly changing. The time difference sequence of the TDOA measurement contains a large amount of dynamic noise. Furthermore, vehicle tilting and bin lifting can cause obstruction, leading to signal attenuation and interruption, and consequently, unstable positioning output.

[0039] Specifically, the operation action characteristics satisfy the temporal coordination determination conditions, including: Within a preset time window, if the lifting mechanism pressure change rate is greater than a preset pressure change rate, the vehicle body tilt angle is greater than a preset vehicle body tilt angle, and the weight change rate is greater than a preset weight change rate, in that order, the operation action characteristics are determined to meet the timing coordination judgment condition.

[0040] In this embodiment of the invention, the pressure change rate of the lifting mechanism is used to determine the rate of change of the load borne by the lifting mechanism, and thus to determine the degree of drastic change in the weight of the garbage bin carried by the lifting mechanism during the lifting and tipping operation. The pressure change rate of the lifting mechanism is determined based on the pressure collected in real time by the pressure sensor installed on the hydraulic cylinder of the lifting mechanism. The rate of change of the lifting mechanism pressure is the absolute value of the difference between the lifting mechanism pressure at the current moment and the previous moment; the interval between the current moment and the previous moment is a preset sampling interval, which can be set according to the sampling frequency of the pressure sensor and the actual detection requirements. This embodiment does not impose specific restrictions on this.

[0041] In this embodiment of the invention, the vehicle body tilt angle is determined by an attitude sensor installed on the vehicle body of the transport vehicle. The attitude sensor is an inertial measurement unit, including at least one of a three-axis accelerometer and a three-axis gyroscope. It can calculate and output the pitch angle of the vehicle body relative to the horizontal plane in real time, and use the pitch angle as the vehicle body tilt angle.

[0042] In this embodiment of the invention, the weight change rate of the vehicle-mounted weighing system is determined based on the weight collected in real time by the vehicle-mounted weighing system located between the transfer vehicle compartment and the chassis; wherein, the weight change rate is the absolute value of the difference between the weight measurement value at the current moment and the previous moment. In this embodiment, the vehicle-mounted weighing system is at least one of a strain gauge weighing sensor array or a pneumatic weighing sensor, used to detect the weight of the garbage in the compartment in real time.

[0043] In this embodiment of the invention, the preset pressure change rate, preset vehicle tilt angle, and preset weight change rate are determined based on the operating and non-operating states of each parameter during the historical lifting and tipping operations of the transfer vehicle, to ensure effective differentiation between the actual lifting and tipping action and the empty or standby state. Specifically, the preset pressure change rate is determined based on the pressure change rate of the lifting mechanism during the lifting operation period and the empty period; the preset vehicle tilt angle is determined based on the tilt angle of the vehicle body during the lifting operation period and the non-operating period; and the preset weight change rate is determined based on the weight change rate of the on-board weighing system during the garbage loading period and the non-loading period. When the preset thresholds are set too low, signal fluctuations under normal conditions are easily misinterpreted as triggering operation actions, increasing the number of unnecessary positioning mode switchings and reducing system operating efficiency. When the preset thresholds are set too high, parameter changes during the actual lifting and tipping operation are difficult to identify in a timely manner, resulting in delayed timing judgment and reduced timeliness of positioning switching. Therefore, in this embodiment, the preset pressure change rate is set within the transition range between the pressure change rate in the no-load state and the actual lifting load pressure change rate; the preset vehicle tilt angle is set within the transition range between the tilt angle in the normal driving posture and the tilt angle in the lifting operation posture; and the preset weight change rate is set within the transition range between the weight change rate in the unloaded state and the weight change rate in the actual loading process. This ensures that the timing coordination determination is based on the fact that the operation has been substantially started, while also taking into account both recognition sensitivity and system stability.

[0044] In this embodiment of the invention, the preset time window is a pre-defined time range used to determine whether the three events—the lifting mechanism pressure change rate, the vehicle body tilt angle, and the weight change rate—occur sequentially in chronological order. The start time of the preset time window is the moment when the lifting mechanism pressure change rate is detected to be greater than a preset pressure change rate, and the end time is the moment corresponding to the preset time window length extended backward from the start time.

[0045] The duration of the preset time window is determined based on the actual time difference between the initial triggering by the pressure change of the lifting mechanism and the final triggering by the weight change rate during historical lifting and tipping operations. This ensures that the timing coordination judgment covers the entire lifting and tipping operation process. If the preset time window duration is set too short, the timing span of the three events may exceed the window range under normal operating conditions due to differences in waste type, load weight, or operating speed. This would prevent the timing coordination judgment condition from being met, potentially leading to missed detection of actual lifting and tipping operations and reducing the sensitivity of the second triggering condition. Conversely, if the preset time window duration is set too long, parameter fluctuations within different operating cycles may be misjudged as satisfying the timing coordination relationship, resulting in false triggering of the second triggering condition and increasing unnecessary positioning mode switching. Therefore, this embodiment sets the preset time window duration within the normal fluctuation range of the time difference between the completion of each event during historical operations. This ensures that the timing coordination judgment covers the entire lifting and tipping operation process while avoiding misjudgments due to an excessively long window, balancing recognition sensitivity and judgment accuracy.

[0046] Please see Figure 2 As shown, it is a flowchart of an embodiment of the present invention for determining whether to trigger location switching based on a first triggering condition and a second triggering condition. In this embodiment of the present invention, if the first triggering condition or the second triggering condition is met, location switching is triggered.

[0047] If neither the first nor the second trigger condition is met, the location switch will not be triggered.

[0048] Specifically, if the variance of a preset number of consecutive positioning coordinates is less than the preset variance or the fusion switching time reaches the switching window time, the fusion positioning mode will be switched to the second positioning mode.

[0049] In this embodiment of the invention, the method for obtaining the variance of the continuously preset number of positioning coordinates includes: Obtain the positioning coordinate sequence output by the second positioning mode under the fusion positioning mode; it can be understood that since the fusion positioning mode is a weighted fusion of the TDOA positioning result and the RSSI positioning result, the output coordinates of the RSSI auxiliary positioning mode can also be obtained under the fusion positioning mode. The most recent preset number of positioning coordinates are taken to form a set of positioning coordinates; each positioning coordinate includes three components: longitude, latitude, and altitude. The average variance of each component of each positioning coordinate in the set is taken as the variance of a consecutive preset number of positioning coordinates.

[0050] In this embodiment of the invention, the preset quantity is a pre-set number of positioning coordinate samples used to form a set of positioning coordinates for calculating variance; the time interval between two adjacent positioning coordinates is the time difference between two consecutive output positioning coordinates in the fusion positioning mode. The specific values ​​of the preset quantity and the time interval between two adjacent positioning coordinates can be flexibly set according to actual positioning accuracy requirements, system computing power, and the signal transmission frequency of the positioning tag; this invention does not impose specific limitations on these.

[0051] In this embodiment of the invention, the preset variance is determined based on the variance of positioning coordinates corresponding to the stable tracking state and the positioning fluctuation state of the fusion positioning mode during historical operations at the transfer station. This ensures that the stability judgment of the positioning output is effectively distinguished from the natural fluctuations of positioning coordinates under normal conditions. When the preset variance is set too small, minor fluctuations in positioning coordinates under normal conditions are easily misjudged as positioning instability, causing the fusion positioning mode to switch to the second positioning mode prematurely, resulting in poor positioning stability. When the preset variance is set too large, the divergence of positioning coordinates caused by signal interference or environmental changes in the fusion positioning mode is difficult to identify in a timely manner, and the positioning error continues to accumulate, reducing the timeliness of switching to the second positioning mode and the reliability of the positioning output. Therefore, this embodiment sets the preset variance within the transition range between the variance of positioning coordinates in the stable tracking state and the variance of positioning coordinates in the positioning fluctuation state, so that the positioning mode switching is based on the fusion positioning output having become stable, while taking into account both system operating efficiency and switching accuracy.

[0052] In this embodiment of the invention, the fusion switching duration is used to determine the continuous running time of the fusion positioning mode, and the fusion switching duration is the duration from the initial moment of switching from the first positioning mode to the fusion positioning mode to the current moment.

[0053] Understandably, the fusion positioning mode serves as a transitional phase between the first and second positioning modes. Its purpose is to achieve a smooth switch in positioning output during signal quality degradation, avoiding the positioning jump that occurs when switching directly from the first to the second positioning mode. However, the fusion positioning mode involves a large amount of computation and is not suitable for long-term maintenance. Therefore, it is necessary to switch to the second positioning mode promptly after the positioning output stabilizes. The two criteria—that the variance of a consecutive preset number of positioning coordinates is less than a preset variance and that the fusion switching time reaches the switching window duration—ensure the reliability of the switching from both positioning stability and switching timeliness perspectives, respectively.

[0054] Specifically, the basic switchover time is determined based on the operational urgency coefficient of the transfer vehicle; The basic switching time is positively correlated with the urgency coefficient of the transfer vehicle's operation.

[0055] In this embodiment of the invention, the basic switching time is determined based on the product of the ratio of the task urgency coefficient to the preset task urgency and the preset basic time.

[0056] In this embodiment, the preset task urgency is determined based on the task urgency coefficients corresponding to normal and peak scheduling states during the historical operation of the transfer station. This ensures that the task urgency judgment is effectively distinguished from the natural fluctuations in task urgency under normal scheduling states. If the preset task urgency is set too low, fluctuations in task urgency under normal scheduling states may be misjudged as peak scheduling states, leading to premature extension of the basic switching time, excessively long maintenance time of the fused positioning mode, increased system computational load and power consumption, and reduced system operating efficiency. If the preset task urgency is set too high, high task urgency caused by increased actual load or dense task load at the transfer station may be difficult to identify in a timely manner, resulting in insufficient extension of the basic switching time, excessively short duration of the fused positioning mode, and switching to the second positioning mode before positioning is fully stable, reducing the reliability of positioning switching in high-urgency scenarios. Therefore, this embodiment sets the preset task urgency within the transition range between the task urgency coefficients under normal scheduling states and peak scheduling states, ensuring that the adjustment of the basic switching time is based on a significant increase in task urgency, while simultaneously considering system operating efficiency and positioning switching reliability.

[0057] In this embodiment of the invention, the larger the preset base duration, the longer the fusion positioning mode needs to run to achieve stable convergence of positioning output. Therefore, the greater the requirement for positioning switching reliability, the larger the value of the preset base duration. This embodiment does not limit the specific value of the preset base duration, and those skilled in the art can flexibly set it according to the actual application scenario and positioning accuracy requirements.

[0058] Please see Figure 3 As shown, it is a flowchart of an embodiment of the present invention for determining whether to increase the correction time based on the fluctuation value of the waste transport weight. In this embodiment of the present invention, if the fluctuation value of the waste transport weight is greater than the preset fluctuation value of the waste transport weight, it is determined to increase the correction time. The correction duration is positively correlated with the fluctuation value of the waste transport weight.

[0059] If the fluctuation value of the waste transport weight is less than or equal to the preset fluctuation value of the waste transport weight, it is determined that no additional correction time is needed, and the switching window time is based on the basic switching time.

[0060] In this embodiment of the invention, the waste transport weight fluctuation value is used to determine the degree of fluctuation in the weight of the waste in the truck compartment during the process of dumping the waste into the truck compartment, thereby determining the vehicle vibration level and the degree of interference with the positioning signal. The waste transport weight fluctuation value is determined based on the standard deviation of the weight collected by the on-board weighing system at a preset sampling interval during the basic switching time.

[0061] In this embodiment, the preset waste transport weight fluctuation value is determined based on the waste transport weight fluctuation values ​​corresponding to normal loading and impact loading states during historical loading operations of the transfer vehicle, to ensure effective differentiation between vibration interference detection and natural weight fluctuations under normal loading states. If the preset waste transport weight fluctuation value is set too small, minor weight fluctuations under normal loading states are easily misjudged as severe vibrations, leading to frequent increases in correction time, excessively long maintenance time of the fusion positioning mode, increased system computational load and power consumption, and reduced system operating efficiency. If the preset waste transport weight fluctuation value is set too large, severe weight fluctuations caused by rapid waste dumping or periodic compression by the compression device are difficult to identify in a timely manner, resulting in insufficient increase in correction time, excessively short duration of the fusion positioning mode, and switching to the second positioning mode before the positioning output has fully stabilized, reducing the reliability of positioning switching. Therefore, this embodiment sets the preset waste transport weight fluctuation value within the transition range between the weight fluctuation values ​​under normal loading and impact loading states, ensuring that the increase in correction time is based on significant fluctuations in waste transport weight, while simultaneously guaranteeing the reliability of positioning switching.

[0062] Understandably, the rate of change in waste transport weight reflects the speed and impact intensity of waste being dumped into the truck compartment. A large rate of change indicates that waste is rapidly and continuously entering the compartment, resulting in uneven distribution and a rapid shift in the truck's center of gravity. Simultaneously, the impact of waste dumping and the periodic compression of the compression device cause low-frequency, high-amplitude vibrations in the truck body. These vibrations are transmitted through the vehicle structure to the positioning tags and attitude sensors mounted on the vehicle, causing periodic disturbances in the phase of the positioning tag's transmitted signal. Furthermore, the output data of the attitude sensors contains noise components at the same frequency as the vibrations, thus affecting the accuracy and stability of the positioning coordinates in the fusion positioning mode. This increases the variance of the positioning coordinates, making it difficult for the variance of a consecutive preset number of positioning coordinates to converge below the preset variance. Therefore, in scenarios with a large rate of change in waste transport weight, the fusion positioning mode requires a longer time to allow the vehicle vibration to attenuate and the positioning output to stabilize, completing the verification and transition of positioning stability to ensure the reliability of the positioning output when switching to the second positioning mode.

[0063] In this embodiment of the invention, the correction duration is determined by multiplying the difference between the waste transport weight fluctuation value and the preset waste transport weight fluctuation value and the preset waste transport weight fluctuation value by the basic switching duration.

[0064] Specifically, the methods for obtaining the task urgency coefficient include: The instantaneous load reference value is determined based on the number of transfer vehicles in the transfer station that are under load influence. The operation phase value is determined based on the ratio of each parameter in the operation action characteristics to the corresponding preset value; The task urgency coefficient is determined based on the instantaneous load reference value and the task phase value.

[0065] In this embodiment of the invention, the task urgency coefficient is used to determine the degree of need for positioning continuity and reliability in the current operation scenario of the transfer vehicle, and then to determine the basic switching time. The task urgency coefficient is determined based on the sum of the ratio of the instantaneous load reference value to the preset instantaneous load reference value and the ratio of the task phase value to the preset task phase value.

[0066] In this embodiment, the instantaneous load reference value is used to determine the real-time scheduling load level of the transfer station at the current moment, and the instantaneous load reference value is the number of transfer vehicles in the transfer station that are under load at the current moment. The load impact status is used to determine the scheduling load level of the transfer station at the current moment, and the load impact status is the number of vehicles in the transfer station that are currently in the first positioning mode or the fusion positioning mode at the current moment. Understandably, the more transfer vehicles under load, the more vehicles are currently operating simultaneously within the transfer station, relying on location services, and the heavier the overall scheduling load of the transfer station. In high-load scenarios, the operation sequences of each vehicle are tightly coupled. An interruption or change in the location of any vehicle can trigger a chain reaction. The vehicle may fail to accurately connect to the unloading port or deviate from its planned path due to positioning deviation, causing its operation to stall, thus blocking the operation of subsequent vehicles, resulting in congestion and a decrease in overall efficiency throughout the transfer station's operational chain. Therefore, when the transfer station is under high scheduling load, the requirements for the continuity and reliability of positioning for each vehicle are higher. It is necessary to extend the basic switching time to allow the fused positioning mode to continue for a longer period, ensuring that the positioning output is sufficiently stable before switching to the second positioning mode. This avoids the chain reaction caused by premature positioning changes affecting the vehicle itself and subsequent vehicles, ensuring the smooth operation of the entire transfer station's operational chain under high-load scenarios.

[0067] In this embodiment, the operation phase value is used to determine the dynamic characteristics of the current operation of the transfer vehicle. The operation phase value is the average value of the ratios of each parameter in the operation action characteristics to the corresponding preset values. Understandably, a larger operational phase value indicates a higher load intensity and more severe dynamics in the vehicle's current operation, more intense vehicle vibration and attitude changes, more severe disturbance to the positioning signal, and a longer time required for positioning stabilization and convergence. Therefore, a larger operational phase value results in a higher operational urgency coefficient, and consequently a longer basic switching time. This allows the fusion positioning mode sufficient time to allow vehicle vibration attenuation and positioning output to stabilize, ensuring positioning reliability when switching to the second positioning mode under high-intensity operational scenarios. In this embodiment of the invention, the preset instantaneous load reference value is determined based on the instantaneous load reference values ​​corresponding to the normal and peak scheduling states during the historical operation of the transfer station. When the preset instantaneous load reference value is set too small, fluctuations in the number of vehicles under normal scheduling state are easily misjudged as peak scheduling state, leading to an unnecessary extension of the basic switching time, an excessively long maintenance time of the fused positioning mode, increased system computational load and power consumption, and reduced system operating efficiency. When the preset instantaneous load reference value is set too large, the high scheduling load state caused by the dense workload of the transfer station is difficult to identify in a timely manner, the basic switching time is not extended enough, the duration of the fused positioning mode in high-load scenarios is too short, and the positioning output is not sufficiently stable before switching to the second positioning mode, which can easily cause a chain reaction of vehicle operation stagnation and subsequent vehicle congestion due to positioning jumps, reducing the reliability of positioning switching in high-load scenarios. Therefore, the preset instantaneous load reference value is set within the transition range between the number of vehicles under normal scheduling state and the number of vehicles under peak scheduling state, so that the extension of the basic switching time is based on the fact that the scheduling load has increased significantly and that it is necessary to improve positioning reliability to ensure the smooth operation of the operation chain, while improving the reliability of positioning switching.

[0068] In this embodiment of the invention, the preset operation phase value is determined based on the operation phase values ​​corresponding to the normal operation state and the high-intensity operation state of the transport vehicle during historical operations. When the preset operation phase value is set too small, it is easy to misjudge the phase value fluctuations in the normal operation state as the high-intensity operation state, resulting in an unnecessary extension of the basic switching time, an excessively long maintenance time of the fused positioning mode, increased system computing load and power consumption, and reduced system operating efficiency. When the preset operation phase value is set too large, it is difficult to timely identify the severe vehicle vibration and positioning signal disturbance caused by high load and high dynamic operation, resulting in insufficient extension of the basic switching time, an excessively short duration of the fused positioning mode, and a switch to the second positioning mode before the positioning output has fully stabilized, reducing the reliability of positioning switching in high-intensity operation scenarios. Therefore, this embodiment sets the preset operation phase value within the transition range between the phase value of the normal operation state and the phase value of the high-intensity operation state, so that the extension of the basic switching time is based on the significantly enhanced dynamic characteristics of the operation and the significantly aggravated degree of positioning disturbance, while improving the reliability of positioning switching.

[0069] Please see Figure 4 As shown, it is a flowchart of an embodiment of the present invention for determining whether to perform switching frequency suppression based on the switching frequency. In this embodiment of the present invention, if the response switching frequency is greater than the preset switching frequency, then switching frequency suppression is performed.

[0070] In this embodiment of the invention, the switching frequency is used to determine the degree of switching oscillation of the positioning mode within a preset time interval, and the switching frequency is the sum of the number of switching from the fusion positioning mode to the second positioning mode within the current preset time interval; The duration of the current preset time interval is the length of a time window that traces back a preset duration from the current moment. In this embodiment, the greater the requirement for statistical stability of the switching frequency, the larger the value of the preset duration is, so as to smooth short-term fluctuations and reflect longer-term trends. In this embodiment, there is no restriction on the specific value of the preset duration. Those skilled in the art can flexibly set it according to the actual operation characteristics and positioning switching response requirements.

[0071] In this embodiment of the invention, the preset switching frequency is a pre-set threshold for allowed switching frequency, used to determine whether the switching of the current positioning mode is too frequent, and thus whether switching frequency suppression needs to be activated. The preset switching frequency is determined based on the switching frequencies corresponding to normal and frequent switching states during the historical operation of the transfer station, to ensure that the judgment of the degree of switching oscillation can be effectively distinguished from the fluctuations in switching frequency under normal operating conditions. When the preset switching frequency is set too low, normal switching is misjudged as frequent switching, resulting in improper activation of switching frequency suppression, and the system cannot switch the positioning mode in time when needed, reducing the response speed of the positioning service; when the preset switching frequency is set too high, frequent switching is difficult to identify in time, and the positioning output jumps repeatedly, affecting the continuity of positioning and the reliability of operation. Therefore, this embodiment sets the preset switching frequency within the transition range between the switching frequency of normal switching state and the switching frequency of frequent switching state, so that the activation of switching frequency suppression is based on the premise that the switching is indeed too frequent, taking into account both the system response speed and the stability of the positioning output.

[0072] In this embodiment of the invention, when suppressing switching frequency, a switching dead time is set, during which switching operations of the positioning mode are prohibited. The switching dead time is determined based on the degree to which the switching frequency exceeds the limit corresponding to frequent state switching during historical operations of the transfer station, so that the setting of the dead time matches the degree of switching oscillation. When the switching dead time is set too short, it is difficult to effectively suppress frequent switching, and the positioning mode repeatedly jumps within a short period of time, resulting in insufficient positioning output stability. When the switching dead time is set too long, the system's responsiveness to changes in the positioning environment decreases. Even if the signal quality has recovered or the operating status has changed, it cannot switch to a more suitable positioning mode in time due to being within the dead time, reducing the response speed and reliability of the positioning service. Therefore, this embodiment sets the switching dead time within a reasonable range between the shortest duration required to effectively suppress switching oscillation and the maximum duration that does not affect the normal response capability of the system. This ensures that the switching dead time effectively suppresses frequent switching without excessively delaying the system's response to changes in the positioning environment, balancing positioning output stability and system response sensitivity.

[0073] It should be noted that if, after switching to the second positioning mode, it is detected that neither the first nor the second triggering condition is met, it indicates that the triggering factors that caused the positioning mode switch have been eliminated. In this case, a reverse switching process is triggered, switching back from the second positioning mode to the fusion positioning mode. The maintenance duration of the fusion positioning mode after this reverse switch is determined in the same way as the switching window duration when initially switching from the first positioning mode to the fusion positioning mode. That is, the basic switching duration is determined based on the current urgency coefficient of the transfer vehicle, and the correction duration is determined based on the current fluctuation value of the garbage transport weight. The current switching window duration is dynamically calculated and used as the maintenance duration of the fusion positioning mode after the reverse switch. After the maintenance duration ends, the fusion positioning mode is switched back to the first positioning mode.

[0074] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A waste transfer method based on the Internet of Things in smart cities, characterized in that, include: The first triggering condition is determined based on the signal obstruction intensity of the transfer station and the real-time operational status of the area where the transfer vehicle is located. The second triggering condition is determined based on whether the characteristics of the operation actions meet the timing coordination judgment conditions and the physical characteristics of the waste. Determine whether to trigger a location switch based on the first and second trigger conditions; During the location switching, the system switches from the first location mode to the fusion location mode, and determines whether to switch from the fusion location mode to the second location mode based on the variance of a consecutive preset number of location coordinates and whether the fusion switching time reaches the switching window duration. Specifically, the basic switching time is determined based on the operational urgency coefficient of the transfer vehicle, and whether to increase the correction time is determined based on the fluctuation value of the garbage transport weight, so as to obtain the switching window time. Whether to suppress the switching frequency is determined based on the switching frequency. Based on the current location mode switching result, execute the waste transfer operation.

2. The waste transfer method based on the Internet of Things in smart cities according to claim 1, characterized in that, The first triggering condition is that the signal obstruction intensity of the transfer station is greater than the preset signal obstruction intensity or the real-time operation status of the area where the transfer vehicle is located changes from an outdoor area identifier to an indoor area identifier.

3. The waste transfer method based on the Internet of Things in smart cities according to claim 1, characterized in that, The second triggering condition is determined as follows: The physical characteristics of the waste are obtained, including at least one of the following: the moisture content of the waste inside the waste bin and waste type information; wherein, the waste type information includes at least one of the following: general waste, high-moisture waste, metal waste, and underground deep-buried bin markings; The operational action characteristics are obtained, including the vehicle body tilt angle of the transfer vehicle, the pressure change rate of the lifting mechanism, and the weight change rate of the on-board weighing system. In response to the waste moisture content being greater than the preset waste moisture content, or the waste type information containing any one of the following: high-moisture waste label, metal waste label, or underground deep-buried bin label, or the operation action characteristics meeting the time-series coordination judgment condition, the second triggering condition is triggered.

4. The waste transfer method based on the Internet of Things in smart cities according to claim 3, characterized in that, The operation action features satisfy the temporal coordination determination conditions, including: Within a preset time window, if the lifting mechanism pressure change rate is greater than a preset pressure change rate, the vehicle body tilt angle is greater than a preset vehicle body tilt angle, and the weight change rate is greater than a preset weight change rate, in that order, the operation action characteristics are determined to meet the timing coordination judgment condition.

5. The waste transfer method based on the Internet of Things in smart cities according to claim 1, characterized in that, If the first trigger condition or the second trigger condition is met, the location switch will be triggered.

6. The waste transfer method based on the Internet of Things in smart cities according to claim 1, characterized in that, If the variance of a preset number of consecutive positioning coordinates is less than the preset variance or the fusion switching time reaches the switching window time, the fusion positioning mode will be switched to the second positioning mode.

7. The waste transfer method based on the Internet of Things in smart cities according to claim 1, characterized in that, The basic switchover time is determined based on the urgency coefficient of the transfer vehicle's operations; The basic switching time is positively correlated with the urgency coefficient of the transfer vehicle's operation.

8. The waste transfer method based on the Internet of Things in smart cities according to claim 7, characterized in that, If the fluctuation value of the waste transport weight is greater than the preset fluctuation value of the waste transport weight, it is determined that the correction time will be increased; The correction duration is positively correlated with the fluctuation value of the waste transport weight.

9. The waste transfer method based on the Internet of Things in smart cities according to claim 7, characterized in that, The methods for obtaining the task urgency coefficient include: The instantaneous load reference value is determined based on the number of transfer vehicles in the transfer station that are under load influence. The operation phase value is determined based on the ratio of each parameter in the operation action characteristics to the corresponding preset value; The task urgency coefficient is determined based on the instantaneous load reference value and the task phase value.

10. The waste transfer method based on the Internet of Things in smart cities according to claim 1, characterized in that, If the response switching frequency is greater than the preset switching frequency, then switching frequency suppression will be performed.

Images