JPS6183918A - Mass measuring apparatus - Google Patents

Abstract

PURPOSE:To enable the measurement of constant mass and varying machine under a rocking state, by providing means of detecting force working between a reference system and an object to be measured, a means of detecting acceleration of an object and a means of computing physical quantity. CONSTITUTION:A force detection means inserted between a reference system 4 outside an object 1 to be measured and the object 1 detects force working between the reference system 4 and the object 1 and generates a force signal according to it. On the other hand, an acceleration detector 5 provided related to the object 1 detects the acceleration of the object 1 and generates an acceleration signal according to it. A mass computing means computes physical quantity related to the mass of the object 1 based on the force signal and the acceleration signal and generates the results of the computation as mass signal. So to speak, paying attention to the fact that the effect of a rocking state appears in the acceleration of the object, force information is corrected by acceleration information. Thus, the measurement of the constant mass and the varying mass can be done under a rocking state.

Description

[Detailed Description of the Invention] (Field of the Invention) This invention relates to a mass measuring device, and in particular, to
゛) Changes in a spatially turbulent environment such as on a ship.
The present invention relates to a mass measuring device that can be used for m r+ measurement.

(Description of Prior Art) Various types of so-called "scales" have conventionally been used as devices 5 for measuring the 'PXfys of an object or physical quantities related thereto (for example, eastness). Such a 5A stomach can absorb forces such as gravity from an exposed object to the measuring device, and other objects in the measuring device. It converts it into suspension (for example, the expansion and contraction of a spring or the strain of a piezoelectric element), and displays the mass of an object based on that physical quantity. Therefore, in this specification, the base of the measuring device, the floor surface that supports the measuring device, etc. are referred to as the "reference system." ) is at rest or in uniform motion, and the force applied from the object to be measured to the reference frame is directly related to the mass of the object to be measured. It is based on this principle. Therefore, if the reference system described above is undergoing accelerated motion, that is, if the measuring device is in an oscillating environment, the above premise does not hold, and accurate quality measurements using these devices are impossible. .

For this reason, so-called shipboard scales have been proposed as scales that can be used in eI work environments such as on ships. Examples of such methods include the ``two-tree-to-lever method'', the ``combined lever method'', and the ``U method in combination with the Robapal cabinet structure''.

These are, for example, Transactions of the Society of Instrument and Control Engineers, Vol. 11, No. 1, pp. 97-102 (1975), Vol. 12, No. 1, pp. 35-39 (1976), Vol. No. 3, pages 69 to 74 (1976), in articles entitled "Ship Scales" (both by Mr. Nishiyama and three other authors). In these cases, it is impossible to incorporate the influence of 1. oscillation using only a single balance column. .

However, in such a device, in addition to the static balance of the above-mentioned duplication/revision mechanism, balance of the moment of inertia as a dynamic factor is required, so it is necessary to satisfy these two conditions. In order to do this, the mass of the liquid crystal 1 object must be a certain value, which means that they can only be used as fixed hanging scales and cannot be used to measure arbitrary weights. ,, (Also, how does the mass of the object to be measured change over time in powder or liquid 4 that is continuously supplied? (hereinafter referred to as "variable mass").
7'i♀ has the disadvantage that it is impossible to measure it in one go. In addition, since these are all lever-based applications, there are strict requirements for mechanical: l', flvIIff.
Requires manufacturing know-how. For this reason, there is a problem that it is not suitable for manufacturing as a human % i + l measurement device for use in troop battles, etc.

Furthermore, the inventors of this invention have proposed a method called a "dynamic measurement method" as a mass measurement device that can be applied when the object to be measured itself is in motion (for example, "Dynamic measurement method" by Ono and Shimaoka, Mass measurement using dynamic measurement method J Measurement technology '84゜2 pp. 35-41 (1984
)). This method attempts to perform accurate mass measurement by detecting the displacement and velocity of the object to be measured and processing the detected output. This method has achieved great results in measuring the axle load of heavy vehicles;
It is mainly intended for iii measurement and cannot be used as is for measuring fluctuating mass.

(Object of the invention) The first object of the invention is to
It is an object of the present invention to provide a mass measuring device that can be applied to both measurement and fluctuation side measurement.

A second object of the present invention is to provide a mass measuring device that can be manufactured according to the required application without requiring strict requirements for mechanical precision or manufacturing know-how.

(Structure of the Invention) In order to achieve the above-mentioned object, the mass measuring device according to the present invention uses a predetermined L (quantity system, l, in other words, a base or a base of the device) that exists outside the object to be measured. , a force detection means for detecting the force acting between the floor surface 4T of a heavy vehicle/ship, etc. and the object to be measured, and an acceleration detection means for detecting the acceleration of the object to be measured, and 7) The measuring device is provided with calculation means for calculating physical quantities related to the measured object 71, such as trade ω, b, weight, etc., based on the obtained horn information J3 and acceleration information. That is, by focusing on the fact that the influence of a turbulent environment appears in the acceleration of an object, and by modifying the -C1 force information with acceleration information, an attempt is made to incorporate the influence of the JI&.
! (Principle of the Invention) Therefore; 1: f. The principle of the invention will be explained by taking as an example a specific model corresponding to the embodiment shown later.

FIG. 1 is a mechanical conceptual diagram of such a model. In FIG. 1, an object to be measured 1 (quality dM) is held by a container 2 (quality ff1m1) as a holding means and is held by J3.
Suppose that the quality ff1M is a stationary mass or a variable vJ mass. The force indicates the force acting between the reference plane 4 as a reference system and the assembly 3 including the object 1 and the container 2. Under an oscillating environment, this reference surface 4 will be oscillating. The acceleration detector 5 (Mωm of the part connected to the object 1) is for detecting acceleration in the movement of the object 1, and the force F is applied to the assembly 3 by its detection action. The external force P indicates the external force applied to the aggregate 3 excluding the above-mentioned force, the gravitational force applied to the aggregate 3, and the force F. Further, the respective position coordinates of the acceleration detector 5 and the object 1 shall be measured as X and x1 in the direction shown in the figure, respectively.

(2) When the force F is relatively small When the force F is smaller than the force of the curve applied to the aggregate 3 (for example, when the quality ff1M of the object 1 is quite large), the force F can be ignored. Then, the equation of motion for the aggregate 3 becomes the following equation (1).

(mx)=mg+-P-L dt+...(1
) Here, [・] indicates time differentiation, and q is gravitational acceleration. Also, ITI-m 1 toM
...(2). When the quality ff1M changes at a constant rate over time, if the change M per unit time is q, then M=qt/g...(3
) and 40 ru. However, t is time.

Performing the differentiation of equation (1) and finding the quality ff1M using equations (2) and (3), we get Because there is an outer horn 1)
If we know the force and acceleration x 1, we can find the desired quality ff1M or weight MQ.
ru. Originally, if we knew q, we should be able to find the 'C mass using equation (3), but this is often done by replenishing the object to be measured from outside rather than the weight change t, and (3)
If the formula is used as is, an error will occur. Therefore, as q on the right side of equation (4), a value determined from the supply side is used to determine the accurate mass M on the left side. Also, in equation (4), if M = 0 (that is, Q = 0) and P = O, the calculation formula when m is stationary and external force P does not exist; If the above force F cannot be ignored, the respective equations of motion for the acceleration detector 5 and the assembly 3 are as follows.

;z (me reception.) = mg g-F ・(8)'(
mx )=ma+PL+F・(9)dt
1 Performing the differentiation of equation (9) and considering equations (2) and (3), the following (10
).

...-(10) On the other hand, from equation (8), it becomes, so if ξ=xO-x1, =--'r,"
CF-m g)dt-j ・(12)me
If we substitute equation (12) into equation (1o), we get O.
Domuru.

By the way, when formula (8) is transformed, and 1-F=-member +9 m, 1...(14
) However, since the force F that the acceleration detector 5 gives to the assembly 3 can be considered to be a spring force and a damping force, in general, F −2h ω n and −t ω . ξ
... (1
5). However, ω. is the fixed frequency of the acceleration detection means 5, and h is the damping coefficient. For example, when an acceleration type dynamometer is used as the acceleration detector 5, as is well known, the main term on the left side of equation (14) is the force F given by equation (15), and the term ξ is relatively small. Furthermore, even when other types of mechanical measuring instruments are used as the acceleration detection means 5, the acceleration will be detected based on the force F, so there will be no possibility that hF will be larger than ξ. It is expected that For this reason, (14
) formula is 1°...(
, 14a)-1-=-x1) f16. Substituting this equation (14a) into equation (13) gives the following equation. [In order to compensate for the difference between this formula calculated by delta and the actual device, correction is performed using constants a and b, and the acceleration value X detected by the acceleration detector 5 includes the neutral acceleration. Considering the case where , Equation (15) becomes as follows. However, x=x1+g, M,=mo+m, and ξ in equation (15) is included in the correction term.

This equation (16) is a basic calculation equation applicable to the specific example considered here, and is an equation for determining the mass M from the force and acceleration X.

In the example of ``2'', M = mg + m1, but generally M,
is the sum of the respective masses of the part of the aggregate 3 excluding the object to be measured and the part of the acceleration detector 5 connected to the object 1 to be measured. Other members etc. may be added to the assembly 3.

When measuring a fixed quantity and the external force P is 0, q=0. P
=O, and the correction term is also expected to be small, so M g= -L -Mag- (17) 2-
It becomes L-MaQ-(18). These formulas (16) to (18) are each expressed by the above-mentioned (
4), (61, corresponds to equation (7), and (4)
, (6).

This is an expression that includes expression (7) as its special case.

As mentioned above, 13C is considered to include the container 2 as a holding means, but ill 1 that does not require the container 2
In IllI, it is sufficient to set m1=O in these equations. Therefore, the presence of the holding means is not essential to this invention.

In the above explanation, the principle on the mass body side using acceleration information and force information has been illustrated, but the present invention is not intended only for the use of the above-mentioned formula. Acceleration information! If it corresponds to the @0 point, which reflects the shaking environment, then it is included in the principle of this invention that is derived from other formulas. In addition, as mentioned above, the principle of the present invention allows mass measurement not only in an agitated environment but also in a stationary environment, and in equation (16), q → 0 (however, q = rg):・If (19) is used, it can also be applied to mass measurement under zero gravity.

(Description of Embodiments) Next, an embodiment in which the present invention is applied to quality 1 if measurement in a mixer truck will be described. In terms of mixer width,
Cement material, etc., continuously supplied from a feeder on relatively soft roadbeds and bridges.
111 is required. For this reason, it is especially important to measure the fluctuating mass by taking into account the effects of roadbeds, etc.

There is.

Figures 2 and 3 are a side view and a plan view, respectively, of a mass measuring device according to an embodiment of the present invention. This is a vehicle that can transport concrete materials and stagnate them in a hurry. In these figures, a rib frame 11 is fixed on the main frame 10 of Φ and ■, and a cargo box 1 is attached to this sub-frame 11F via legs rA12.
3 is supported and fixed. , the inside of the cargo box 13 is separated by two bulkheads 14 and 15 extending in the front-rear direction of the vehicle.
．． It is divided into second and third storage chambers 16, 17, and 18. These storage chambers 16 to 18 are for storing cement, gravel, and sand as cement materials, respectively. At the bottom of this packing box 13, there are various storage areas! 16
．． First to third screw feeders 19, 20.21 of C are provided as conveyance means corresponding to 17.18. These screw feeders 19-21 are driven by hydraulic motors 22, 23, 24, respectively.

Further, each of the screw feeders 19 to 21 extends slightly rearward b from the cargo box 13, and a discharge port 25.26° 27 facing downward is provided at the rear end thereof.

The upper part of each screw feeder 19-21 is open over its entire length into each storage chamber 16-18, and the concrete material, that is, cement, gravel, and sand in each storage chamber 16-18 is The screw feeders 19 to 21 individually transport the materials to the outlet ports 25 to 27. Moreover, by setting the conveying capacity of each screw feeder 19 to 21 in advance, the conveying amount ratio of cement, gravel, and sand can be kept almost constant.

At the rear of the cargo box 13, there is a frame 3 extending from the legs 12.
1 supports a box-shaped cover 32, and the rear end of each screw feeder 19 to 21 is located at the upper part of the cover 32. Inside this cover 32, below the outlet ports 25-27 of each screw feeder 19-21, a packet 33 for 11 items is arranged as a holding means for the 51 objects to be measured.

This crystal 1 Ishikawa packet 33 is used as a force detection means.
- The support frame 35 is suspended from the support frame 35 via the drill 3/I, and the support frame 35 is fixed to the cover 32,
- The Dorel 34 detects the force acting between the support frame 35 and the assembly including the IQ concrete material (object to be measured) contained in the measurement packet 33 and the 3111iS packet 33.

The bottom of the weighing packet 33 can be opened, and by opening the bottom, a certain amount of concrete material can be dropped.
can be made to

A kneading tank 36 extending in the width direction of the vehicle V is arranged below the bucket 33 for suspending the vehicle V, and a pair of screws 37, 3 that rotate in opposite directions are disposed within the kneading tank 30.
A mixing means 39 consisting of 8 is installed. In addition, a discharge D 40 is provided at the center of the bottom of the kneading tank 36. Below this discharge port 40 are shoes 1 to 8 which are pivotally supported by a rib frame 11. 41 will be distributed.

A pair of water tanks 42 are fixed on the υ tube frame 11 using the dead space formed below the cargo box 13.
These water tanks 42 include a kneading tank 3.
A water supply means (not shown) is provided for supplying water into the tank 6.

Further, an acceleration type 1fiei 143 as an acceleration detection means is attached to the side of the measurement packet 33, and the outputs of the load cell 34 and the acceleration stone carving vibration meter 43 are connected to the electrical wiring (J5 and J5 in Fig. 2). control 1 provided on the subframe 11 via a
] given on board 44.

On the surface of this υ+I [1% 44, there is a group of operation switches 45
and a display section 46 for displaying mass.

FIG. 4 shows a mass measuring device f, which includes a load cell 34, an acceleration stone carving vibration meter 43, and a control m+ board 44, arranged on the vehicle
It is an electrical block diagram of f1D. The control panel 44 has an operation section 47 including the operation switch group 45 and a display section 46, and is connected via a bus 48 to the CI') tJ 49, which serves as a control means built into the C1 control panel 44. and ROM50 and RAM51 for storing programs and data.
A microcontroller including:

Connected to computer MC.

In addition, the outputs of the r''-dossel 34 and the acceleration vibration sensor 43 are sent to A/D converters 52Ji and 53, respectively.
via the bus 48.

FIG. 5 is a mechanical conceptual diagram of the above-mentioned vehicle (2) (only the rear part of the vehicle is available). Support frame 35 and 51 hanging river packet 33 fixed to vehicle (2) via frame 31 and cover 32
The load cell 3/l inserted between the spring constant and
and damping coefficient c1, CJi, 81 Hanigawa packet 3
It is considered that the force acting on the aggregate including 3 and the cement rope material 55 contained therein and the Φ and 1 is detected.

The acceleration stone carving vibrometer 43 has a spring constant k with respect to the measurement packet 33. and a damping constant C8. k2 and C2 are spring constants and damping coefficients between the vehicle C (quality fin2, position coordinates X2) and the track bed G (position r coordinates x3). Other symbols have meanings corresponding to those shown in FIG. 1, and the object to be measured is the cement material 55 in the #1 application packet 33. , the cause of vehicle V's sway is roadbed G.
of! 71 oscillations, but the reference system for force detection by the load cell 34 in this case is the heavy V. This is because the presence of C2 is incorporated into the force and force due to the x3 variation, and these effects will be included if the car is detected. Therefore, based on such a correspondence relationship, equation (16) holds true.

Behind equation (1G), the external force P is a constant rate (weight per unit time! 1q) from the screw feeders 19 to 21.
) is the falling impact force exerted by the falling cement material into the measuring buckets 1 to 33. Therefore, the
If the velocity of the cement material supplied at the height H1 from 25 to 21 and immediately before it falls into the measuring packet 33 is V, then the following formula is established.Thus, the p-door i... - Obtain (22). The content of the force detected by the load cell 34 is ηL2
When x − × 2, 1 ” c n + k 1
η...(23). Therefore, if the constants a and b in equation (1G) are experimentally determined using the value of P given by equation (22), then the weighing packet 3 is transferred from the front box 13 to the screw feeders 9 to 21.
While supplying cement material to the inside of 3, the output of the load cell 34 and acceleration I1.1 occur! 715L /1.317) The output
6 can display mass or @member.

In addition to displaying the information on the instep, it also displays the specified target quality.
*) When you want to stop the supply of the cement material 55, the output of the CPU 49 is changed to the oil 1111.
'-to the hydraulic motors 22 to 24.
Considering the response delay time τ1 in the system up to 24 and the weight of the cement material in the middle of falling (Q/a >,
...(2"4), the CPU 49
may provide a stop signal to the hydraulic motors 22-24.

By the way, when performing the calculation based on equation (16), it is desirable to cancel the integral error and remove the influence of fluctuations in the attenuation coefficient and the influence of noise. Therefore, first, the above acceleration X and force are as follows:
)L=K (c 6 -t k
1 77) 10 e L
・= (26) is assumed to be auspicious. However, K,
, are an accelerating claw vibrometer 43 and a load cell 34, respectively.
and the respective gains of ? , eL are the respective observation noises. Then, in equations (16) and (17), X → (X e a ) / Ka
...(27a) し→(L-e[) / にし・(
27b) Perform the n change to become . t41 If the sound e or e is a normal process with an average value O, then it becomes i after enough time t has elapsed, but (28), Since the values are included, it is desirable to perform some kind of smoothing.Such smoothing methods include Fourier analysis and moving average, and these can be used, but here Considering the generality of the device and the speed of 51μ, the time is calculated by triple exponential smoothing (triplecxponcnLial) based on +N+ observed data.
smoothing). This triple exponential smoothing is explained, for example, in Kazuo Isoda and Yutaka Ohno CR4.1 Numerical Calculation Handbook J p662-p664 (published by Ohmsha in 1947). This method uses a smoothing parameter α selected in the range 0 and α≦1.
This is an application of the "exponential smoothing method" in which the observed data at time t and the smoothed data before the time are weighted averaged using The outline is shown below.

Now, when the time series data yt follows the quadratic equation for time t;
t St-αS, + (1-α)St□1...(
33) (]) S = αS + (1-α)S, ... (3
4), define S, S, and S. Tat
[The initial condition is S − (y + y1)/2...(
35) S1=S1...
(36) Sl-81...(37) and S(1'l-""It-t, ylE
ytItf, etc. In this way, S , S
,, St is calculated, the smoothed data y of y is +21 tU y =3St-3St+st...(38
) It is said that it is difficult to do so. This equation (38) is expressed as (32) to (3
4) By formula, S , S , S are expressed as V ,
yt-1... [[ t [ Fortune-telling expression, obtained by solving for U, V, and W using the relationship of equation (31).

In this method, if y has observation noise et, then y →yt + et...
・(39)[ Then, by repeatedly using equation (32), if α is sufficiently small and t is sufficiently large, then we have the following equation.Conversely, even when α=1, (i1 1−− c Harvest
・・・
・(43) A similar relationship exists for S and S ([Because of this, y obtained by equation (38) only includes noise components of O to e and culm.

As the above y, apply force and acceleration X, (28
) and (29), the following equations (44) and (45) are obtained as equations corresponding to equations (1G) and (17), respectively.

However, S = (,:('7-a) dt ・
(46a)S・-1ko(-19)d[・
...(46b), and t8 is 1ffi, f of this device
ial start time, screw feeder 9-2
Using the operation start signal transmission time t of No. 1 and the response delay time τ2 at the start of slurry 1-feeders 9 to 21, 1
It is given by = 1 ten houses + τ2 - (47) x sg. It should be noted that if a=P=0 in equation (44), equation (45) is obtained.

Next, the measurement operation of the variable 8 mass in this example will be explained as follows.
This will be explained with reference to the flowchart shown in FIG. First, in step S1 of FIG. 6, the operation switch group 45 of FIG. 2 is operated.

Then 1. ff1fnW of the cement material to be supplied into the Tl packet 33. , constants a, b, Ka in equation (44)
.

K, a, a, M = (mo+m1)o, P(=[
a i5i), and the constant τ1. which is included in equations (24) and (47), respectively. Input and set τ2. Among these, constants a and b are values determined experimentally in advance. These values are micro=, 1mbi1. −
Is there a strike in RAM51 in the data MC? be done.

At the next tube S2, the operation switch group 45 is removed, a driving start signal is given to the load cell 34 and the acceleration type primary crystal 143, and driving is started. Start of this operation/fi
If this is done, in step S3, the smoothing force is -3
(ζ) (32) to (34) to obtain the smoothed acceleration
．． 3) s, s,' in equations (46a) and (46b)
, time t, acceleration X, and car values are each initialized to 0. At the subsequent time d5C, the force signal from the load cell 34 and the acceleration signal from the acceleration stone carving vibrometer 43 are input, but since the straight line of the acceleration signal In order to prevent errors, the step S4 waits until X=KaQ, that is, the value of X that should be given by the gravitational acceleration, and when this condition is satisfied, the next step S4
Proceed to step 5. In step S5, the start time is 4 o'clock for t, and at that point (lfl of acceleration
Then, define IXl. Then, in step S6, n=1, and in the next step S7, the integration of (46a) is performed up to the time t. The details of this integral operation are shown in FIG.
0, the time i is the integration time width Δt (for example, 1/
100jsQcl), it is determined whether nΔ[ has been exceeded, and if it has passed, step S5
1, the current value of acceleration X is taken in. Step 85
2, Δ(acceleration y1x at the real time,
Based on this current value
a) Take in the change in the integral value of the equation.

In step S53, set X1=X and n=n+1. In step S50, when t<nΔt, steps 851 to 853 are bypassed.

Returning to FIG. 6, in step S8, it is determined whether the time has reached the movement start time of the slurry 1-feeders 19 to 21 (predetermined);
When t≧t, the process proceeds to the next step S9, and when t, the process returns to step S7. Therefore, as soon as the process advances to step S9, 1. L, integral 1a S is s == gu(-1dt...(48
).

Chiro t=1. The odor causes the hydraulic motors 22 to 24 to read (;:), and the screw feeders 19 to 21 start up.
1. , 'U+: The supply of cement material to the I hanging packet 33 begins (step S9). Step 81
0, 13 C, and then the integration operation shown in FIG. is judged FJi. When the change is 8, the process returns to step S10, but when t≧t8, the process proceeds to the next step S12, and the integral *S· (see equation (46b)) is defined by the integral value S at that time.

In step 313, using the time t at that point, '
vto is defined in advance, and in the next step S14,
Wait until o1Δt. [If ≧1o+Δt, in step 15, the acceleration X and the car are taken in. In step 816, the integration operation shown in FIG. 7 is performed, and in the next step S17, the acceleration X and the force are smoothed to obtain the smoothed acceleration X and the smoothed force. Details of this step are shown in FIG. First, in step S60, the exponential smoothing value 5 of acceleration X, (X
) is calculated based on equation (32). The value of the smoothing parameter α used here is determined in advance. At steps S61 and 362, S (x) according to equations (33) and (34)
, S((x) n10 are performed respectively. In step S63, based on equation (38), the smoothed acceleration
is obtained, and the smoothing for the acceleration scale X is completed. The next steps 864-866 are the exponential flat f for force
J fi S t (L) (i=1.2.3)
In equations (32) to (34), 1. tC is planned. In step S67, the sum n of smoothed forces is calculated based on equation (38).

Once step 317 of FIG. 6 is completed, step 818
In this step, equation (44) is used and IfiM Q is stopped. However, the external force P is expressed by equation (22) as U;'i
lr> (Yes. In step S19, it is determined whether the response delay is detected and the weight ff1Mg is greater than or equal to the value determined by equation (24). If it is less than this value, the process returns to step 813. , the integral operation and the -V, digestion are repeated, but when the condition of equation (24) is satisfied, in the next step 820, a stop signal is given to the hydraulic motors 22-24 to stop the screw feeders 19-21.
is stopped, and the supply of cement material to the measuring packet 33 is stopped.

Next, after supplying the cement material, perform the constant 1■l measurement operation in the 9th step.
This will be explained with reference to the flowchart shown in the figure. In this case, first, set constants (step 5101), start operation (step 8102), and initialize II (step 51).
03), and ffX=K.

A standby period (step 3104) is performed until the end of the process, but these steps are the same as steps 81 to $4 in FIG. 6, and a redundant explanation will be omitted. Next step 5105
Then, in the same way as step 35.86 in FIG. 6, time measurement is started and the operation (X1=X, n=1) is performed, and in the next step 8106, the current values of acceleration X and force 1- are taken in. It will be done. Then, in step 5107, an integral operation similar to that shown in FIG.
106 and 8107 are repeated until this time T is reached. That is, in the case of constant *ffl i+ measurement, there is no need to take into account the response delay of the hydraulic motors 22 to 24, etc., so the integral value S is immediately determined. t≧T
Then, in step 5109, smoothing similar to that shown in FIG.
0, ffllBMg is calculated based on equation (45), and in the next step 5111, this in! 'rl M a,
It is displayed on the display unit 46 of FIG. 2, and the process Iis is completed.

FIG. 10 4J, of the varying mass in the above example: l
It is a small diagram showing the result of computer simulation for confirming IA characteristics. In this figure, the horizontal axis shows 11. '+clock 1,
, and the vertical axis shows the weight measurement tiDW (=Ml) of the object to be measured obtained in the above example, and the true weight value W (=Qt
) There is a relative error in the measured weight value W. However, hl
is the attenuation rate of the load cell 34 (corresponding to C1 in FIG. 5), which in this example is h 1 ''-0, :1).

As can be seen from this figure, the measured weight iOw is a certain culm 1α
However, as time t passes, the relative
The shift decreases by 0.1, and at t = 3 sec, it is about 5%, which is 4. Although not shown, in consideration of fluctuations in the supply amount qt from the screw feeders 19 to 21, the supply amount qt is averaged to form a perfect straight line with respect to time, that is, the 11th As shown in the figure, assuming that q fluctuates, -j7a t = 7: qt dt
-(49), and a similar computer simulation was performed using the value of i, and it was found that the above relative error was reduced to 1% or less.

Although weight measurement is performed in the above-described embodiment, "mass measurement" in the present invention is a term that includes 81 measurements of general physical quantities related to mass. Therefore, CP tJ
49 Other calculation means do not necessarily need to calculate the zero value itself.

(Effects of the Invention) As described above, according to the present invention, it is possible to obtain a mass measurement device that can be applied to both fixed quantity measurement and fluctuating mass measurement in an oscillating environment. In addition, this device can be used in a stationary environment ('l:) +i
lil! Since it is possible to perform Q, heavy vehicles and ships
It can also be used for fl-, general hopper schools, etc. only if it is installed in one of the following locations. In addition, since there is no multi-valley configuration in the n-lateral direction, the requirements for mechanical work 1q are moderate, and manufacturing know-how is not particularly required, so manufacturing is easy.

Furthermore, since it can be measured using only 1Ji- measurement process, continuous mass measurement is possible without the need for multiple measurements.
It has the effect of being.

[Brief explanation of the drawing]

Fig. 1 is a mechanical conceptual diagram along with a concrete example to show the principle of this invention, and Figs. 2 and 3 show a quality ω4 measurement device which is an embodiment of this invention, respectively. A side view and a plan view of the mixer ton, FIG. 4 GEL, an electrical block diagram of an embodiment of this invention, FIG. 5 a mechanical conceptual diagram of an embodiment of this invention, and FIGS. 6 to 9 a diagram of this invention. Fig. 10 is a flowchart for explaining the operation of the embodiment of the present invention, and Fig. 11 is a diagram showing the results of computer simulation regarding the embodiment of the present invention. This is a diagram for 1...wlii+measurement object, 2...container, 3...
・Aggregation, 4... Reference system, 5... Acceleration detector,
19-21...Screw feeder, 33...Measuring packet, 3/I...Load cell, 43...Acceleration stone engraving vibrometer, 44...Control l511!

Claims (3)

[Claims] (1) A mass measuring device for measuring the mass of an object, which is inserted between a predetermined reference system existing outside the object and the object, and is connected between the reference system and the object. force detection means for detecting a force acting on the object and generating a force signal responsive to the detected force; acceleration detection means for generating an acceleration signal; mass calculation means for calculating a physical quantity related to the mass of the object based on the force signal and the acceleration signal and generating the result of the calculation as a mass signal; A mass measuring device comprising: an output means that provides an output according to the size of the mass of the object based on a signal. (2) The object is held by a holding means, the force is detected as a force acting between the reference system and an assembly including the object and the holding means, and the acceleration is gravitational acceleration. The calculation means calculates a physical quantity related to the mass M of the object based on the following formula (i): ▲There are mathematical formulas, chemical formulas, tables, etc.▼...(i) , where, X is the acceleration, L is the force acting between the aggregate and the reference system, and P is the force L, the M_a is an external force excluding the force applied to the aggregate by the acceleration detection means and gravity applied to the aggregate, and M_a is the portion of the aggregate excluding the object;
is the sum of the respective masses of the part of the acceleration detection means mechanically connected to the object, g is gravitational acceleration, a and b are constants, t is time, The mass measuring device according to claim 1, wherein q is a constant satisfying Mg=qt. (3) The calculation means includes smoothing means for temporally smoothing the acceleration X and the force L to provide a signal representing the smoothed acceleration (■) and a signal representing the smoothed force (■), and the calculation means The means is to calculate the mass M of the object according to the smoothing acceleration ■ and the smoothing force ■ according to the following formula (ii); ▲ There are mathematical formulas, chemical formulas, tables, etc. ▼... Find the physical quantities related to
Here, ▲There are mathematical formulas, chemical formulas, tables, etc.▼...(iii) ▲There are mathematical formulas, chemical formulas, tables, etc.▼...(iv) t_X is the mass measurement start time, K_a and 3. The mass measuring device according to claim 2, wherein K_L is a gain of each of the acceleration detection means and the force detection means.