Method and device for controlling a material packing device to pack material

Abstract

This application discloses a method and apparatus for controlling a material packaging device to package materials. The method includes: acquiring a preset maximum extension length and a preset minimum retraction length of an actuator during extension and retraction; determining the total number of compression cycles required by the actuator based on the material to be packaged; determining the change in length of the actuator each time it compresses the material; determining the target extension length and target retraction length of the actuator each time it compresses the material; controlling the material packaging device to start, and controlling the actuator to cyclically compress the material to be packaged based on the total number of compression cycles, the target extension length of the actuator each time it compresses the material, and the target retraction length, thereby completing the packaging of the material, reducing material spillage, making the compression more thorough, improving the compression efficiency, and resulting in better packaging effect.

Description

Technical Field

[0001] This application relates to the field of control technology, specifically to a method, apparatus, material packaging device, and storage medium for controlling a material packaging device to package materials. Background Technology

[0002] The material packaging process mainly involves the forward and backward movement of the pusher head. Existing pusher head movements are typically fixed at 3 to 5 times, with each movement resulting in a consistent position – the pusher head always advances to the same point. Alternatively, a cyclical forward and backward movement of the pusher head can be implemented to compress the material repeatedly, but this doesn't address the specific position the pusher head should move each time. This leads to excessive wasted travel by the pusher head during packaging, resulting in low packaging efficiency and an inability to determine the effectiveness of the packaging. Summary of the Invention

[0003] The purpose of this application is to provide a method, apparatus, material packaging device, and storage medium for controlling a material packaging device to package materials, so as to solve the problems of low material compression efficiency and poor material packaging effect in the prior art.

[0004] To achieve the above objectives, a first aspect of this application provides a method for controlling a material packaging device to package materials, the material packaging device including an actuator for compressing the materials, the method comprising:

[0005] Obtain the preset maximum extension length and preset minimum retraction length when the actuator extends or retracts;

[0006] Determine the total number of compressions that the actuator needs to perform based on the materials to be packaged;

[0007] The change length of the actuator is determined each time it compresses the material to be packaged, based on the preset maximum extension length, the rebound distance of the material to be packaged, and the total number of compressions. The change length refers to the change value between the extension length of the actuator each time it compresses the material to be packaged and the extension length of the material to be packaged in the previous compression, or the change value between the retraction length of the actuator each time it compresses the material to be packaged and the retraction length of the material to be packaged in the previous compression.

[0008] The target extension length of the actuator is determined based on the preset maximum extension length, the variable length, and the cumulative number of compressions of the actuator. The target retraction length of the actuator is determined based on the preset minimum retraction length, the variable length, and the cumulative number of compressions of the actuator.

[0009] The control device starts the material packaging device. Based on the total number of compressions, the target extension length and target retraction length of the actuator when compressing the material to be packaged each time, the actuator is controlled to cyclically compress the material to be packaged in order to complete the packaging of the material to be packaged.

[0010] In this embodiment of the application, determining the change length of the actuator when the actuator compresses the material to be packaged each time, based on the preset maximum extension length, the rebound distance of the material to be packaged, and the total number of compressions, includes: determining the minimum extension length of the actuator based on the preset maximum extension length and the rebound distance, wherein the minimum extension length is the extension length of the actuator when the actuator compresses the material to be packaged for the last time; determining the difference between the preset maximum extension length and the minimum extension length; and determining the change length as the ratio of the difference to the total number of compressions minus the preset value.

[0011] In this embodiment of the application, determining the target extension length of the actuator when compressing the material to be packaged each time, based on the preset maximum extension length, the variable length, and the cumulative number of compressions of the actuator, includes: determining the product of the cumulative number of compressions and the variable length before each compression of the material to be packaged; and determining the difference between the preset maximum extension length and the product as the target extension length of the actuator when compressing the material to be packaged each time.

[0012] In this embodiment of the application, determining the target retraction length of the actuator each time it compresses the material to be packaged, based on the preset minimum retraction length, the variable length, and the cumulative number of compressions of the actuator, includes: for each compression of the material to be packaged, the sum of the preset minimum retraction length and the product is determined as the target retraction length of the actuator in that compression of the material to be packaged.

[0013] In this embodiment, the material packaging device further includes a drain door, a sealing door, a gate, a first proximity switch for detecting the drain door's opening and closing signal, a second proximity switch for detecting the sealing door's opening and closing signal, and a third proximity switch for detecting the gate's opening and closing signal. The method further includes: before controlling the actuator to cyclically compress the material to be packaged based on the total number of compressions, the target extension length of the actuator each time the actuator compresses the material to be packaged, and the target retraction length, acquiring a first switch signal detected by the first proximity switch, a second switch signal detected by the second proximity switch, and a third switch signal detected by the third proximity switch; determining whether the drain door is completely closed based on the first switch signal; determining whether the sealing door is completely open based on the second switch signal; determining whether the gate is completely open based on the third switch signal; and controlling the actuator to extend to a preset extension length and retract to a preset retraction length when the drain door is completely closed, the sealing door is completely open, and the gate is completely open, wherein the preset extension length is less than or equal to a preset maximum extension length, and the preset retraction length is greater than or equal to a preset minimum retraction length.

[0014] In this embodiment of the application, the method further includes: after the control actuator retracts to a preset retraction length, controlling the gate to descend; after the gate descends to a first preset position, controlling the gate to rise to a second preset position, and controlling the actuator to cyclically compress the material to be packaged.

[0015] In this embodiment, controlling the cyclic compression of the material to be packaged by the actuator based on the total number of compressions, the target extension length of the actuator each time it compresses the material includes: for each compression of the material to be packaged, controlling the actuator to extend to the target extension length corresponding to that compression, and controlling the actuator to retract to the target retraction length corresponding to that compression; for each compression of the material to be packaged, detecting whether the actuator extends to the target extension length corresponding to that compression and whether it retracts to the target retraction length corresponding to that compression using a laser rangefinder; for each compression of the material to be packaged, if the actuator does not extend to the target extension length corresponding to that compression and / or does not retract to the target retraction length corresponding to that compression, and the material to be packaged is not packaged within a preset time period, determining that the material packaging device has malfunctioned, and issuing a fault alarm.

[0016] A second aspect of this application provides an apparatus for controlling a material packaging device to package materials, comprising:

[0017] The memory is configured to store instructions; and

[0018] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the aforementioned method for controlling the material packaging device to package materials.

[0019] A third aspect of this application provides a material packaging device, comprising:

[0020] Actuators for compressing materials; and

[0021] The above-mentioned device for controlling the packaging of materials.

[0022] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned method for controlling a material packaging device to package materials.

[0023] Through the above technical solution, the varying length of the actuator can be determined each time it compresses the material to be packaged, based on the preset maximum extension length, the rebound distance of the material to be packaged, and the total number of compressions. After determining the varying length, the target extension length of the actuator can be determined each time it compresses the material to be packaged, based on the preset maximum extension length, the varying length, and the cumulative number of compressions. The target retraction length of the actuator can also be determined each time it compresses the material to be packaged, based on the preset minimum retraction length, the varying length, and the cumulative number of compressions. The material packaging device is then started, and the actuator is controlled to cyclically compress the material to be packaged based on the total number of compressions, the target extension length, and the target retraction length each time it compresses the material. This completes the packaging of the material, reduces material spillage, ensures more thorough compression, improves compression efficiency, and results in better packaging.

[0024] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0025] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0026] Figure 1 This illustration schematically shows a process diagram of a method for controlling a material packaging device to package materials according to an embodiment of this application;

[0027] Figure 2 This schematically illustrates a first view of a material packaging device according to an embodiment of this application;

[0028] Figure 3 This illustration schematically shows another process diagram of a method for controlling a material packaging device to package materials according to an embodiment of this application;

[0029] Figure 4 This schematically illustrates a second view of a material packaging device according to an embodiment of this application;

[0030] Figure 5 This schematically illustrates a third view of a material packaging device according to an embodiment of this application;

[0031] Figure 6 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0033] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0034] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0035] Figure 1 This illustration schematically shows a flow diagram of a method for controlling a material packaging device to package materials according to an embodiment of this application. Figure 1 As shown in the figure, this application provides a method for controlling a material packaging device to package materials. The material packaging device includes an actuator for compressing materials, and the method may include the following steps.

[0036] Step 101: Obtain the preset maximum extension length and preset minimum retraction length when the actuator is extended or retracted.

[0037] Step 102: Determine the total number of compressions that the actuator needs to perform based on the material to be packaged.

[0038] Step 103: Determine the change length of the actuator each time it compresses the material to be packaged, based on the preset maximum extension length, the rebound distance of the material to be packaged, and the total number of compressions. The change length refers to the change value between the extension length of the actuator each time it compresses the material to be packaged and the extension length of the material to be packaged in the previous compression, or the change value between the retraction length of the actuator each time it compresses the material to be packaged and the retraction length of the material to be packaged in the previous compression.

[0039] The material baling device can be a garbage truck, a pre-compression garbage compactor, a garbage transfer vehicle, etc., and the actuator can be a pusher, a pusher head, etc. The processor can obtain the preset maximum extension length and preset minimum retraction length of the actuator during extension and retraction. The preset maximum extension length refers to the maximum length the actuator can extend from its starting position, and the preset minimum retraction length refers to the distance between the final position and the starting position of the actuator after retraction from the preset maximum extension length. For example, the preset maximum extension length can be the maximum value of the hydraulic cylinder of the material baling device, generally 1.5m to 2m of cylinder forward movement; the preset minimum retraction length can be approximately 1m inside the gate of the material baling device. The processor can determine the total number of compressions required by the actuator based on the material to be baled. After determining the total number of compressions, the processor can determine the change in length of the actuator during each compression of the material based on the preset maximum extension length, the rebound distance of the material to be baled, and the total number of compressions. The variable length refers to the change in the extension length of the actuator when compressing the material to be packaged each time, compared to the extension length of the material to be packaged in the previous compression, or the change in the retraction length of the actuator when compressing the material to be packaged each time, compared to the retraction length of the material to be packaged in the previous compression.

[0040] In this embodiment of the application, determining the change length of the actuator when the actuator compresses the material to be packaged each time, based on the preset maximum extension length, the rebound distance of the material to be packaged, and the total number of compressions, includes: determining the minimum extension length of the actuator based on the preset maximum extension length and the rebound distance, wherein the minimum extension length is the extension length of the actuator when the actuator compresses the material to be packaged for the last time; determining the difference between the preset maximum extension length and the minimum extension length; and determining the change length as the ratio of the difference to the total number of compressions minus the preset value.

[0041] The processor can determine the change in length of the actuator during each compression of the material to be packaged based on the preset maximum extension length, the springback distance of the material to be packaged, and the total number of compressions. Specifically, the processor can determine the minimum extension length of the actuator based on the preset maximum extension length and the springback distance. The minimum extension length is the extension length of the actuator during its last compression of the material to be packaged. After determining the minimum extension length, the processor can determine the difference between the preset maximum extension length and the minimum extension length. After determining the difference between the preset maximum extension length and the minimum extension length, the processor can determine the change in length as the ratio of this difference to the total number of compressions.

[0042] For example, the material to be packaged could be waste. The processor can determine the rebound distance of the waste in that area as A based on basic information about the area where the waste is located. The actuator of the material packaging device is a pusher, and the processor can determine the preset maximum extension length of the pusher as X. max After obtaining the rebound distance A of the waste and the preset maximum extension length (X) of the pusher head. max After that, the processor can set the preset maximum extension length (X). max The difference between () and 1.5 times the rebound distance (A) is determined as the extension length of the pusher during the last compression of the waste, i.e., the minimum extension length of the pusher X = X max -1.5*A. After determining the minimum extension length (X), the processor can determine the preset maximum extension length (X). max The difference between (X) and the minimum extension length (X) max -X). And the ratio of the difference to the total number of compressions (N) minus 1. The variable length (K) is determined to be...

[0043] Step 104: Determine the target extension length of the actuator each time it compresses the material to be packaged, based on the preset maximum extension length, variable length, and the cumulative number of compressions of the actuator; and determine the target retraction length of the actuator each time it compresses the material to be packaged, based on the preset minimum retraction length, variable length, and the cumulative number of compressions of the actuator.

[0044] After determining the varying length of the actuator, the processor can determine the target extension length of the actuator for each compression of the material to be packaged, based on the preset maximum extension length, the varying length, and the cumulative number of compressions. The processor can also determine the target retraction length of the actuator for each compression of the material to be packaged, based on the preset minimum retraction length, the varying length, and the cumulative number of compressions. Here, the target extension length is the distance between the actuator's starting position and the extension endpoint, and the target retraction length is the distance between the retraction endpoint and the starting position after the actuator retracts from the extension endpoint to the retraction endpoint.

[0045] In this embodiment of the application, determining the target extension length of the actuator when compressing the material to be packaged each time, based on the preset maximum extension length, the variable length, and the cumulative number of compressions of the actuator, includes: determining the product of the cumulative number of compressions and the variable length before each compression of the material to be packaged; and determining the difference between the preset maximum extension length and the product as the target extension length of the actuator when compressing the material to be packaged each time.

[0046] After determining the change in length of the actuator each time it compresses the material to be packaged, the processor can determine the target extension length of the actuator each time it compresses the material to be packaged, based on the preset maximum extension length, the change in length, and the cumulative number of compressions by the actuator. Specifically, for each compression of the material to be packaged, the processor can determine the product of the cumulative number of compressions before that compression and the change in length. After determining this product, the processor can determine the difference between the preset maximum extension length and this product as the target extension length of the actuator during that compression of the material to be packaged.

[0047] For example, the actuator compresses the material to be packaged once each time. For the first compression of the material by the actuator, the processor can determine that the cumulative number of compressions before the first compression is zero, thus ensuring that the product between the cumulative number of compressions and the variable length (K) is zero. The processor can determine the preset maximum extension length (X). max The difference between ) and zero is X max and X max The target protrusion length of the material to be packaged is determined as the first compression of the material by the actuator.

[0048] For the second compression of the material to be packaged by the actuator, the processor can determine that the cumulative number of compressions before the second compression is 1, thus obtaining K as the product of the cumulative number of compressions and the change length (K). The processor can determine the preset maximum extension length (X). max The difference between X and K is X. max-K, and X max -K is determined as the target extension length of the material to be packaged during the second compression of the actuator.

[0049] For the Nth compression of the material to be packaged by the actuator, the processor can determine the cumulative number of compressions before the Nth compression as (N-1), thus obtaining the product between the cumulative number of compressions and the change length (K) as (N-1)*K. The processor can determine the preset maximum extension length (X). max The difference between (N-1)*K is X. max -(N-1)*K, and X max -(N-1)*K is determined as the target extension length of the material to be packaged during the Nth compression by the actuator, where, That is, the target extension length of the actuator when compressing the material to be packaged for the Nth time is X, which means that the target extension length of the actuator when compressing the material to be packaged for the last time is the minimum extension length (X) of the actuator.

[0050] In this embodiment of the application, determining the target retraction length of the actuator each time it compresses the material to be packaged, based on the preset minimum retraction length, the variable length, and the cumulative number of compressions of the actuator, includes: for each compression of the material to be packaged, the sum of the preset minimum retraction length and the product is determined as the target retraction length of the actuator in that compression of the material to be packaged.

[0051] After determining the change in length of the material to be packaged each time the actuator compresses it, the processor can determine the target retraction length of the actuator each time it compresses the material to be packaged, based on the preset minimum retraction length, the change in length, and the cumulative number of compressions by the actuator. Specifically, for each compression of the material to be packaged by the actuator, the processor can determine the product of the cumulative number of compressions and the change in length before that compression. After determining this product, the processor can determine the sum of the preset minimum retraction length and this product as the target retraction length of the actuator.

[0052] For example, the actuator compresses the material to be packaged once each time. For the first compression of the material by the actuator, the processor can determine that the cumulative number of compressions before the first compression is zero, thus ensuring that the product between the cumulative number of compressions and the change length (K) is zero. The processor can then determine the preset minimum backoff length (Y). min The sum of 0 and zero is Y. min and Y min The target return length is defined as the first compression of the material to be packaged by the actuator.

[0053] For the second compression of the material to be packaged by the actuator, the processor can determine that the cumulative number of compressions before the second compression is 1, thus obtaining K as the product of the cumulative number of compressions and the change length (K). The processor can determine the preset minimum back-off length (Y). min The sum of Y and K is Y min +K, and Y min +K is determined as the target return length for the second compression of the material to be packaged by the actuator.

[0054] For the Nth compression of the material to be packaged by the actuator, the processor can determine the cumulative number of compressions before the Nth compression as (N-1), thus obtaining the product between the cumulative number of compressions and the change length (K) as (N-1)*K. The processor can determine the preset minimum backoff length (Y). min The sum of (N-1)*K is Y. min +(N-1)*K, and Y min +(N-1)*K is determined as the target return length (Y) of the Nth compression of the material to be packaged by the actuator, i.e., Y = Y min +(N-1)*K. For example, as shown in Table 1, the processor can determine the target extension length and target retraction length of the pusher when the pusher cyclically compresses the material to be packaged.

[0055] Table 1 shows the target extension and retraction lengths of the pusher for each compression of the material to be packaged.

[0056]

[0057]

[0058] Step 105: Control the material packaging device to start. Based on the total number of compressions, the target extension length and target retraction length of the actuator when compressing the material to be packaged each time, control the actuator to cyclically compress the material to be packaged in order to complete the packaging of the material to be packaged.

[0059] After determining the target extension length and target retraction length of the actuator for each compression of the material to be packaged, the processor can control the material packaging device to start. After the material packaging device starts, the processor can control the actuator to cyclically compress the material to be packaged based on the total number of compressions, the target extension length and target retraction length of the actuator for each compression of the material to be packaged, so as to complete the packaging of the material to be packaged.

[0060] For example, such as Figure 2 As shown, after the material baling device is started, the processor controls the pusher to compress the material to be baled. During the first compression, the pusher extends from its initial position to compress the material; the extension length of the pusher during the first compression is X.max After the first compression, the pusher head is from X max Start moving backward from the starting position, moving backward to a distance of Y from the starting position. min At the designated location. During the second compression of the material to be packaged, the pusher head extends from the initial position, and the extension length of the pusher head during the second compression is X. max -K, after the second compression, the pusher head moves from X. max Starting from point -K, move backward until the distance from the starting position is Y. min At position +K. During the third compression of the material to be packaged, the pusher head extends from the initial position, and the extension length of the pusher head during the third compression is X. max -2K, after the second compression, the pusher head starts from X max Start moving backwards from point -2K, and move backwards until you are a distance Y from your starting position. min At the +2K position.

[0061] As can be seen, during the second compression, the pusher's extension stroke decreased by K compared to the first compression, and the pusher's retraction stroke also decreased by K compared to the first compression, resulting in a total stroke reduction of 2K. During the third compression, the pusher's extension stroke decreased by K compared to the second compression, and the pusher's retraction stroke also decreased by K compared to the second compression, resulting in a total stroke reduction of 2K. Each time the pusher's total stroke is reduced by 2K compared to the previous compression, it ensures that the pusher's extension position reaches exactly 1.5 times the rebound distance of the material being packaged during the final compression, preventing the material from collapsing due to rebound. Furthermore, the stepped pusher motion increases the pusher's working efficiency and reduces working time.

[0062] In this embodiment, the material packaging device further includes a drain door, a sealing door, a gate, a first proximity switch for detecting the drain door's opening and closing signal, a second proximity switch for detecting the sealing door's opening and closing signal, and a third proximity switch for detecting the gate's opening and closing signal. The method further includes: before controlling the actuator to cyclically compress the material to be packaged based on the total number of compressions, the target extension length of the actuator each time the actuator compresses the material to be packaged, and the target retraction length, acquiring a first switch signal detected by the first proximity switch, a second switch signal detected by the second proximity switch, and a third switch signal detected by the third proximity switch; determining whether the drain door is completely closed based on the first switch signal; determining whether the sealing door is completely open based on the second switch signal; determining whether the gate is completely open based on the third switch signal; and controlling the actuator to extend to a preset extension length and retract to a preset retraction length when the drain door is completely closed, the sealing door is completely open, and the gate is completely open, wherein the preset extension length is less than or equal to a preset maximum extension length, and the preset retraction length is greater than or equal to a preset minimum retraction length.

[0063] The material packaging device may further include a drain gate, a sealing gate, a gate, a first proximity switch for detecting the drain gate's opening and closing signal, a second proximity switch for detecting the sealing gate's opening and closing signal, and a third proximity switch for detecting the gate's opening and closing signal. Before controlling the actuator to cyclically compress the material to be packaged based on the total number of compressions, the target extension length of the actuator each time it compresses the material, and the target retraction length, the processor can acquire the first switch signal detected by the first proximity switch, the second switch signal detected by the second proximity switch, and the third switch signal detected by the third proximity switch. After obtaining the first, second, and third switch signals, the processor can determine whether the drain gate is completely closed based on the first switch signal, whether the sealing gate is completely open based on the second switch signal, and whether the gate is completely open based on the third switch signal. When it is determined that the drain gate is completely closed, the sealing gate is completely open, and the gate is completely open, the processor can control the actuator to extend to a preset extension length and control the actuator to retract to a preset retraction length. The preset extension length is less than or equal to a preset maximum extension length, and the preset retraction length is greater than or equal to a preset minimum retraction length.

[0064] In this embodiment of the application, the method further includes: after the gate is retracted to a preset retraction length, controlling the gate to descend; after the gate descends to a first preset position, controlling the gate to rise to a second preset position, and controlling the actuator to cyclically compress the material to be packaged.

[0065] After the actuator retracts to a preset retraction length, the processor can control the gate to descend. During the gate's descent, the processor can determine in real time whether the gate has descended to the first preset position. Alternatively, after the actuator retracts to the preset retraction length, the processor can control the gate to descend directly to the first preset position. After the gate descends to the first preset position, the processor can control the gate to rise to a second preset position. After the gate rises to the second preset position, the processor can control the actuator to cyclically compress the material to be packaged.

[0066] For example, such as Figure 3As shown, after the pre-compression waste compactor is started, the processor can determine whether the drain door is open to the proximity switch position. Once the drain door is confirmed to be in the proximity switch position, the processor can determine whether the sealing door is open to the proximity switch position. If the sealing door is in the proximity switch position, the processor can determine whether the gate is open to the proximity switch position. After the gate is in the proximity switch position, the processor can control the pusher to extend, ensuring that the pusher's movement does not cause mechanical interference. After the pusher extends 1.5-2m, the processor can control the pusher to retract. After the pusher retracts, the processor can control the gate to lower. After the gate lowers, the processor can control the gate to rise to push the waste block into the waste transfer truck. The processor can control the pusher to perform cyclic compression until the waste block is compacted. Specifically, the processor can control the pusher to extend to the target extension length corresponding to each compression. After the pusher extends, the processor can control the pusher to retract to the target retraction length corresponding to each compression. After each compression of the waste, the number of compressions, or pushing operations, is accumulated. It is then determined whether the number of pushing operations is less than the set pushing count. If the number of pushing operations is less than the set pushing count, the process returns to controlling the pusher's extension until the number of pushing operations is not less than the set pushing count, thus completing the waste compression.

[0067] In this embodiment, controlling the cyclic compression of the material to be packaged by the actuator based on the total number of compressions, the target extension length of the actuator each time it compresses the material includes: for each compression of the material to be packaged, controlling the actuator to extend to the target extension length corresponding to that compression, and controlling the actuator to retract to the target retraction length corresponding to that compression; for each compression of the material to be packaged, detecting whether the actuator extends to the target extension length corresponding to that compression and whether it retracts to the target retraction length corresponding to that compression using a laser rangefinder; for each compression of the material to be packaged, if the actuator does not extend to the target extension length corresponding to that compression and / or does not retract to the target retraction length corresponding to that compression, and the material to be packaged is not packaged within a preset time period, determining that the material packaging device has malfunctioned, and issuing a fault alarm.

[0068] After the material packaging device is started, the processor can fully close the drain door, fully open the sealing door, and fully open the gate, and control the actuator to extend to a preset extension length and retract to a preset retraction length. Afterward, the processor can control the gate to descend and ascend to push the material to be packaged into the compression chamber for cyclic compression. Specifically, for each compression of the material to be packaged, the processor can control the actuator to extend to the target extension length corresponding to that compression and control the actuator to retract to the target retraction length corresponding to that compression. During this compression process, the processor can use a laser rangefinder to detect whether the actuator has extended to the target extension length corresponding to that compression and whether it has retracted to the target retraction length corresponding to that compression. If it is determined that the actuator has not extended to the target extension length corresponding to that compression, and / or that the actuator has not retracted to the target retraction length corresponding to that compression, and the material to be packaged is not packaged within a preset time period, the processor can determine that the material packaging device has malfunctioned and issue a fault alarm.

[0069] For example, such as Figure 4 As shown, the pre-compression waste compactor includes a sealing door, a gate, a locking mechanism, a drain door, a top-pull mechanism, proximity switches at the gate, proximity switches at the sealing door, and proximity switches at the drain door. The pre-compression compactor also includes a laser rangefinder installed within it. Figure 4 The laser installation position is specified. When the gate, sealing door, and drainage door are all in the proximity switch position (i.e., the drainage door is fully closed), the processor can control the pusher to extend in the forward direction. After the pusher retracts, it controls the gate to descend to the proximity switch position, and then controls the gate to rise to the proximity switch position again. After the gate reaches the proximity switch position, the processor controls the pusher to extend from the initial position until X... max At the location, the control pusher head is located at X. max Shrink back to Y min The first compression of the waste is completed at this location. During this compression process, a laser rangefinder monitors the extension and retraction lengths of the pusher head in real time to determine whether the pusher head has extended to the required length (X). max Has the rollback length reached Y? min During the second compression, the processor controls the pusher to extend to X. max At point -K, it retracts to point Y. min At +K. During the third compression, the processor controls the pusher to extend to X. max At -2K, shrink back to Y. min At +2K. After the third compression, garbage compression is complete, meaning the extension length X during the last compression is X = X. max -2K, backoff length Y = Y min +2K.

[0070] Through the above technical solution, the actuator performs cyclic compression on the material to be packaged to complete the packaging of the material, thereby reducing the phenomenon of material crossing, making the material compression more thorough, improving the material compression efficiency, and making the packaging effect of the material better.

[0071] Figure 1 and 3 This is a flowchart illustrating a method for controlling a material packaging device to package materials in one embodiment. It should be understood that, although... Figure 1 and 3 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 and 3 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0072] This application also provides an apparatus for controlling a material packaging device to package materials, comprising:

[0073] The memory is configured to store instructions; and

[0074] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the aforementioned method for controlling the material packaging device to package materials.

[0075] This application also provides a material packaging device, including:

[0076] Actuators for compressing materials; and

[0077] The above-mentioned device for controlling the packaging of materials.

[0078] In the embodiments of this application, such as Figure 5The diagram illustrates a material packaging device, including a central control room, a pusher head laser rangefinder, proximity switches, a controller unit, and compressor actuators. The central control room includes a human-machine interface (HMI) through which users can issue work commands, which are then transmitted to the controller unit via Ethernet. The pusher head laser rangefinder measures the position of the pusher head in real time. The proximity switches provide feedback signals for the operation of drainage doors, sealing doors, and gates. The controller unit receives work commands, detection data from the pusher head laser rangefinder, and operation signals from the proximity switches. The compressor actuators may include drainage doors, sealing doors, gates, pushers, servo motors, and hydraulic pump stations, and receive commands from the controller unit to execute corresponding actions.

[0079] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the above-described method for controlling a material packaging device to package materials.

[0080] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 6 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores data such as preset maximum extension length, preset minimum retraction length, total number of compressions, variable length, target extension length, and target retraction length. The network interface A02 is used for communication with external terminals via a network connection. When executed by the processor A01, the computer program B02 implements a method for controlling a material packaging device to package materials.

[0081] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0082] This application provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: obtaining a preset maximum extension length and a preset minimum retraction length of the actuator during extension and retraction; determining the total number of compressions required by the actuator based on the material to be packaged; and determining the change in length of the actuator during each compression of the material to be packaged based on the preset maximum extension length, the rebound distance of the material to be packaged, and the total number of compressions. The change in length refers to the change between the extension length of the actuator during each compression and the extension length during the previous compression, or the change in length between each compression of the material to be packaged and the previous compression. The change in the retraction length of the actuator compared to the retraction length during the last compression of the material to be packaged; the target extension length of the actuator is determined each time it compresses the material to be packaged based on the preset maximum extension length, the change length, and the cumulative number of compressions of the actuator; the target retraction length of the actuator is determined each time it compresses the material to be packaged based on the preset minimum retraction length, the change length, and the cumulative number of compressions of the actuator; the material packaging device is started, and the actuator is controlled to cyclically compress the material to be packaged based on the total number of compressions, the target extension length of the actuator each time it compresses the material to be packaged, and the target retraction length, so as to complete the packaging of the material to be packaged.

[0083] In one embodiment, determining the change length of the actuator each time it compresses the material to be packaged, based on the preset maximum extension length, the rebound distance of the material to be packaged, and the total number of compressions, includes: determining the minimum extension length of the actuator based on the preset maximum extension length and the rebound distance, wherein the minimum extension length is the extension length of the actuator when it last compresses the material to be packaged; determining the difference between the preset maximum extension length and the minimum extension length; and determining the change length as the ratio of the difference to the total number of compressions minus a preset value.

[0084] In one embodiment, determining the target extension length of the actuator when compressing the material to be packaged each time, based on the preset maximum extension length, the variable length, and the cumulative number of compressions of the actuator, includes: determining the product of the cumulative number of compressions and the variable length before each compression of the material to be packaged; and determining the difference between the preset maximum extension length and the product as the target extension length of the actuator when compressing the material to be packaged each time.

[0085] In one embodiment, determining the target retraction length of the actuator each time it compresses the material to be packaged, based on the preset minimum retraction length, the variable length, and the cumulative number of compressions of the actuator, includes: for each compression of the material to be packaged, the sum of the preset minimum retraction length and the product is determined as the target retraction length of the actuator in that compression of the material to be packaged.

[0086] In one embodiment, the material packaging device further includes a drain door, a sealing door, a gate, a first proximity switch for detecting the drain door's opening and closing signal, a second proximity switch for detecting the sealing door's opening and closing signal, and a third proximity switch for detecting the gate's opening and closing signal. The method further includes: before controlling the actuator to cyclically compress the material to be packaged based on the total number of compressions, the target extension length of the actuator each time the actuator compresses the material to be packaged, and the target retraction length, acquiring a first switch signal detected by the first proximity switch, a second switch signal detected by the second proximity switch, and a third switch signal detected by the third proximity switch; determining whether the drain door is completely closed based on the first switch signal; determining whether the sealing door is completely open based on the second switch signal; determining whether the gate is completely open based on the third switch signal; and controlling the actuator to extend to a preset extension length and retract to a preset retraction length when the drain door is completely closed, the sealing door is completely open, and the gate is completely open, wherein the preset extension length is less than or equal to a preset maximum extension length, and the preset retraction length is greater than or equal to a preset minimum retraction length.

[0087] In one embodiment, the method further includes: controlling the gate to descend after the control actuator retracts to a preset retraction length; controlling the gate to rise to a second preset position after the gate descends to a first preset position, and controlling the control actuator to cyclically compress the material to be packaged.

[0088] In one embodiment, controlling the actuator to cyclically compress the material to be packaged based on the total number of compressions, the target extension length of the actuator each time it compresses the material to be packaged, and the target retraction length includes: for each compression of the material to be packaged, controlling the actuator to extend to the target extension length corresponding to that compression, and controlling the actuator to retract to the target retraction length corresponding to that compression; for each compression of the material to be packaged, detecting whether the actuator extends to the target extension length corresponding to that compression and whether it retracts to the target retraction length corresponding to that compression using a laser rangefinder; for each compression of the material to be packaged, if the actuator does not extend to the target extension length corresponding to that compression and / or does not retract to the target retraction length corresponding to that compression, and the material to be packaged is not packaged within a preset time period, determining that the material packaging device has malfunctioned, and issuing a fault alarm.

[0089] This application also provides a computer program product that, when executed on a data processing device, is adapted to perform a program having method steps for controlling a material packaging device to package materials.

[0090] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0091] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0092] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0093] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0094] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0095] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0096] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0097] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0098] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A device for controlling the packaging of materials The method for materials is characterized by, The material packaging device includes an actuator for compressing the material, and the method includes: Obtain the preset maximum extension length and preset minimum retraction length of the actuator during extension and retraction; The total number of compressions that the actuator needs to perform is determined based on the material to be packaged. The change in length of the actuator when compressing the material to be packaged is determined based on the preset maximum extension length, the rebound distance of the material to be packaged, and the total number of compressions. The change in length refers to the change between the extension length of the actuator when compressing the material to be packaged each time and the extension length of the material to be packaged in the previous compression, or the change between the retraction length of the actuator when compressing the material to be packaged each time and the retraction length of the material to be packaged in the previous compression. The target extension length of the actuator is determined each time the actuator compresses the material to be packaged, based on the preset maximum extension length, the variable length, and the cumulative number of compressions of the actuator; and the target retraction length of the actuator is determined each time the actuator compresses the material to be packaged, based on the preset minimum retraction length, the variable length, and the cumulative number of compressions of the actuator. The material packaging device is started by controlling the total number of compressions. Based on the total number of compressions, the target extension length and target retraction length of the actuator when the actuator compresses the material to be packaged each time, the actuator is controlled to cyclically compress the material to be packaged in order to complete the packaging of the material to be packaged. The step of determining the change in length of the actuator during each compression of the material to be packaged based on the preset maximum extension length, the rebound distance of the material to be packaged, and the total number of compressions includes: The minimum extension length of the actuator is determined based on the preset maximum extension length and the rebound distance, wherein the minimum extension length is the extension length of the actuator when the actuator last compresses the material to be packaged; Determine the difference between the preset maximum extension length and the minimum extension length; The ratio of the difference to the total number of compressions minus a preset value is determined as the variation length; The step of determining the target extension length of the actuator when the actuator compresses the material to be packaged each time, based on the preset maximum extension length, the variable length, and the cumulative number of compressions of the actuator, includes: For each compression of the material to be packaged by the actuator, the product of the cumulative number of compressions before that compression and the change in length is determined; For each compression of the material to be packaged by the actuator, the difference between the preset maximum extension length and the product is determined as the target extension length of the actuator when compressing the material to be packaged in that compression. The determination of the target retraction length of the actuator when compressing the material to be packaged each time, based on the preset minimum retraction length, the variable length, and the cumulative compression count of the actuator, includes: For each compression of the material to be packaged by the actuator, the sum of the preset minimum back-off length and the product is determined as the target back-off length of the actuator when compressing the material to be packaged.

2. The method for controlling a material packaging device to package materials according to claim 1, characterized in that, The material packaging device further includes a drain door, a sealing door, a gate, a first proximity switch for detecting the drain door's opening and closing signal, a second proximity switch for detecting the sealing door's opening and closing signal, and a third proximity switch for detecting the gate's opening and closing signal. The method further includes: Before controlling the actuator to cyclically compress the material to be packaged based on the total number of compressions, the target extension length and target retraction length of the actuator each time the actuator compresses the material to be packaged, a first switch signal detected by a first proximity switch, a second switch signal detected by a second proximity switch and a third switch signal detected by a third proximity switch are acquired. Determine whether the drain door is completely closed based on the first switch signal; Determine whether the sealing door is fully open based on the second switch signal; The gate is determined to be fully open based on the third switch signal. When the drain gate is fully closed, the sealing gate is fully open, and the gate is fully open, the actuator is controlled to extend to a preset extension length and then retract to a preset retraction length, wherein the preset extension length is less than or equal to the preset maximum extension length, and the preset retraction length is greater than or equal to the preset minimum retraction length.

3. The method for controlling material packaging according to claim 2 The method for packaging materials using an apparatus is characterized by, The method further includes: After controlling the actuator to retract to a preset retraction length, control the gate to descend; After the gate descends to the first preset position, the gate is controlled to rise to the second preset position, and the actuator is controlled to cyclically compress the material to be packaged.

4. The method for controlling material packaging according to claim 1 The method for packaging materials using an apparatus is characterized by, The step of controlling the actuator to cyclically compress the material to be packaged based on the total number of compressions, the target extension length and the target retraction length of the actuator each time it compresses the material to be packaged includes: For each compression of the material to be packaged by the actuator, the actuator is controlled to extend by a target extension length corresponding to that compression, and the actuator is controlled to retract by a target retraction length corresponding to that compression. For each compression of the material to be packaged by the actuator, a laser rangefinder is used to detect whether the actuator extends beyond the target extension length corresponding to the compression, and whether it retracts beyond the target retraction length corresponding to the compression. If, for each compression of the material to be packaged by the actuator, the actuator fails to extend to the target extension length corresponding to the compression and / or fails to retract to the target retraction length corresponding to the compression, and the material to be packaged is not packaged within a preset time period, it is determined that the material packaging device has malfunctioned, and a fault alarm is triggered.

5. A device for controlling a material packaging device to package materials, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method for controlling a material packaging device to package materials according to any one of claims 1 to 4.

6. A material packaging device, characterized in that, include: Actuating devices used to compress materials; as well as The apparatus for controlling the packaging of materials according to claim 5.

7. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform a method for controlling a material packing device to pack materials according to any one of claims 1 to 4.

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