Control method in garbage can bag breaking mechanism

Abstract

The invention relates to the field of garbage collection, in particular to a control method in a garbage can bag breaking mechanism, and a stepping motor adopts the following control method: step 1, an S-shaped control curve is adopted to divide a total stroke into an acceleration section, a constant speed section and a deceleration section; 2, constructing a curvilinear equation by adopting transformation of a logistic distribution function; 3, stretching change adjustment is conducted on an S-shaped curve obtained through the curvilinear equation, and a curve oscillogram of the curvilinear equation is obtained; 4, a curvilinear equation corresponding to the curve oscillogram with the appropriate curvature is selected, the curvilinear equation is operated to obtain the frequency of the single-chip microcomputer in each step of the stepping motor, and a shaping data table of the frequency of the single-chip microcomputer is generated; and 5, when the equipment runs, the bag rolling mechanism clamps the garbage bag, and the single chip microcomputer calls the parameters in the shaping data table to control the stepping motor to run. According to the bag lifting control method, on one hand, the calculation amount of an S-shaped control method can be simplified, and on the other hand, a more appropriate control curve can be selected.

Description

Technical Field

[0001] The invention relates to the field of garbage recycling, and in particular to a control method in a bag breaking mechanism of a garbage bin. Background Art

[0002] At present, with the popularization of garbage classification, garbage bin products are also blooming everywhere. With the development of intelligence, a device that can automatically break kitchen waste (or kitchen) garbage bags has also appeared in the market. For example, the prior patent with the publication number "CN115676171A" records an automatic bag-breaking household garbage classification box and its bag-lifting device, wherein the bag-lifting device includes a mobile bracket and a clamping mechanism arranged on the mobile bracket and capable of moving in the transverse direction and the longitudinal direction. The clamping mechanism includes a clamping seat and two rollers rotatably arranged on the clamping seat; the two rollers can rotate forward and reverse relative to the clamping seat, and the rolling surfaces of the two rollers are arranged close to each other and the rotation direction is always opposite. This bag-lifting device can be compatible with various shapes of garbage bags, and the bag body of the garbage bag clamped by the two rollers is very stable. It is realized by a movable slide rail in the transverse direction and the movable plate thereon; in its specific scheme, the transverse movable plate can be driven by a cylinder or a motor through a screw pair, and the lifting drive member and the clamping mechanism thereon can be driven to move transversely during the transverse movement along the transverse slide rail. The lifting drive member can be a lifting cylinder or a lifting motor connected to a screw rod drive, and the lifting drive member can drive the clamping mechanism to move up and down.

[0003] Using cylinder-driven displacement is a conventional solution, but it has problems such as the position movement cannot be precisely controlled, the movement speed of the cylinder drive changes rapidly, and garbage is easily scattered; and the pneumatic control solution has many air pipes, solenoid valves, etc., the production and installation process is complicated, and on-site after-sales maintenance is inconvenient.

[0004] In contrast, the use of stepper motor control has higher stability. The stepper motor control method is divided into three steps to ensure accurate positioning and smooth start and stop. The first step is the acceleration start stage. According to the relationship between power P, speed V and tension F, P = FV, when the motor output power P is constant, reducing the speed V can increase the tension F, which can increase the torque F in this case. The second step is the uniform speed operation stage, which runs at a uniform speed according to the final target speed of the final acceleration. The third step is the deceleration stop stage, and its process is exactly the opposite of acceleration.

[0005] The existing stepper motor control methods include the following three methods for the first and third step acceleration and deceleration control:

[0006] 1. Such as Figure 1 The "trapezoidal" acceleration and deceleration shown in the figure refers to the acceleration and deceleration in a straight line (acceleration and deceleration from the starting speed to the target speed).

[0007] Accelerate / decelerate at a certain ratio.

[0008] 2. For example Figure 2 The "exponential" acceleration and deceleration shown in the figure refers to acceleration and deceleration in the form of exponential functions.

[0009] 3. Such as Figure 3 The "S-shaped" acceleration / deceleration shown. The acceleration / deceleration starts slowly and then gradually increases.

[0010] When the acceleration / deceleration is near the end, the speed slows down again, making the movement more stable. The types of S-shaped acceleration and deceleration include Sin curve, quadratic curve, cyclic curve, and cubic curve.

[0011] The advantages and disadvantages of the three curves are compared as follows:

[0012] The first type, the trapezoidal curve, is characterized by simple algorithm, less time, fast response, high efficiency, and easy implementation. However, the uniform acceleration and uniform deceleration stages do not conform to the speed change law of the stepper motor, and cannot smoothly transition at the speed change and uniform speed turning points. Therefore, this algorithm is mainly used in occasions where the requirements for the speed increase and decrease process are not high.

[0013] The second type, the exponential curve overcomes the problem of unstable speed of trapezoidal acceleration and deceleration, and the motion accuracy is improved, but the initial acceleration is large, which easily causes impact on mechanical parts. There is still a sudden acceleration and deceleration at the starting point of acceleration and deceleration, which limits the increase in acceleration.

[0014] The third type, S-curve acceleration and deceleration, is a control strategy with good flexibility. It can fully exert the performance of the motor and reduce impact vibration. However, the implementation process is relatively complicated, the amount of calculation is relatively large, and the acceleration and deceleration efficiency is not high.

[0015] In this regard, this solution realizes the garbage bag lifting control in the garbage bin based on the stepper motor control method, and realizes bag breaking in conjunction with the bag breaking mechanism. Summary of the invention

[0016] In order to solve the above problems, the purpose of the present invention is to provide a control method for a bag breaking mechanism in a garbage bin. The bag lifting control method can simplify the calculation amount of the S-shaped control method on the one hand, and select a more appropriate control curve on the other hand.

[0017] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0018] The control method of the bag breaking mechanism in the garbage bin includes a bag rolling mechanism for clamping the garbage bag; the bag rolling mechanism is arranged on the transverse moving pair and / or the longitudinal moving pair, and the transverse moving pair and / or the longitudinal moving pair are controlled and operated by a stepper motor, characterized in that the stepper motor adopts the following control method:

[0019] Step 1, using an "S" type control curve to divide the total stroke into an acceleration section, a constant speed section and a deceleration section, wherein the control curves of the stepper motor in the acceleration section and the deceleration section are symmetrical;

[0020] Step 2: In the acceleration section and deceleration section of the S” type control curve, the transformation of the logistic distribution function is used to construct the curve equation; Step 3: The S-type curve obtained by the curve equation is stretched and adjusted to obtain the curve waveform of the curve equation; Step 4: The curve equation corresponding to the curve waveform of the appropriate curvature is selected, and the curve equation is run to obtain the single-chip microcomputer frequency in each step of the stepping motor, and a shaping data table of the single-chip microcomputer frequency is generated;

[0021] Step 5: When the equipment is running, the bag rolling mechanism clamps the garbage bag, and the single chip microcomputer calls the parameters in the shaping data table to control the operation of the stepper motor.

[0022] The present invention adopts the above-mentioned technical scheme, which relates to a control method in a bag breaking mechanism of a garbage bin, which is used to control the lateral movement and / or longitudinal movement of the bag rolling mechanism and the garbage bag thereon after the bag rolling mechanism clamps the garbage bag. The motor control method in this scheme is based on the traditional "S"-shaped control method and combines the logistic distribution function transformation to innovatively obtain the curve equation of the control method, and in the constructed curve equation, the S-shaped curve is stretched and adjusted, and the curve equation corresponding to the line waveform diagram of the appropriate curvature (select appropriate acceleration and low noise) is selected to generate a shaped data table of the single-chip computer frequency. In this way, when the device is running, the single-chip computer directly calls the parameters in the shaped data table to control the operation of the stepper motor, that is, in the debugging process before the device is running, it is first transformed according to the logistic distribution function, and combined with the curve adjustment to generate a shaped data table for direct call when the stepper motor is running.

[0023] In this way, on the one hand, the calculation amount of the S-shaped control method can be simplified, and on the other hand, a more appropriate control curve can be selected.

[0024] In a specific implementation and scheme, in step 2, the transformation of the logistic distribution function is used to construct the following curve equation:

[0025]

[0026] In the formula,

[0027] X, represents the index in the loop calculation process, starting from 1;

[0028] Num, represents half of the total number of acceleration points N, that is, N / 2;

[0029] Fcurrent, which represents a single frequency value for each X value;

[0030] Fmin, represents the acceleration starting frequency;

[0031] Fmax, represents the final frequency of acceleration;

[0032] Flexible, which means the S-curve is stretched and changed;

[0033] Step 3, setting the values ​​X, Num, Fmin and Fmax in the curve equation based on the maximum load value of the bag rolling mechanism, setting the unknown quantity as Flexible according to actual measurement and / or engineering software simulation; obtaining the curve waveform diagram under different Flexible values;

[0034] Step 4, select a suitable Flexible value according to the curvature of the acceleration section and the deceleration section of the curve waveform; under the Flexible value, run the curve equation to obtain the single-chip microcomputer frequency Fcurrent under each X value, and generate a shaping data table of the single-chip microcomputer frequency.

[0035] In this scheme, a curve equation is constructed based on the transformation of the logistic distribution function, and then the known variables in the curve equation, X, Num, Fmin and Fmax, are set according to the maximum load value of the bag rolling mechanism, and the S-shaped curve is adjusted to stretch the variable parameter Flexible. The Flexible value corresponding to the curve waveform with a more suitable curvature is selected from the curve waveform diagram under different Flexible values, and the shaping data table of the microcontroller frequency is obtained by running.

[0036] Based on the above scheme, the known parameters X, Num, Fmin and Fmax are set according to the maximum load value of the bag rolling mechanism during the operation of the equipment to meet the operation requirements of any loading amount.

[0037] As a preferred embodiment, in step 1, the total number of steps in the "S" type control curve Step = N, the number of curve points of the acceleration and deceleration segment and the deceleration segment M is defined, and the initial value of the operation step counter StepCnt = 0

[0038] In step 5, the operation steps of the stepper motor are:

[0039] Step 5.1, acceleration stage, the step counter StepCnt++ of the stepper motor, check the acceleration and deceleration table Fre[StepCnt] until StepCnt = M;

[0040] Step 5.2, uniform speed segment, the number of running steps in the uniform speed segment is StepCnt = (N-2M);

[0041] Step 5.3, deceleration stage, the step counter of the stepper motor StepCnt--, check the acceleration and deceleration table Fre[StepCnt] until StepCnt=0;

[0042] Step 5.4, end.

[0043] In this scheme, the total number of running steps in the "S" type control curve is Step=N, where N is the maximum value of X. In the total number of running steps Step=N, the number of points in the acceleration section and the deceleration section are both M, and the number of running steps in the uniform speed section is StepCnt=(N-2M).

[0044] In a specific implementation scheme, the stepper motors of the lateral moving pair and the longitudinal moving pair both adopt the above control method.

[0045] In a further preferred embodiment, the stepper motor of the longitudinal moving pair adopts a motor driver with an overcurrent detection function; when the resistance of the bag rolling mechanism becomes larger during the downward movement, the stepper motor is blocked, and the stepper motor driver generates an alarm output due to overcurrent and stops working; the alarm signal is connected to the single-chip control circuit, and the CPU detects the alarm information, then cuts off the power and resets the motor driver. In this embodiment, the stepper motor adopts a motor driver with an overcurrent detection function, which can generate an alarm output and stop working when the running resistance is large. On the one hand, it protects the upper and lower telescopic mechanisms to prevent damage and deformation, and on the other hand, it can judge the approximate height of the garbage stack. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of the “trapezoidal” acceleration and deceleration speed and acceleration curve.

[0047] Figure 2 It is a schematic diagram of “exponential” acceleration and deceleration speed and acceleration curve.

[0048] Figure 3 It is a schematic diagram of the “S-shaped” acceleration and deceleration speed and acceleration curve.

[0049] Figure 4 This is the flow chart of acceleration, deceleration and constant speed control based on single chip microcomputer control.

[0050] Figure 5 Schematic diagram of the control curve when Flexible=2.

[0051] Figure 6 Schematic diagram of the control curve when Flexible=4.

[0052] Figure 7 Schematic diagram of the control curve when Flexible=5.

[0053] Figure 8 Schematic diagram of the control curve when Flexible=6.

[0054] Fig. 9This is a screenshot of the integer data table when Flexible=4 and the MCU timer frequency is 1MHZ.

[0055] Fig.10 This is the flow chart of the vertical movement sub-action. DETAILED DESCRIPTION

[0056] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0057] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0058] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more, unless otherwise clearly specified.

[0059] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0061] like Figures 4 to 10 As shown, this embodiment relates to a control method in a bag breaking mechanism of a garbage bin, including a bag rolling mechanism for clamping garbage bags. The bag rolling mechanism is arranged on a lateral moving pair and / or a longitudinal moving pair, and the lateral moving pair and / or the longitudinal moving pair are controlled and operated by a stepper motor. The bag rolling mechanism, the lateral moving pair, the longitudinal moving pair and the stepper motor in this solution can refer to the bag lifting device described in the prior patent with the publication number "CN115676171A" in terms of structure.

[0062] The stepper motor in this scheme adopts the following control method:

[0063] Step 1, using an "S" type control curve to divide the total stroke into an acceleration section, a constant speed section and a deceleration section, wherein the control curves of the stepper motor in the acceleration section and the deceleration section are symmetrical;

[0064] Step 2: In the acceleration and deceleration sections of the S-shaped control curve, the following curve equation is constructed using the transformation of the logistic distribution function:

[0065]

[0066] In the formula,

[0067] X, represents the index in the loop calculation process, starting from 1;

[0068] Num, represents half of the total number of acceleration points N, that is, N / 2;

[0069] Fcurrent, which represents a single frequency value for each X value;

[0070] Fmin, represents the acceleration starting frequency;

[0071] Fmax, represents the final frequency of acceleration;

[0072] Flexible, which means the S-curve is stretched and changed;

[0073] Step 3: Set the values ​​X, Num, Fmin and Fmax in the curve equation based on the maximum load value of the bag rolling mechanism, set the unknown quantity as Flexible according to actual measurement and / or engineering software simulation; obtain the curve waveform diagram under different Flexible values;

[0074] Step 4: Select an appropriate Flexible value according to the curvature of the acceleration and deceleration sections of the curve waveform; run the curve equation under the Flexible value, obtain the MCU frequency Fcurrent under each X value, and generate a shaped data table of the MCU frequency.

[0075] Step 5: When the equipment is running, the bag rolling mechanism clamps the garbage bag, and the single chip microcomputer calls the parameters in the shaping data table to control the operation of the stepper motor.

[0076] The present invention adopts the above-mentioned technical scheme, which relates to a control method in a bag breaking mechanism of a garbage bin, which is used to control the lateral movement and / or longitudinal movement of the bag rolling mechanism and the garbage bag thereon after the bag rolling mechanism clamps the garbage bag. The motor control method in this scheme is based on the traditional "S"-shaped control method and combines the logistic distribution function transformation to innovatively obtain the curve equation of the control method, and in the constructed curve equation, the S-shaped curve is stretched and adjusted, and the curve equation corresponding to the line waveform diagram of the appropriate curvature (select appropriate acceleration and low noise) is selected to generate a shaped data table of the single-chip computer frequency. In this way, when the device is running, the single-chip computer directly calls the parameters in the shaped data table to control the operation of the stepper motor, that is, in the debugging process before the device is running, it is first transformed according to the logistic distribution function, and combined with the curve adjustment to generate a shaped data table for direct call when the stepper motor is running.

[0077] In the specific scheme, the curve equation is constructed based on the transformation of the logistic distribution function, and then the known variables in the curve equation, X, Num, Fmin and Fmax, are set according to the maximum load of the bag rolling mechanism, and the S-curve is adjusted to stretch the variable parameter Flexible. The Flexible value corresponding to the curve waveform with a more suitable curvature is selected from the curve waveform diagram under different Flexible values, and the shaping data table of the single-chip computer frequency is obtained by running. Based on the above scheme, the known parameters X, Num, Fmin and Fmax are set according to the maximum load of the bag rolling mechanism during equipment operation to meet the operation requirements of any load.

[0078] In the specific implementation plan, it is assumed that the step angle of the motor is 1.8° and the subdivision multiple is 4, that is, 800 pulses are required for one circle (therefore the total number of acceleration points N is 800, which is just one circle of acceleration), the starting frequency is 600Hz, the final frequency is 4800Hz, and the microcontroller timer frequency is 1MHZ.

[0079] We also know that the speed n of the stepper motor is proportional to the operating frequency f, and the angle ω of the motor is proportional to the number of pulses. Therefore, controlling the number of pulses and the pulse frequency can accurately control the speed and position. In theory, the starting speed n1 and ending speed n2 of the stepper motor are:

[0080] The speed calculation formula is: n = frequency * 60 / [(360 ° / step angle) * subdivision multiple].

[0081] n1 = 600*60 / [(360 / 1.8)*4] = 45 rpm.

[0082] n2=4800*60 / [(360 / 1.8)*4]=360 rpm.

[0083] In summary, the known quantities in the final curve equation formula are:

[0084] X=1~800,num=800 / 2,Fmin=600Hz,Fmax=4800Hz, the unknown quantity is Flexible, and the quantity to be determined is Fcurrent, which represents a single frequency value for each X value. According to experience, the specific parameter value of the unknown quantity Flexible can only be obtained through testing in practice. After simulation with engineering software Matlab and actual verification, the most suitable parameter for Flexible is between 3 and 5 (the final parameter in this case is 4). The following are the S-curve graphs corresponding to different values. After the above parameters are substituted, the curve equation formula is:

[0085]

[0086] Different waveforms obtained by taking different Flexible values ​​are shown in the attached figure. Figure 5-8 As shown, Figure 5 The figure shown is when Flexible = 2, which is characterized by being relatively flat, jittery, and noisy; Figure 6 The figure shown is when Flexible = 4, which is characterized by appropriate curvature, moderate acceleration, and small impact vibration; Figure 7 The figure shown is when Flexible = 5, which is characterized by appropriate curvature, moderate acceleration, and small impact vibration; Figure 8 The graph shown is when Flexible=6, which is characterized by being steep and accelerating too fast.

[0087] Here, it is verified by this embodiment that the most suitable Flexible parameter is between 3 and 5 (the final parameter in this example is 4), and then the following can be obtained: Fig. 9 The figure shows the integer data when Flexible=4 and the MCU timer frequency is 1MHZ.

[0088] like Figure 4As shown, in step 1, the total number of steps in the "S" type control curve Step = N, the number of curve points of the addition and subtraction segment and the deceleration segment M is defined, and the initial value of the step counter StepCnt = 0

[0089] In step 5, the operation steps of the stepper motor are:

[0090] Step 5.1, acceleration stage, the step counter StepCnt++ of the stepper motor, check the acceleration and deceleration table Fre[StepCnt] until StepCnt = M;

[0091] Step 5.2, uniform speed segment, the number of running steps in the uniform speed segment is StepCnt = (N-2M);

[0092] Step 5.3, deceleration stage, the step counter of the stepper motor StepCnt--, check the acceleration and deceleration table Fre[StepCnt] until StepCnt=0;

[0093] Step 5.4, end.

[0094] In this scheme, the total number of running steps in the "S" type control curve is Step=N, where N is the maximum value of X. In the total number of running steps Step=N, the number of points in the acceleration section and the deceleration section are both M, and the number of running steps in the uniform speed section is StepCnt=(N-2M).

[0095] In a specific implementation scheme, the stepper motors of the lateral moving pair and the longitudinal moving pair both adopt the above control method.

[0096] exist Figure 5 In the further preferred solution shown, the stepper motor of the longitudinal moving pair adopts a motor driver with an overcurrent detection function; when the resistance of the bag rolling mechanism becomes larger during the downward movement, the stepper motor is blocked, and the stepper motor driver generates an alarm output due to overcurrent and stops working; the alarm signal is connected to the single-chip control circuit, and the CPU detects the alarm information, then cuts off the power and resets the motor driver. In this solution, the stepper motor adopts a motor driver with an overcurrent detection function, which can generate an alarm output and stop working when the running resistance is large. On the one hand, it protects the upper and lower telescopic mechanisms to prevent damage and deformation, and on the other hand, it can judge the approximate height of the garbage stack.

[0097] In summary, the technical effects that can be achieved by this invention are:

[0098] (1) In view of the objective practical problems existing in the above-mentioned pneumatically controlled automatic bag breaking device, this patent uses a DC motor and a stepper motor for effective combination and controls them according to a certain action sequence, thereby replacing the pneumatic control while ensuring that the bag breaking effect remains unchanged.

[0099] (2) Control the upward and downward telescopic movement of the bag rolling mechanism, use a stepper motor for precise control, and use a driver with overcurrent detection and alarm. When the garbage is piled too high and the bag rolling mechanism is squeezed hard, the motor will be stopped from moving downward in time to avoid deformation or damage to the upward and downward telescopic mechanism.

[0100] (3) When throwing the bag, the horizontal moving mechanism is precisely controlled by a stepper motor and moves smoothly to avoid the mechanism moving out of place or shaking, which may cause the residual garbage in the garbage bag to be easily scattered or not accurately released into other garbage bins.

[0101] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0102] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and intent of the present invention.

Claims

1. A control method for a bag breaking mechanism in a garbage bin, comprising a bag rolling mechanism for clamping garbage bags; the bag rolling mechanism is arranged on a transverse moving pair and / or a longitudinal moving pair, and the transverse moving pair and / or the longitudinal moving pair are controlled and operated by a stepping motor, characterized in that: The stepper motor adopts the following control method: Step 1, using an "S" type control curve to divide the total stroke into an acceleration section, a constant speed section and a deceleration section, wherein the control curves of the stepper motor in the acceleration section and the deceleration section are symmetrical; Step 2, in the acceleration section and deceleration section of the S" type control curve, the curve equation is constructed by using the transformation of the logistic distribution function; Step 3: Perform stretching adjustment on the S-shaped curve obtained by the curve equation to obtain a curve waveform diagram of the curve equation; Step 4: Select the curve equation corresponding to the curve waveform diagram of the appropriate curvature, and run the curve equation to obtain the MCU frequency in each step of the stepper motor, and generate a shaping data table of the MCU frequency; Step 5: When the equipment is running, the bag rolling mechanism clamps the garbage bag, and the single chip microcomputer calls the parameters in the shaping data table to control the operation of the stepper motor.

2. The control method in the bag breaking mechanism of a garbage bin according to claim 1, characterized in that: In step 2, the transformation of the logistic distribution function is used to construct the following curve equation: In the formula, X, represents the index in the loop calculation process, starting from 1; Num, represents half of the total number of acceleration points N, that is, N / 2; Fcurrent, which represents a single frequency value for each X value; Fmin, represents the acceleration starting frequency; Fmax, represents the final frequency of acceleration; Flexible, which means the S-curve is stretched and changed; Step 3, setting the values ​​X, Num, Fmin and Fmax in the curve equation based on the maximum load value of the bag rolling mechanism, setting the unknown quantity as Flexible according to actual measurement and / or engineering software simulation; obtaining the curve waveform diagram under different Flexible values; Step 4, select a suitable Flexible value according to the curvature of the acceleration section and the deceleration section of the curve waveform; under the Flexible value, run the curve equation to obtain the single-chip microcomputer frequency Fcurrent under each X value, and generate a shaping data table of the single-chip microcomputer frequency.

3. The control method in the bag breaking mechanism of a garbage bin according to claim 1, characterized in that: In step 1, the total number of steps in the "S" type control curve Step = N, the number of curve points of the acceleration and deceleration segments M is defined, and the initial value of the step counter StepCnt = 0 In step 5, the operation steps of the stepper motor are: Step 5.1, acceleration stage, the step counter StepCnt++ of the stepper motor, check the acceleration and deceleration table Fre[StepCnt] until StepCnt = M; Step 5.2, uniform speed segment, the number of running steps in the uniform speed segment is StepCnt = (N-2M); Step 5.3, deceleration stage, the step counter of the stepper motor StepCnt--, check the acceleration and deceleration table Fre[StepCnt] until StepCnt=0; Step 5.4, end.

4. The control method in the bag breaking mechanism of a garbage bin according to claim 1, characterized in that: The stepper motors of the lateral moving pair and the longitudinal moving pair both adopt the above control method.

5. The control method in the bag breaking mechanism of a garbage bin according to claim 1, characterized in that: The stepper motor of the longitudinal moving pair adopts a motor driver with an overcurrent detection function; when the resistance encountered by the bag rolling mechanism becomes larger during the downward process and the stepper motor is blocked, the stepper motor driver generates an alarm output due to overcurrent and stops working; the alarm signal is connected to the single-chip microcomputer control circuit, the CPU detects the alarm information, and then cuts off the power and resets the motor driver.

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