Self-loading and unloading garbage truck flexible control method and device

Abstract

A flexible control method and device for a self-loading garbage truck, the method comprising a lifting system flexible control process and a compression system flexible control process; the lifting system flexible control process comprising: performing a bucket clamping lifting action, triggering a first time signal, and performing a bucket lifting action; continuing to perform the bucket clamping lifting action until a first position signal is triggered, and stopping the bucket clamping lifting action; performing the bucket lifting action, triggering a second time signal, and performing a bucket overturning lifting action; continuing to perform the bucket lifting action until a second position signal is triggered, and stopping the bucket lifting action; performing the bucket overturning lifting and bucket overturning return actions, triggering a third time signal and a third position signal, and stopping the bucket overturning return action, and performing a bucket lowering action. The application reduces noise, improves work efficiency, and prolongs the service life of the entire mechanism.

Description

Technical Field

[0001] This invention relates to a flexible control method and device for self-loading and unloading garbage trucks, belonging to the field of vehicle control technology. Background Technology

[0002] With the development of urbanization and the mechanization of sanitation operations, the collection and transportation of household waste and solid waste are currently mainly carried out by self-loading and unloading garbage trucks from residential areas, or by compressed garbage trucks from main roads to compression stations. These two types of vehicles are the most common garbage trucks with garbage compression functions on the market. The material lifting and compression functions are the core functions of these two types of garbage trucks, which directly affect the garbage loading capacity and collection efficiency.

[0003] Currently, most garbage trucks on the market control their lifting and compression functions based on proximity switch sensors to detect position or by using time-based timing for continuous control. However, both proximity switch sensor control and time-based timing control share a common problem: stiff or mechanical movements. This manifests as a lack of smoothness, resulting in significant noise, including the impact sound between the lifting mechanism and the container, as well as the noise generated when the scraper and sliding plate switch movements. Although some structures have added anti-collision pads, considerable impact noise still exists. This not only causes significant noise interference to the surrounding environment but also shortens the lifespan of the mechanism.

[0004] Therefore, inventing a flexible control technology solution to reduce structural impact noise and improve operational efficiency has become an urgent problem to be solved. Summary of the Invention

[0005] Therefore, the present invention provides a flexible control process and device for the material lifting and compression system of a self-loading and unloading garbage truck, which makes the connection between the previous action and the next action smoother, reduces the noise caused by structural impact and hydraulic cylinder pressure, and can improve operating efficiency and extend the service life of the entire mechanism.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a flexible control method for a self-loading and unloading garbage truck, comprising:

[0007] Flexible control processes for the feeding system and the compression system;

[0008] The flexible control process of the material feeding system includes:

[0009] The bucket clamping and lifting action is executed. When the first time signal is triggered during the bucket clamping and lifting process, the bucket lifting action is executed. While the bucket lifting action is being executed, the bucket clamping and lifting action continues until the first arrival signal is triggered, at which point the bucket clamping and lifting action stops.

[0010] When the second time signal is triggered during the bucket lifting process, the bucket tilting and lifting action is executed; while the bucket tilting and lifting action is being executed, the bucket lifting and lifting action continues until the second arrival signal is triggered, at which point the bucket lifting and lifting action stops.

[0011] The bucket-flipping and returning action is executed. During the bucket-flipping and returning action, the third time signal and the third arrival signal are triggered simultaneously to stop the bucket-flipping and returning action, and at the same time, the bucket-lifting and lowering action is executed.

[0012] When the fourth time signal is triggered during the bucket lifting and lowering process, the bucket clamping and lowering action is executed; while the bucket clamping and lowering action is being executed, the bucket lifting and lowering action continues until the fourth arrival signal is triggered, at which point the bucket lifting and lowering action stops.

[0013] When the fifth positioning signal is triggered during the bucket descent process, the bucket descent action is stopped, and the material lifting system control cycle ends.

[0014] The flexible control process of the compression system includes:

[0015] The scraper opens, and during the scraper opening process, the first timing signal is triggered to extend the slide plate. While the slide plate is extending, the scraper opening process continues until the first proximity switch sensor signal is triggered, at which point the scraper opening process stops.

[0016] When the slide plate extends, the second timing signal is triggered during the extension process, and then the scraper closes. When the scraper closes, the slide plate continues to extend until the second proximity switch sensor signal is triggered, at which point the slide plate extension stops.

[0017] When the scraper closing action is executed, the third timing signal is triggered during the scraper closing process, and the slide plate retraction action is executed; when the slide plate retraction action is executed, the scraper closing action continues until the third proximity switch sensor signal is triggered, and the scraper closing action stops.

[0018] When the slide retraction action is executed, the fourth timing signal is triggered during the slide retraction process, and the next compression system control cycle is started to execute the scraper opening action. When the scraper opening action is executed, the slide retraction action continues until the fourth proximity switch sensor signal or the preset signal is triggered, and the slide retraction action stops.

[0019] As a preferred embodiment of a flexible control method for self-loading and unloading garbage trucks, the relationship between the set values ​​of the arrival signal P(i) and the time signal T(i) during the flexible control process of the material lifting system is as follows:

[0020] During the bucket lifting action, the set value of the first time signal T1 is less than the time value from the initial position to the triggering of the first position signal P1 during the bucket lifting action.

[0021] During the process of performing the bucket lifting action, the set value of the second time signal T2 is less than the time value of the bucket lifting action from the initial position to triggering the second in-place signal P2;

[0022] During the process of performing the bucket tipping up and bucket tipping back actions, the set value of the third time signal T3 is equal to the time value of the bucket tipping action from the initial position of bucket tipping up to triggering the third in-place signal P3 when tipping back;

[0023] During the process of performing the bucket lowering action, the set value of the fourth time signal T4 is less than the time value of the bucket lowering action from the initial position to triggering the fourth in-place signal P4;

[0024] During the flexible control process of the compression system, the relationship between the proximity switch sensor signal Ps(i) and the timing signal Ts(i) is as follows:

[0025] During the process of performing a preset action, the set value of the timing signal Ts(i) is less than the time value of the preset action from the initial position to triggering the corresponding proximity switch sensor signal Ps(i).

[0026] As a preferred solution of the flexible control method for a self-loading and unloading garbage truck, during the cyclic execution of the feeding system and the compression system, if the situation of P(i) < T(i) or Ps(i) < Ts(i) occurs, then during the execution of the feeding system, the next action start signal becomes Min[P(i), T(i)], where Min[P(i), T(i)] means: comparing the set values of P(i) and T(i), and selecting the smaller set value as the selection result; during the execution of the compression system, the next action start signal becomes Min1[Ps(i), Ts(i)], where Min1[Ps(i), Ts(i)] means: comparing the set values of Ps(i) and Ts(i), and selecting the smaller set value as the selection result.

[0027] As a preferred solution of the flexible control method for a self-loading and unloading garbage truck, during the process of performing the slide plate retraction action, the preset signals include a preset time signal and a preset pressure signal.

[0028] As a preferred solution of the flexible control method for a self-loading and unloading garbage truck, obtain the state matrix formed after the end of each cycle of the feeding and compression actions, and judge the control mode of each feeding and compression action according to the state matrix to diagnose proximity switch faults;

[0029] The definition of the state matrix is

[0030]

[0031] or

[0032]

[0033] In the formula, P i Indicates the trigger status of the preset action position switch during the material feeding cycle; T i This indicates the trigger status of preset action switching signals during the material feeding cycle; P si Indicates the trigger status of the preset action position switch during the compression cycle; T si This indicates the trigger status of the preset action switching signal during the compression cycle.

[0034] The present invention also provides a flexible control device for a self-loading and unloading garbage truck, comprising:

[0035] Flexible control devices for the feeding system and the compression system;

[0036] The flexible control device for the material lifting system includes:

[0037] The bucket clamping and lifting module is used to perform the bucket clamping and lifting action. When the first time signal is triggered during the bucket clamping and lifting process, the bucket lifting action is executed. While the bucket lifting action is being executed, the bucket clamping and lifting action continues until the first end signal is triggered, at which point the bucket clamping and lifting action stops.

[0038] The bucket lifting module is used to execute the bucket tilting and lifting action when the second time signal is triggered during the bucket lifting process; while the bucket tilting and lifting action is being executed, the bucket lifting action continues until the second position signal is triggered, at which point the bucket lifting action stops.

[0039] The bucket tilting and lifting module is used to perform the bucket tilting and lifting action. During the bucket tilting and lifting action, the third time signal and the third position signal are triggered simultaneously to stop the bucket tilting and lifting action and to perform the bucket lifting and lowering action.

[0040] The bucket lifting and lowering module is used to perform a bucket clamping and lowering action after the fourth time signal is triggered during the bucket lifting and lowering process; while performing the bucket clamping and lowering action, the bucket lifting and lowering action continues until the fourth positioning signal is triggered, at which point the bucket lifting and lowering action stops.

[0041] The bucket clamping and lowering module is used to stop the bucket clamping and lowering action and end the material lifting system control cycle when the fifth positioning signal is triggered during the bucket clamping and lowering process.

[0042] The flexible control device for the compression system includes:

[0043] The scraper opening module is used to perform the scraper opening action. During the scraper opening process, the first timing signal is triggered to perform the slide plate extension action. While the slide plate is extending, the scraper opening action continues until the first proximity switch sensor signal is triggered to stop the scraper opening action.

[0044] The slide plate extension module is used to execute a scraper closing action after the second timing signal is triggered during the slide plate extension process; while the scraper closing action is being executed, the slide plate extension action continues until the second proximity switch sensor signal is triggered, stopping the slide plate extension action;

[0045] The scraper closing module is used to retract the slide plate when the third timing signal is triggered during the scraper closing process; while the slide plate is retracting, the scraper closing action continues until the third proximity switch sensor signal is triggered, at which point the scraper closing action stops.

[0046] The slide retraction module is used to initiate the next compression system control cycle and execute the scraper opening action after the fourth timing signal is triggered during the slide retraction process. When the scraper opening action is executed, the slide retraction action continues until the fourth proximity switch sensor signal or a preset signal is triggered, at which point the slide retraction action stops.

[0047] As a preferred embodiment of a flexible control device for a self-loading and unloading garbage truck, the relationship between the set values ​​of the arrival signal P(i) and the time signal T(i) during the flexible control process of the material lifting system is as follows:

[0048] During the bucket lifting action, the set value of the first time signal T1 is less than the time value from the initial position to the triggering of the first position signal P1 during the bucket lifting action.

[0049] During the bucket lifting and raising action, the set value of the second time signal T2 is less than the time value from the initial position to the triggering of the second position signal P2 during the bucket lifting and raising action;

[0050] During the process of performing the bucket lifting and bucket returning actions, the setting value of the third time signal T3 is equal to the time value from the bucket lifting initial position to the bucket returning to the position triggering the third position signal P3.

[0051] During the bucket-lifting and lowering action, the set value of the fourth time signal T4 is less than the time value from the initial position to the triggering of the fourth position signal P4 during the bucket-lifting and lowering action.

[0052] During the flexible control process of the compression system, the relationship between the set values ​​of the proximity switch sensor signal Ps(i) and the timing signal Ts(i) is as follows:

[0053] During the execution of the preset action, the setting value of the timing signal Ts(i) is less than the time value from the initial position to the triggering of the corresponding proximity switch sensor signal Ps(i) during the preset action.

[0054] As an optimal solution of the flexible control device for a self-loading and unloading garbage truck, during the cyclic execution of the material lifting system and the compression system, if the situation of P(i) < T(i) or Ps(i) < Ts(i) occurs, then during the execution of the material lifting system, the start signal of the next action becomes Min[P(i), T(i)], where Min[P(i), T(i)] means: compare the set values of P(i) and T(i), and select the smaller set value as the selection result; during the execution of the compression system, the start signal of the next action becomes Min1[Ps(i), Ts(i)], where Min1[Ps(i), Ts(i)] means: compare the set values of Ps(i) and Ts(i), and select the smaller set value as the selection result.

[0055] As an optimal solution of the flexible control device for a self-loading and unloading garbage truck, in the slide plate retraction module, during the execution of the slide plate retraction action, the preset signals include a preset time signal and a preset pressure signal.

[0056] As an optimal solution of the flexible control device for a self-loading and unloading garbage truck, it further includes a switch fault diagnosis module, which is used to obtain the state matrix formed after the end of each material lifting and compression action cycle, and judge the control mode of each material lifting and compression action according to the state matrix to diagnose the proximity switch fault;

[0057] The definition of the state matrix is

[0058]

[0059] or

[0060]

[0061] In the formula, P i represents the triggering situation of the preset action position switch during the material lifting cycle; T i represents the triggering situation of the preset action switching signal during the material lifting cycle; P si represents the triggering situation of the preset action position switch during the compression cycle; T si represents the triggering situation of the preset action switching signal during the compression cycle.

[0062] This invention has the following advantages: it includes a flexible control process for the material lifting system and a flexible control process for the compression system; the flexible control process for the material lifting system includes: executing a bucket lifting action; when a first time signal is triggered during the bucket lifting process, the bucket lifting action is executed; while executing the bucket lifting action, the bucket lifting action continues until a first positioning signal is triggered, at which point the bucket lifting action stops; when a second time signal is triggered during the bucket lifting process, a bucket tilting action is executed; while executing the bucket tilting action, the bucket lifting action continues until a second positioning signal is triggered, at which point the bucket lifting action stops; executing a bucket tilting return action; during the bucket tilting return action, a third time signal and a third positioning signal are triggered simultaneously, at which point the bucket tilting return action stops, and a bucket lowering action is executed simultaneously; when a fourth time signal is triggered during the bucket lowering action, a bucket clamping action is executed; while executing the bucket clamping action, the bucket lowering action continues until a fourth positioning signal is triggered, at which point the bucket lowering action stops; when a fifth positioning signal is triggered during the bucket lowering action, the bucket lowering action stops, and the material lifting system control cycle ends; The flexible control process of the compression system includes: executing a scraper opening action; during the scraper opening process, triggering a first timing signal to execute a slide plate extension action; while executing the slide plate extension action, continuing the scraper opening action until triggering a first proximity switch sensor signal, stopping the scraper opening action; while executing the slide plate extension action, after triggering a second timing signal during the slide plate extension process, executing a scraper closing action; while executing the scraper closing action, continuing the slide plate extension action until triggering a second proximity switch sensor signal, stopping the slide plate extension action; while executing the scraper closing action, after triggering a third timing signal during the scraper closing process, executing a slide plate retraction action; while executing the slide plate retraction action, continuing the scraper closing action until triggering a third proximity switch sensor signal, stopping the scraper closing action; while executing the slide plate retraction action, after triggering a fourth timing signal during the slide plate retraction process, proceeding to the next compression system control cycle, executing a scraper opening action; while executing the scraper opening action, continuing the slide plate retraction action until triggering a fourth proximity switch sensor signal or triggering a preset signal, stopping the slide plate retraction action. Furthermore, relying on redundant control to prevent the material lifting and compression cycle state matrix derived from the combination, it can also assist in the diagnosis of proximity switch faults. This invention enables a smoother transition between the previous and next actions, reduces structural impact noise and noise caused by cylinder pressure buildup, while improving operating efficiency and extending the overall lifespan of the mechanism. Attached Figure Description

[0063] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0064] Figure 1 This is a schematic diagram of the flexible control process of a self-loading and unloading garbage truck material lifting and compression system provided in an embodiment of the present invention;

[0065] Figure 2 This is a schematic diagram of a flexible control process algorithm for a self-loading and unloading garbage truck material lifting system provided in an embodiment of the present invention;

[0066] Figure 3 This is a schematic diagram of a flexible control process algorithm for a self-loading and unloading garbage truck compression system provided in an embodiment of the present invention;

[0067] Figure 4 This is a diagram illustrating the architecture of a flexible control device for a self-loading and unloading garbage truck material lifting and compression system, as provided in an embodiment of the present invention. Detailed Implementation

[0068] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0069] Example 1

[0070] See Figure 1 , Figure 2 and Figure 3 Embodiment 1 of the present invention provides a flexible control method for a self-loading and unloading garbage truck, including a flexible control process for a material lifting system and a flexible control process for a compression system;

[0071] The flexible control process of the material lifting system includes the following steps:

[0072] S1. Execute the bucket clamping and lifting action. When the first time signal is triggered during the bucket clamping and lifting process, the bucket lifting action is executed. While the bucket lifting action is being executed, the bucket clamping and lifting action continues until the first arrival signal is triggered, at which point the bucket clamping and lifting action stops.

[0073] S2. When the second time signal is triggered during the bucket lifting process, the bucket tilting and lifting action is executed; while the bucket tilting and lifting action is being executed, the bucket lifting and lifting action continues until the second arrival signal is triggered, at which point the bucket lifting and lifting action stops.

[0074] S3. Execute the bucket-flipping and returning action. During the bucket-flipping and returning action, the third time signal and the third arrival signal are triggered simultaneously to stop the bucket-flipping and returning action, and at the same time, the bucket-lifting and lowering action is executed.

[0075] S4. When the fourth time signal is triggered during the bucket lifting and lowering process, the bucket clamping and lowering action is executed; while the bucket clamping and lowering action is being executed, the bucket lifting and lowering action continues until the fourth arrival signal is triggered, at which point the bucket lifting and lowering action stops.

[0076] S5. When the fifth positioning signal is triggered during the bucket descent process, the bucket descent action is stopped and the material lifting system control cycle ends.

[0077] The flexible control process of the compression system includes the following steps:

[0078] M1. Execute the scraper opening action. During the scraper opening process, the first timing signal is triggered to execute the slide plate extension action. When the slide plate extension action is executed, the scraper opening action continues until the first proximity switch sensor signal is triggered to stop the scraper opening action.

[0079] M2. When the slide plate extends, the second timing signal is triggered during the extension process, and the scraper closes. When the scraper closes, the slide plate continues to extend until the second proximity switch sensor signal is triggered, and the slide plate extension stops.

[0080] M3. When the scraper closing action is executed, after the third timing signal is triggered during the scraper closing process, the slide plate retraction action is executed; when the slide plate retraction action is executed, the scraper closing action continues until the third proximity switch sensor signal is triggered, and the scraper closing action stops.

[0081] M4. When the slide retraction action is executed, after the fourth timing signal is triggered during the slide retraction process, the next compression system control cycle is started, and the scraper opening action is executed. When the scraper opening action is executed, the slide retraction action continues until the fourth proximity switch sensor signal is triggered or the preset signal is triggered, and the slide retraction action stops.

[0082] In this embodiment, in step S1, the setting value of the first time signal T1 is less than the time value from the initial position to the triggering of the first position signal P1 during the upward movement of the bucket clamp.

[0083] In this embodiment, in step S2, the setting value of the second time signal T2 is less than the time value from the initial position to the triggering of the second position signal P2 during the bucket lifting action.

[0084] In this embodiment, in step S3, the set value of the third time signal T3 is equal to the time value of the barrel turning action from the initial position of barrel turning up to the barrel turning return position triggering the third in-place signal P3.

[0085] In this embodiment, in step S4, the set value of the fourth time signal T4 is less than the time value of the bucket lifting and lowering action from the initial position to triggering the fourth in-place signal P4.

[0086] In this embodiment, in steps M1, M2, M3, and M4, the set value of the timing signal Ts(i) is less than the time value of the preset action from the initial position to triggering the corresponding proximity switch sensor signal Ps(i).

[0087] In this embodiment, during the cyclic execution of the material lifting system and the compression system, if the situation of P(i) < T(i) or Ps(i) < Ts(i) occurs, then during the execution of the material lifting system, the start signal of the next action becomes Min[P(i), T(i)], where Min[P(i), T(i)] means: comparing the set values of P(i) and T(i), and selecting the smaller set value as the selection result; during the execution of the compression system, the start signal of the next action becomes Min1[Ps(i), Ts(i)], where Min1[Ps(i), Ts(i)] means: comparing the set values of Ps(i) and Ts(i), and selecting the smaller set value as the selection result.

[0088] Specifically, the proximity switch sensor signal P of this method is used as the end flag of the current action, and the newly set execution time T of the current action is used as the switching flag of the next action. At the same time, it is also ensured that the next action can be switched after the proximity switch sensor is triggered. This can avoid the situation where the triggering time of the time proximity switch sensor is less than the calibrated time value due to a certain action starting to be executed at the middle position of the full stroke, thereby enabling redundant control and effectively reducing the noise caused by each action through this method. The underlying principle is to shunt and divide the pressure through synchronous actions, slowing down the "rigidity" of the action caused by excessive pressure at the moment of action switching, thereby achieving flexible control of the action. Among them, the relationship between the proximity switch sensor signal P and the execution time T as the switching flag is shown in Table 1:

[0089]

[0090] Table 1 Relationship between proximity switch sensor signal P and execution time T switching flag

[0091] In Table 1, the signs for the end of the bucket tilting and lowering, as well as the signs for switching between the bucket tilting and returning to their original positions, are not shown because the lifting and returning processes are divided into two separate processes in the material lifting cycle. Therefore, the two actions of tilting and returning to their original positions are performed by the same hydraulic cylinder and cannot be synchronized.

[0092] In action switching control, a combination of P and T should be used. Either P or T signal can trigger the next action switching. However, during calibration, when T signal is triggered, the action is synchronized to achieve flexible control. If T signal is triggered, the action does not start from the lowest point. During the entire operation, the moment when P signal is triggered first is rare. It only occurs during non-routine operations and only at the beginning of the cycle. Therefore, the P or T control method achieves redundant control.

[0093] In this embodiment, during the sliding plate retraction action, the preset signal includes a preset time signal and a preset pressure signal.

[0094] Specifically, when there is enough trash in the trash can, the proximity switch sensor signal cannot be triggered, and the compression system will execute either time mode or pressure mode.

[0095] In this embodiment, a state matrix is ​​obtained after each feeding and compression cycle is completed, and the control mode for executing each feeding and compression action is determined based on the state matrix to diagnose proximity switch faults.

[0096] The state matrix is ​​defined as follows:

[0097]

[0098] or

[0099]

[0100] In the formula, P i Indicates the trigger status of the preset action position switch during the material feeding cycle; T i This indicates the trigger status of preset action switching signals during the material feeding cycle; P si Indicates the trigger status of the preset action position switch during the compression cycle; T si This indicates the trigger status of the preset action switching signal during the compression cycle.

[0101] Specifically, in one possible embodiment, a specific example is provided as follows:

[0102] If the material feeding cycle ends, the resulting state matrix is ​​as follows:

[0103]

[0104] The above matrix illustrates that the switching of each action in this material lifting cycle is controlled by a set calibration time signal. The end signals of each action are normal, all proximity switches can be triggered normally, the sensors are normal, and the entire material lifting process is flexibly controlled.

[0105] If a material feeding process is completed, the resulting state matrix is ​​as follows:

[0106]

[0107] The above state matrix shows that when the bucket clamping action is about to end, the switch to the bucket lifting action is triggered by the proximity switch that is close to the bucket lifting position. At the same time, it can be determined that the starting position of the bucket lifting action is not the lowest point.

[0108] If the state matrix formed after the compression cycle ends is:

[0109]

[0110] The matrix above illustrates that throughout the entire compression cycle, actions are switched according to a pre-set time, and the action end is triggered by the corresponding proximity switch signal.

[0111] If a certain compression cycle ends, the resulting state matrix is ​​as follows:

[0112]

[0113] The above state matrix shows that the action of switching to the slide plate extension after the first step of the scraper opening is achieved by using the scraper opening position proximity switch signal. This indicates that the initial position of the scraper opening does not start from the scraper closing position, but rather from a certain position in the middle.

[0114] In summary, this invention includes a flexible control process for the material lifting system and a flexible control process for the compression system. The flexible control process for the material lifting system includes: executing a bucket lifting action; when a first time signal is triggered during the bucket lifting process, the bucket lifting action is executed; while executing the bucket lifting action, the bucket lifting action continues until a first positioning signal is triggered, at which point the bucket lifting action stops; when a second time signal is triggered during the bucket lifting process, a bucket tilting action is executed; while executing the bucket tilting action, the bucket lifting action continues until a second positioning signal is triggered, at which point the bucket lifting action stops; executing a bucket tilting return action; during the bucket tilting return action, a third time signal and a third positioning signal are triggered simultaneously, stopping the bucket tilting return action, and simultaneously executing a bucket lowering action; when a fourth time signal is triggered during the bucket lowering action, a bucket clamping action is executed; while executing the bucket clamping action, the bucket lowering action continues until a fourth positioning signal is triggered, at which point the bucket lowering action stops; when a fifth positioning signal is triggered during the bucket lowering action, the bucket lowering action stops, and the material lifting system control cycle ends. The flexible control process of the compression system includes: executing a scraper opening action; during the scraper opening process, triggering a first timing signal to execute a slide plate extension action; while executing the slide plate extension action, continuing the scraper opening action until triggering a first proximity switch sensor signal, stopping the scraper opening action; while executing the slide plate extension action, after triggering a second timing signal during the slide plate extension process, executing a scraper closing action; while executing the scraper closing action, continuing the slide plate extension action until triggering a second proximity switch sensor signal, stopping the slide plate extension action; while executing the scraper closing action, after triggering a third timing signal during the scraper closing process, executing a slide plate retraction action; while executing the slide plate retraction action, continuing the scraper closing action until triggering a third proximity switch sensor signal, stopping the scraper closing action; while executing the slide plate retraction action, after triggering a fourth timing signal during the slide plate retraction process, proceeding to the next compression system control cycle, executing a scraper opening action; while executing the scraper opening action, continuing the slide plate retraction action until triggering a fourth proximity switch sensor signal or triggering a preset signal, stopping the slide plate retraction action. Furthermore, relying on redundant control to prevent the material lifting and compression cycle state matrix derived from the combination, it can also assist in the diagnosis of proximity switch faults. This invention enables a smoother transition between the previous and next actions, reduces structural impact noise and noise caused by cylinder pressure buildup, while improving operating efficiency and extending the overall lifespan of the mechanism.

[0115] It should be noted that the method of this disclosure embodiment can be executed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method of this disclosure embodiment, and the multiple devices will interact with each other to complete the method described.

[0116] It should be noted that the above description describes some embodiments of this disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0117] Example 2

[0118] See Figure 4 Embodiment 2 of the present invention also provides a flexible control device for a self-loading and unloading garbage truck, including: a flexible control device for a material lifting system and a flexible control device for a compression system;

[0119] The flexible control device for the material lifting system includes:

[0120] The bucket clamping and lifting module 101 is used to perform the bucket clamping and lifting action. When the first time signal is triggered during the bucket clamping and lifting process, the bucket lifting action is executed. While the bucket lifting action is being executed, the bucket clamping and lifting action continues to be executed until the first position signal is triggered, at which point the bucket clamping and lifting action stops.

[0121] The bucket lifting module 102 is used to execute the bucket tilting and lifting action after the second time signal is triggered during the bucket lifting and lifting process; while executing the bucket tilting and lifting action, the bucket lifting and lifting action continues until the second position signal is triggered, at which point the bucket lifting and lifting action stops.

[0122] The bucket tilting and lifting module 103 is used to perform the bucket tilting and lifting action. During the bucket tilting and lifting action, a third time signal and a third position signal are triggered simultaneously to stop the bucket tilting and lifting action and simultaneously perform the bucket lifting and lowering action.

[0123] The bucket lifting and lowering module 104 is used to perform a bucket clamping and lowering action after the fourth time signal is triggered during the bucket lifting and lowering process; while performing the bucket clamping and lowering action, the bucket lifting and lowering action continues until the fourth positioning signal is triggered, at which point the bucket lifting and lowering action stops.

[0124] The bucket clamping and lowering module 105 is used to stop the bucket clamping and lowering action and end the material lifting system control cycle after the fifth positioning signal is triggered during the bucket clamping and lowering process.

[0125] The flexible control device for the compression system includes:

[0126] The scraper opening module 201 is used to perform the scraper opening action. During the scraper opening process, a first timing signal is triggered to perform the slide plate extension action. When the slide plate extension action is performed, the scraper opening action continues to be performed until the first proximity switch sensor signal is triggered to stop the scraper opening action.

[0127] The slide plate extension module 202 is used to perform a scraper closing action after the second timing signal is triggered during the slide plate extension process; when the scraper closing action is performed, the slide plate extension action continues until the second proximity switch sensor signal is triggered, and the slide plate extension action stops.

[0128] The scraper closing module 203 is used to perform a slide plate retraction action after the third timing signal is triggered during the scraper closing action; while the slide plate retraction action is being performed, the scraper closing action continues until the third proximity switch sensor signal is triggered, at which point the scraper closing action stops.

[0129] The slide retraction module 204 is used to perform the next compression system control cycle and execute the scraper opening action after the fourth timing signal is triggered during the slide retraction process. When the scraper opening action is executed, the slide retraction action continues until the fourth proximity switch sensor signal or the preset signal is triggered, and the slide retraction action stops.

[0130] In this embodiment, during the flexible control process of the material lifting system, the relationship between the set values ​​of the arrival signal P(i) and the time signal T(i) is as follows:

[0131] During the bucket lifting action, the set value of the first time signal T1 is less than the time value from the initial position to the triggering of the first position signal P1 during the bucket lifting action.

[0132] During the bucket lifting and raising action, the set value of the second time signal T2 is less than the time value from the initial position to the triggering of the second position signal P2 during the bucket lifting and raising action;

[0133] During the process of performing the bucket lifting and bucket returning actions, the setting value of the third time signal T3 is equal to the time value from the bucket lifting initial position to the bucket returning to the position triggering the third position signal P3.

[0134] During the process of performing the bucket lowering action, the set value of the fourth time signal T4 is less than the time value for the bucket lowering action from the initial position to triggering the fourth in-place signal P4;

[0135] During the flexible control process of the compression system, the relationship between the proximity switch sensor signal Ps(i) and the timing signal Ts(i) is as follows:

[0136] During the process of performing a preset action, the set value of the timing signal Ts(i) is less than the time value for the preset action from the initial position to triggering the corresponding proximity switch sensor signal Ps(i).

[0137] In this embodiment, during the cyclic execution of the material lifting system and the compression system, if the situation of P(i) < T(i) or Ps(i) < Ts(i) occurs, then during the execution of the material lifting system, the next action start signal becomes Min[P(i), T(i)], where Min[P(i), T(i)] means: comparing the set values of P(i) and T(i) and selecting the smaller set value as the selection result; during the execution of the compression system, the next action start signal becomes Min1[Ps(i), Ts(i)], where Min1[Ps(i), Ts(i)] means: comparing the set values of Ps(i) and Ts(i) and selecting the smaller set value as the selection result.

[0138] In this embodiment, in the slide plate retraction module 204, during the process of performing the slide plate retraction action, the preset signals include a preset time signal and a preset pressure signal.

[0139] In this embodiment, it further includes a switch fault diagnosis module 301, which is used to obtain the state matrix formed after the end of each material lifting and compression action cycle, and judge the control mode of each material lifting and compression action according to the state matrix to diagnose proximity switch faults;

[0140] The definition of the state matrix is

[0141]

[0142] or

[0143]

[0144] where P i represents the triggering situation of the preset action position switch during the material lifting cycle; T i represents the triggering situation of the preset action switching signal during the material lifting cycle; P si represents the triggering situation of the preset action position switch during the compression cycle; T si represents the triggering situation of the preset action switching signal during the compression cycle.

[0145] It should be noted that the information interaction and execution process between the modules of the above-mentioned device are based on the same concept as the method embodiment in Embodiment 1 of this application, and the resulting technical effects are the same as those in the method embodiment of this application. For details, please refer to the description in the method embodiment shown above in this application, and it will not be repeated here.

[0146] Example 3

[0147] Embodiment 3 of the present invention provides a non-transitory computer-readable storage medium storing program code of a flexible control method for a self-loading and unloading garbage truck. The program code includes instructions for executing the flexible control method for a self-loading and unloading garbage truck of Embodiment 1 or any possible implementation thereof.

[0148] Computer-readable storage media can be any available medium that a computer can access, or a data storage device such as a server or data center that integrates one or more available media. The available medium can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives, SSDs).

[0149] Example 4

[0150] Embodiment 4 of the present invention provides an electronic device, including: a memory and a processor;

[0151] The processor and the memory communicate with each other via a bus; the memory stores program instructions that can be executed by the processor, and the processor can execute a flexible control method for a self-loading and unloading garbage truck according to Embodiment 1 or any possible implementation thereof by calling the program instructions.

[0152] Specifically, a processor can be implemented in hardware or software. When implemented in hardware, the processor can be a logic circuit, an integrated circuit, etc. When implemented in software, the processor can be a general-purpose processor that reads software code stored in memory. This memory can be integrated into the processor or located outside the processor and exist independently.

[0153] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0154] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0155] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A flexible control method for a self-loading and unloading garbage truck, characterized in that, include: Flexible control processes for the feeding system and the compression system; The flexible control process of the material feeding system includes: The bucket clamping and lifting action is executed. When the first time signal is triggered during the bucket clamping and lifting process, the bucket lifting action is executed. While the bucket lifting action is being executed, the bucket clamping and lifting action continues until the first arrival signal is triggered, at which point the bucket clamping and lifting action stops. When the second time signal is triggered during the bucket lifting process, the bucket tilting and lifting action is executed; while the bucket tilting and lifting action is being executed, the bucket lifting and lifting action continues until the second arrival signal is triggered, at which point the bucket lifting and lifting action stops. The bucket-flipping and returning action is executed. During the bucket-flipping and returning action, the third time signal and the third arrival signal are triggered simultaneously to stop the bucket-flipping and returning action, and at the same time, the bucket-lifting and lowering action is executed. When the fourth time signal is triggered during the bucket lifting and lowering process, the bucket clamping and lowering action is executed; while the bucket clamping and lowering action is being executed, the bucket lifting and lowering action continues until the fourth arrival signal is triggered, at which point the bucket lifting and lowering action stops. When the fifth positioning signal is triggered during the bucket descent process, the bucket descent action is stopped, and the material lifting system control cycle ends. The flexible control process of the compression system includes: The scraper opens, and during the scraper opening process, the first timing signal is triggered to extend the slide plate. While the slide plate is extending, the scraper opening process continues until the first proximity switch sensor signal is triggered, at which point the scraper opening process stops. When the slide plate extends, the second timing signal is triggered during the extension process, and then the scraper closes. When the scraper closes, the slide plate continues to extend until the second proximity switch sensor signal is triggered, at which point the slide plate extension stops. When the scraper closing action is executed, the third timing signal is triggered during the scraper closing process, and the slide plate retraction action is executed; when the slide plate retraction action is executed, the scraper closing action continues until the third proximity switch sensor signal is triggered, and the scraper closing action stops. When the slide retraction action is executed, the fourth timing signal is triggered during the slide retraction process, and the next compression system control cycle is started to execute the scraper opening action. When the scraper opening action is executed, the slide retraction action continues until the fourth proximity switch sensor signal or the preset signal is triggered, and the slide retraction action stops.

2. The flexible control method for a self-loading and unloading garbage truck according to claim 1, characterized in that, During the flexible control process of the material lifting system, the relationship between the set values ​​of the arrival signal P(i) and the time signal T(i) is as follows: During the execution of the bucket lifting action, the set value of the first time signal T1 is less than the time value from the initial position of the bucket lifting action to the triggering of the first position signal P1. During the bucket lifting and raising action, the set value of the second time signal T2 is less than the time value from the initial position of the bucket lifting and raising action to the triggering of the second position signal P2. During the process of performing the bucket lifting and bucket returning actions, the setting value of the third time signal T3 is equal to the time value from the bucket lifting initial position to the bucket returning to the position triggering the third position signal P3. During the process of performing the bucket lowering action, the set value of the fourth time signal T4 is less than the time value of the bucket lowering action from the initial position of the bucket lowering to triggering the fourth in-place signal P4; During the flexible control process of the compression system, the relationship between the proximity switch sensor signal Ps(i) and the timing signal Ts(i) is as follows: During the process of performing a preset action, the set value of the timing signal Ts(i) is less than the time value of the preset action from the preset initial position to triggering the corresponding proximity switch sensor signal Ps(i).

3. The flexible control method for a self-loading and unloading garbage truck according to claim 2, characterized in that, During the cyclic execution of the feeding system and the compression system, if the situation of P(i) < T(i) or Ps(i) < Ts(i) occurs, then during the execution of the feeding system, the next action start signal becomes Min[P(i), T(i)], where Min[P(i), T(i)] means: compare the set values of P(i) and T(i), and select the smaller set value as the selection result; During the execution of the compression system, the next action start signal becomes Min1[Ps(i), Ts(i)], where Min1[Ps(i), Ts(i)] means: compare the set values of Ps(i) and Ts(i), and select the smaller set value as the selection result.

4. The flexible control method for a self-loading and unloading garbage truck according to claim 3, characterized in that, During the process of performing the skateboard retraction action, the preset signal includes a preset time signal and a preset pressure signal.

5. The flexible control method for a self-loading and unloading garbage truck according to claim 4, characterized in that, Obtain the state matrix formed after the end of each cycle of the feeding and compression actions, and judge the control mode of each feeding and compression action according to the state matrix to diagnose proximity switch faults; The definition of the state matrix is or ； In the formula, This indicates the trigger status of the preset action position switch during the material feeding cycle; This indicates the trigger status of preset action switching signals during the material feeding cycle; This indicates the trigger status of the preset action position switch during the compression cycle; This indicates the trigger status of the preset action switching signal during the compression cycle.

6. A flexible control device for a self-loading and unloading garbage truck, characterized in that, including: a flexible control device for the feeding system and a flexible control device for the compression system; The flexible control device for the feeding system includes: a bucket clamping rising module for performing the bucket clamping rising action. When the first time signal is triggered during the bucket clamping rising process, perform the bucket rising action; when performing the bucket rising action, continue to perform the bucket clamping rising action until the first in-place signal is triggered, and stop the bucket clamping rising action; a bucket rising module for performing the bucket turning rising action when the second time signal is triggered during the bucket rising process; when performing the bucket turning rising action, continue to perform the bucket rising action until the second in-place signal is triggered, and stop the bucket rising action; a bucket turning rising and returning module for performing the bucket turning returning action. During the bucket turning returning process, trigger the third time signal and the third in-place signal simultaneously, stop the bucket turning returning action, and simultaneously perform the bucket lowering action; a bucket lowering module for performing the bucket clamping lowering action when the fourth time signal is triggered during the bucket lowering process; when performing the bucket clamping lowering action, continue to perform the bucket lowering action until the fourth in-place signal is triggered, and stop the bucket lowering action; a bucket clamping lowering module for stopping the bucket clamping lowering action when the fifth in-place signal is triggered during the bucket clamping lowering process, and ending the control cycle of the feeding system; The flexible control device for the compression system includes: The scraper opening module is used to perform the scraper opening action. During the scraper opening process, a first timing signal is triggered, and the slide plate extending action is executed. When the slide plate extending action is executed, the scraper opening action continues until the first proximity switch sensor signal is triggered, and then the scraper opening action stops. The slide plate extending module is used to perform the scraper closing action after a second timing signal is triggered during the slide plate extending process when the slide plate extending action is executed. When the scraper closing action is executed, the slide plate extending action continues until the second proximity switch sensor signal is triggered, and then the slide plate extending action stops. The scraper closing module is used to perform the slide plate retracting action after a third timing signal is triggered during the scraper closing process when the scraper closing action is executed. When the slide plate retracting action is executed, the scraper closing action continues until the third proximity switch sensor signal is triggered, and then the scraper closing action stops. The slide plate retracting module is used to perform the next compression system control cycle and execute the scraper opening action after a fourth timing signal is triggered during the slide plate retracting process when the slide plate retracting action is executed. When the scraper opening action is executed, the slide plate retracting action continues until the fourth proximity switch sensor signal or a preset signal is triggered, and then the slide plate retracting action stops.

7. A flexible control device for a self-loading and unloading garbage truck according to claim 6, characterized in that, During the flexible control process of the material lifting system, the relationship between the set values of the in-place signal P(i) and the time signal T(i) is as follows: During the process of executing the barrel clamping and rising action, the set value of the first time signal T1 is less than the time value of the barrel clamping and rising action from the initial position of the barrel clamping and rising to triggering the first in-place signal P1. During the process of executing the bucket lifting action, the set value of the second time signal T2 is less than the time value of the bucket lifting action from the initial position of the bucket lifting to triggering the second in-place signal P2. During the process of executing the barrel tipping and rising and barrel tipping and returning actions, the set value of the third time signal T3 is equal to the time value of the barrel tipping action from the initial position of the barrel tipping and rising to the barrel tipping and returning triggering the third in-place signal P3. During the process of executing the bucket lowering action, the set value of the fourth time signal T4 is less than the time value of the bucket lowering action from the initial position of the bucket lowering to triggering the fourth in-place signal P4. During the flexible control process of the compression system, the relationship between the set values of the proximity switch sensor signal Ps(i) and the timing signal Ts(i) is as follows: During the process of executing a preset action, the set value of the timing signal Ts(i) is less than the time value of the preset action from the preset initial position to triggering the corresponding proximity switch sensor signal Ps(i).

8. A flexible control device for a self-loading and unloading garbage truck according to claim 7, characterized in that, During the cyclic execution process of the material lifting system and the compression system, if the situation of P(i) < T(i) or Ps(i) < Ts(i) occurs, then during the execution process of the material lifting system, the next action start signal becomes Min[P(i), T(i)], and Min[P(i), T(i)] means: comparing the set values of P(i) and T(i), and selecting the smaller set value as the selection result. During the execution of the compression system, the signal to start the next action becomes Min1[Ps(i),Ts(i)], which means: compare the setting values ​​of Ps(i) and Ts(i) and select the smaller setting value as the selection result.

9. A flexible control device for a self-loading and unloading garbage truck according to claim 8, characterized in that, In the skateboard retraction module, during the skateboard retraction action, the preset signals include a preset time signal and a preset pressure signal.

10. A flexible control device for a self-loading and unloading garbage truck according to claim 9, characterized in that, It also includes a switch fault diagnosis module, which is used to obtain the state matrix formed after each feeding and compression action cycle, and to determine the control mode for executing each feeding and compression action based on the state matrix in order to diagnose proximity switch faults. The state matrix is ​​defined as follows: or ； In the formula, This indicates the trigger status of the preset action position switch during the material feeding cycle; This indicates the trigger status of preset action switching signals during the material feeding cycle; This indicates the trigger status of the preset action position switch during the compression cycle; This indicates the trigger status of the preset action switching signal during the compression cycle.

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