Control method, device and equipment of lifting mechanism, medium and garbage truck

Abstract

The invention relates to the technical field of garbage trucks, and discloses a control method, device and equipment of a lifting mechanism, a medium and a garbage truck. The method comprises the steps that after the lifting mechanism moves along a guide rail in a current operation mode, whether a sensing signal of a position sensor to the lifting mechanism is received or not is detected, and the position sensor is installed at the bent position of the guide rail; if the induction signal is received, the current operation stage of the lifting mechanism in the current operation mode is determined according to the receiving frequency of the induction signal; and determining the running speed of the lifting mechanism according to the current running mode and the current running stage. The operation process of the lifting mechanism is reasonably divided into multiple stages, the operation speed of the lifting mechanism can be adjusted in a stepless mode according to the actual operation condition, flexible adjustment of the speed is achieved, the operation stability of the lifting mechanism is guaranteed, and the operation efficiency of the lifting mechanism is further optimized.

Description

Technical Field

[0001] The present invention relates to the technical field of garbage trucks, and in particular to a control method, device, equipment, medium and a garbage truck for a lifting mechanism. Background Art

[0002] At present, most of the systems on the market are operated by operators manually operating the opening size of the reversing valve according to the actual position of the lifting mechanism of the garbage truck to achieve different working speeds. This method is very dependent on the operator's work quality and experience, with a high learning cost and complex operation, which increases the labor intensity of the operator. Or the lifting mechanism uses the same speed throughout the entire operation process. In order to ensure that the garbage does not splash out during the turning process, the speed is generally set too low, which will greatly affect the lifting efficiency.

[0003] The prior art proposes installing a sensor at the end of the guide rail, and using the sensor to detect the operating status of the trash can to switch the fast / slow oil supply mode of the cylinder, but these two speeds are not adjustable. In actual operation, the optimal operating speed of the lifting mechanism at each stage of the rising and falling process has different requirements for the oil supply amount of the cylinder, and since the adjustment has a lag, the speed will still be limited. Therefore, the scope of application is not wide and the efficiency optimization is not obvious. Summary of the invention

[0004] In view of this, the present invention provides a control method, device, equipment, medium and garbage truck for a lifting mechanism to solve the problem of insufficient flexibility in speed control of the lifting mechanism.

[0005] In a first aspect, the present invention provides a method for controlling a lifting mechanism, the method comprising:

[0006] When the lifting mechanism moves along the guide rail in the current operation mode, it detects whether the sensing signal of the position sensor to the lifting mechanism is received, and the position sensor is installed at the bending part of the guide rail;

[0007] If the sensing signal is received, the current operation stage of the lifting mechanism in the current operation mode is determined according to the number of times the sensing signal is received;

[0008] The operating speed of the lifting mechanism is determined according to the current operating mode and the current operating stage.

[0009] The control method of the lifting mechanism provided by the embodiment of the present invention detects whether the induction signal of the sensor installed at the bend of the guide rail is received after the lifting mechanism moves along the guide rail in the current operation mode. If received, the current operation stage of the lifting mechanism in the current operation mode is determined according to the number of times the induction signal is received, and the operation speed of the lifting mechanism is determined according to the current operation mode and the current operation stage. The present invention can adjust the operation speed of the lifting mechanism steplessly according to the actual operation conditions by reasonably dividing the operation process of the lifting mechanism into multiple stages, realize flexible adjustment of the speed, ensure the operation stability of the lifting mechanism, and further optimize its operation efficiency.

[0010] In an optional embodiment, before detecting whether the sensing signal of the position sensor to the lifting mechanism is received, it also includes: obtaining a movement control signal; determining the current operating mode of the lifting mechanism according to the movement control signal, the current operating mode being an ascending mode or a descending mode; obtaining memory stage information; determining the initial operating stage of the lifting mechanism in the current operating mode according to the memory stage information, the operating stages of the ascending mode include: an ascending stage, a first transition stage and a first flipping stage, and the operating stages of the descending mode include: a descending stage, a second transition stage and a second flipping stage.

[0011] The present invention can make different speed adjustments in different operating modes by determining the operating mode, so that the operating conditions of the lifting mechanism are consistent with the actual conditions, thereby realizing stepless speed regulation of the operation of the lifting mechanism.

[0012] In an optional embodiment, the current operating stage of the lifting mechanism in the current operating mode is determined according to the number of times the induction signal is received, including: if the initial operating stage is the ascending stage, then the current operating stage is determined to be the ascending stage; after the induction signal is received for the first time, the current operating stage is determined to be the first transition stage; after the induction signal is received for the second time, the current operating stage is determined to be the first flipping stage; if the initial operating stage is the second flipping stage, then the current operating stage is determined to be the second flipping stage; after the induction signal is received for the first time, the current operating stage is determined to be the second transition stage; after the induction signal is received for the second time, the current operating stage is determined to be the descending stage; and the memory stage information is updated according to the current operating stage.

[0013] The present invention can flexibly adjust the operating speed of the lifting mechanism by dividing the operating process of the lifting mechanism into multiple stages, so that the lifting mechanism moves at the optimal operating speed in each stage of the ascending or descending process, thereby improving the operating efficiency.

[0014] In an optional embodiment, the operating speed of the lifting mechanism is determined according to the current operating mode and the current operating stage, including: obtaining the correspondence between the preset operating mode, the operating stage and the current value; wherein, in the correspondence between the operating mode, the operating stage and the current value, the current values ​​of each stage in the ascending mode are from large to small: the ascending stage, the first transition stage, the first flipping stage, and the current values ​​of each stage in the descending mode are from large to small: the descending stage, the second transition stage, the second flipping stage; the operating speed of the lifting mechanism is determined according to the current operating mode, the current operating stage and the correspondence between the operating mode, the operating stage and the current value.

[0015] The present invention can adjust the opening of the proportional valve by operating according to different current values ​​at different stages, and can flexibly adjust the speed by controlling the oil intake.

[0016] In an optional embodiment, the operating speed of the lifting mechanism is determined based on the corresponding relationship between the current operating mode, the current operating stage, and the operating mode, the operating stage, and the current value, including: when the initial operating stage is the rising stage or the second reversing stage, the current operating mode and the current operating stage are used to search in the corresponding relationship between the operating mode, the operating stage, and the current value to obtain the target current value corresponding to the current operating mode and the current operating stage; the opening of the proportional valve is controlled according to the target current value; when the initial operating stage is the first transition stage or the first reversing stage, the current operating mode and the current operating stage are used to search in the corresponding relationship between the operating mode, the operating stage, and the current value to obtain the target current value corresponding to the current operating mode and the current operating stage; the target current value corresponding to the first transition stage or the first reversing stage is increased to obtain a corrected target current value; and the opening of the proportional valve is controlled according to the corrected target current value.

[0017] The present invention increases the current value during the initial operation stage, which is the transition stage or the reversal stage of the rising mode, so as to meet the larger demand for oil intake during the reversal stage or the transition stage when the lifting mechanism is started for the second time, thereby ensuring the operation efficiency while ensuring a smooth start.

[0018] In an optional embodiment, after determining the current operating stage of the lifting mechanism in the current operating mode based on the number of times the sensing signal is received, it also includes: obtaining the sensing time of the position sensor, and judging whether the determination result of the current operating stage is correct based on the sensing time and the preset duration; if incorrect, adjusting the current operating stage based on the sensing time.

[0019] By checking the operation stage, the present invention can timely adjust the operation stage when a system failure or the like causes misjudgment of the operation stage, thereby adjusting the operation speed according to the actual operation situation and reducing system failures caused by false sensing.

[0020] In a second aspect, the present invention provides a control device for a lifting mechanism, the device comprising:

[0021] The induction detection module is used to detect whether the induction signal of the lifting mechanism is received from the position sensor after the lifting mechanism moves along the guide rail in the current operation mode, and the position sensor is installed at the bend of the guide rail;

[0022] A stage determination module, for determining the current operation stage of the lifting mechanism in the current operation mode according to the number of times the induction signal is received if the induction signal is received;

[0023] The operation control module is used to determine the operation speed of the lifting mechanism according to the current operation mode and the current operation stage.

[0024] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the control method of the lifting mechanism of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0025] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the control method for a lifting mechanism according to the first aspect or any corresponding embodiment thereof.

[0026] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions for causing a computer to execute the control method for a lifting mechanism according to the first aspect or any corresponding embodiment thereof.

[0027] In a sixth aspect, the present invention provides a lifting mechanism control system for a garbage truck, comprising:

[0028] The lifting mechanism includes a sliding frame, a limiting plate and a turning frame, which are used to fix the trash can and drive the trash can to move on the guide rail;

[0029] A lifting cylinder is used to drive the guide rail under the control of a proportional valve;

[0030] A position sensor for sensing the position of the lifting mechanism;

[0031] A control unit is used to execute the control method of the lifting mechanism of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 is a flow chart of a control method for a lifting mechanism according to an embodiment of the present invention;

[0034] Figure 2 is a front structural schematic diagram of a lifting mechanism control system according to a lifting mechanism control method according to an embodiment of the present invention;

[0035] Figure 3 is a side structural schematic diagram of a lifting mechanism control system according to a method for controlling a lifting mechanism in an embodiment of the present invention;

[0036] Figure 4 is a schematic diagram of the lifting and lowering phase of the control method of the lifting mechanism according to an embodiment of the present invention;

[0037] Figure 5 is a schematic diagram of a transition phase of a control method for a lifting mechanism according to an embodiment of the present invention;

[0038] Figure 6 is a schematic diagram of the flipping stage of the control method of the lifting mechanism according to an embodiment of the present invention;

[0039] Figure 7 is a flow chart of another method for controlling a lifting mechanism according to an embodiment of the present invention;

[0040] Figure 8 is a flow chart of another method for controlling a lifting mechanism according to an embodiment of the present invention;

[0041] Fig. 9 is a schematic diagram of rising mode current of another control method of a lifting mechanism according to an embodiment of the present invention;

[0042] Fig.10 is a current schematic diagram of a descending mode of another control method of a lifting mechanism according to an embodiment of the present invention;

[0043] Fig.11 is a structural block diagram of a control device for a lifting mechanism according to an embodiment of the present invention;

[0044] Fig.12 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention.

[0045] Explanation of reference numerals: 100 - sliding frame; 200 - limiting plate; 300 - turning frame; 400 - guide rail; 500 - lifting cylinder; 600 - position sensor. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0047] The embodiment of the present invention is applicable to the scene where the staff dumps the garbage in the garbage bin into the garbage compartment of the garbage truck by operating the lifting mechanism of the garbage truck. The related art discloses a multi-stage speed control system of a side-mounted hoist of a garbage truck, including a guide rail and a garbage can driving mechanism, the garbage can driving mechanism including an oil cylinder, a hydraulic pump station and a three-position four-way valve, the oil cylinder and the hydraulic pump station are connected through the three-position four-way valve, and a two-position three-way valve for adjusting the oil intake of the oil cylinder is installed between the oil inlet of the oil cylinder and the three-position four-way valve. The fast / slow oil intake mode of the oil cylinder is switched by detecting the running state of the garbage can through a sensor, thereby achieving the purpose of adjusting the running speed of the garbage can. However, the optimal running speed of the lifting mechanism in each stage of the rising and falling process has different requirements for the oil intake of the oil cylinder, and due to the influence of inertia, the oil intake requirements of the lifting mechanism after stopping in the flipping stage and then starting are different from those when it continuously runs through this position. Therefore, simply dividing the operation process of the lifting mechanism into fixed fast and slow oil intake modes by simply adding a two-position three-way valve does not significantly optimize the efficiency, and has a narrow scope of application for similar structures. Moreover, the sensor is installed at the end of the guide rail, and the lifting mechanism runs until the sensor detects that part of the flipping action has been performed. The adjustment has a hysteresis, and in order to ensure that the garbage does not splash out, the running speed of the fast mode will be limited. Therefore, an embodiment of the present invention provides a control method for a lifting mechanism, by installing a position sensor at the bend of the guide rail and dividing the operation process of the lifting mechanism into multiple stages to achieve the effect of flexible adjustment of the speed.

[0048] According to an embodiment of the present invention, a control method embodiment of a lifting mechanism is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0049] In this embodiment, a control method for a lifting mechanism is provided, which can be used for the control unit of the lifting mechanism. Figure 1 is a flow chart of a control method for a lifting mechanism according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0050] Step S101, after the lifting mechanism moves along the guide rail in the current operation mode, it is detected whether a sensing signal of the lifting mechanism is received from a position sensor, where the position sensor is installed at a bend of the guide rail.

[0051] Specifically, in the embodiment of the present invention, Figure 2 and Figure 3 As shown, the lifting mechanism includes a position sensor, a guide rail, a limit plate, a lifting cylinder, a sliding frame, a flip frame and a control unit, wherein the control unit is not shown in the figure. The position sensor is installed at the bend of the guide rail, and can sense the lifting mechanism within a certain range, so as to sense in advance when the lifting mechanism flips. For example, the distance between the lifting mechanism and the position sensor can be sensed within 15 mm. The position sensor can be set as a proximity switch, a forming switch, an encoder or a coding ruler, etc., only as an example, not limited to this. Taking the feeding process of the lifting mechanism as an example, when it is necessary to clean the garbage in the trash can, first hang the trash can on the hanging teeth of the sliding frame, and the flip frame remains stationary at this time. The garbage truck is equipped with an up button and a down button, and the staff controls the trash can by continuously pressing the up button. Specifically, when the sliding frame drives the trash can to rise to the position of the limit plate, the limit plate presses the trash can, and then the sliding frame and the flip frame rise vertically along the guide rail together. At this time, the current operating mode of the lifting mechanism is the up mode. When the lifting mechanism reaches the sensing range of the position sensor, the position sensor generates a sensing signal and sends it to the control unit, and the control unit continuously monitors whether the sensing signal of the position sensor is received.

[0052] Step S102: If a sensing signal is received, the current operation stage of the lifting mechanism in the current operation mode is determined according to the number of times the sensing signal is received.

[0053] Specifically, in the embodiment of the present invention, the rising mode corresponds to the feeding process, and the descending mode corresponds to the return mode. The operation process of the lifting mechanism in the rising mode or the descending mode is divided into three stages according to the sensing of the lifting mechanism by the position sensor. Different stages correspond to different position information, but it is not limited to this. Among them, the operation stages of the rising mode include: the rising stage, the first transition stage and the first flipping stage, and the operation stages of the descending mode include: the descending stage, the second transition stage and the second flipping stage. It can be seen that the feeding process and the return process are corresponding reciprocal processes. The position information corresponding to the rising stage and the descending stage is as follows: Figure 4 As shown, the position information corresponding to the first transition stage and the second transition stage is as follows Figure 5As shown, the position information corresponding to the first flip stage and the second flip stage is as follows Figure 6 In the embodiment of the present invention, the position sensor is installed at the bend of the guide rail. When the lifting mechanism is controlled to rise or fall, it passes through the sensing area of ​​the position sensor twice. Therefore, the current operation stage in the current operation mode is determined according to the number of times the sensing signal is received, that is, the current operation stage is updated according to the number of times the sensor senses the lifting mechanism.

[0054] In some optional implementations, the embodiments of the present invention may divide the operation process into different stages by changing the structure of the lifting mechanism, adding sensors or changing the sensor type, etc., which is not limited here.

[0055] Step S103, determining the operating speed of the lifting mechanism according to the current operating mode and the current operating stage.

[0056] Specifically, in the embodiment of the present invention, the actions of the lifting mechanism are all completed by the lifting cylinder, and the amount of oil intake determines the operating speed of the lifting mechanism. In the actual operation process, the optimal operating speed of the lifting mechanism in each stage of the rising and falling process has different requirements for the amount of oil intake of the lifting cylinder. For example, the rising stage and the falling stage are relatively stable, so the optimal operating speed is relatively large. In order to prevent garbage from splashing, the optimal operating speed of the transition stage and the flipping stage is relatively small. Therefore, the embodiment of the present invention pre-sets different current values ​​for different stages in different modes, and adjusts the oil intake by controlling the opening of the current-type electromagnetic proportional valve, so that the lifting mechanism moves at the optimal operating speed.

[0057] In some optional implementations, the embodiments of the present invention may also pre-set different voltage values ​​for different stages in different modes, and adjust the oil intake by controlling the opening of the voltage-type electromagnetic proportional valve, so that the lifting mechanism moves at the optimal operating speed, which is not limited here.

[0058] The control method of the lifting mechanism provided by the embodiment of the present invention detects whether the induction signal of the sensor installed at the bend of the guide rail is received after the lifting mechanism moves along the guide rail in the current operation mode. If received, the current operation stage of the lifting mechanism in the current operation mode is determined according to the number of times the induction signal is received, and the operation speed of the lifting mechanism is determined according to the current operation mode and the current operation stage. The present invention can adjust the operation speed of the lifting mechanism steplessly according to the actual operation conditions by reasonably dividing the operation process of the lifting mechanism into multiple stages, realize flexible adjustment of the speed, ensure the operation stability of the lifting mechanism, and further optimize its operation efficiency.

[0059] In this embodiment, a control method for a lifting mechanism is provided, which can be used for the control unit of the lifting mechanism. Figure 7is a flow chart of a control method for a lifting mechanism according to an embodiment of the present invention. Figure 7 As shown, the process includes the following steps:

[0060] Step S701, obtaining a movement control signal; determining the current operation mode of the lifting mechanism according to the movement control signal.

[0061] Specifically, in the embodiment of the present invention, a corresponding rising button and a descending button are set for the lifting mechanism, and the feeding process is executed by the rising button, corresponding to the rising mode, and the return process is executed by the descending button, corresponding to the descending mode. Therefore, it is necessary to obtain the corresponding movement control signal, and determine the current operation mode of the lifting mechanism at this time according to the movement control signal, so as to control the subsequent process under the current operation mode.

[0062] Step S702, obtaining memory stage information; determining the initial operation stage of the lifting mechanism in the current operation mode according to the memory stage information.

[0063] Specifically, in the embodiment of the present invention, under normal circumstances, the staff completes the feeding process by continuously pressing the rising button, and then completes the returning process by continuously pressing the descending button, thereby realizing the cleaning of the trash can. However, in actual operation, unexpected situations are inevitable, so it is possible to release the corresponding button during the feeding process or the returning process to stop the process, and continue to execute the subsequent process after the unexpected situation is handled, which is equivalent to a second start. In this case, in order to continue to control the lifting mechanism according to the previous process, it is necessary to memorize the operating stage of the lifting mechanism in real time, that is, to memorize the position information of the lifting mechanism, so that the position information will not be lost after power failure.

[0064] In some optional embodiments, in actual operation of the embodiments of the present invention, the lifting mechanism is started by pressing the up button or the down button at the start stage or the middle stage of the process, and the initial operation stage after the start cannot be distinguished from the mobile control signal level. Therefore, the initial operation stage of the lifting mechanism in the current operation mode is determined based on the acquired memory stage information.

[0065] Step S703: After the lifting mechanism moves along the guide rail in the current operation mode, it is detected whether the sensing signal of the lifting mechanism is received from the position sensor, and the position sensor is installed at the bend of the guide rail. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0066] Step S704: If the sensing signal is received, the current operation stage of the lifting mechanism in the current operation mode is determined according to the number of times the sensing signal is received.

[0067] Specifically, the above step S704 includes:

[0068] Step S7041, if the initial operation stage is the rising stage, the current operation stage is determined to be the rising stage; after receiving the sensing signal for the first time, the current operation stage is determined to be the first transition stage; after receiving the sensing signal for the second time, the current operation stage is determined to be the first flipping stage.

[0069] Specifically, in the embodiment of the present invention, taking the entire cleaning process of the trash can as an example, the feeding process needs to be executed first. When the staff continues to press the rising button, the sliding frame and the flip frame rise vertically along the guide rail to the position sensor. The position sensor can sense the lifting mechanism for the first time, so the interval from pressing the button to vertically rising to the first sensing is defined as the rising stage; as the lifting mechanism begins to tilt, the lifting mechanism will leave the sensing area of ​​the position sensor until the lifting mechanism runs to the end of the guide rail. The lifting mechanism will flip upward with the roller of the flip frame as the center point. At this time, since the lifting mechanism is laid flat again, the position sensor will sense the lifting mechanism again, and the interval between the two sensings is defined as the transition stage; the lifting mechanism will flip and dump the trash can into the trash bin, and the interval from the second sensing to the completion of the garbage dumping is defined as the flipping stage. At this time, the feeding process ends and the rising button can be released.

[0070] In some optional embodiments, if a second start is performed during the feeding process, it is determined based on the memory stage information that the initial operation stage of the elevator is not the rising stage, and the subsequent stage cannot be updated again through the number of times the induction signal is received. Therefore, the embodiment of the present invention can set the number of induction times, and different induction times correspond to different stages. After the second start, the subsequent stage is updated according to the number of induction times. For example, the number of induction times is set to zero at the beginning of the feeding process, and the number of induction times is increased by one each time the position sensor senses the lifting mechanism. After the second start is performed in the transition stage, the number of induction times is 1. After the induction signal of the position sensor is received again, the number of induction times becomes 2, and the corresponding transition stage is changed to the flipping stage.

[0071] Step S7042, if the initial operation stage is the second flip stage, the current operation stage is determined to be the second flip stage; after receiving the sensing signal for the first time, the current operation stage is determined to be the second transition stage; after receiving the sensing signal for the second time, the current operation stage is determined to be the descending stage.

[0072] Specifically, in an embodiment of the present invention, after the transparent process is completed, a return process needs to be executed, and the return process is the reverse process of the feeding process. When the staff continues to press the descending button, the lifting mechanism flips downward with the roller of the flip frame as the center point. At this time, the position sensor will sense the lifting mechanism for the first time, and the control unit will receive the sensing signal for the first time, and the interval from pressing the button to the first sensing is defined as the flipping stage; then the lifting mechanism will continue to flip down to a certain position, and then descend along the arc part of the guide rail. When it is about to enter the vertical part of the guide rail, the position sensor senses the lifting mechanism for the second time, and the interval between the two sensings is defined as the transition stage; the lifting mechanism continues to descend along the vertical part of the guide rail, and when the flip frame descends to the lowest position, it will remain motionless, and the sliding frame will descend to the lowest position alone, and the interval from the second sensing to returning to the lowest position is defined as the descending stage. At this time, the return process ends, and the descending button can be released.

[0073] In some optional embodiments, when the lifting mechanism passes through the position sensor, since the lifting mechanism has a certain length and the sensing area of ​​the position sensor has a certain range, the position sensor will continue to sense the lifting mechanism within a certain period of time, and there are differences in the sensing time in different stages. For example, when the lifting mechanism returns to its original position, the lifting mechanism takes 0.5 seconds to sense the departure from the sensor for the first time in the transition stage, and takes 2 seconds to sense the departure from the sensor for the second time in the descending stage. This is only an example and is not limited to this. If the memory stage information is wrong due to system failure or other reasons, for example, the lifting mechanism is actually in the transition stage after startup, but the memory stage information is in the flipping stage. In this case, the embodiment of the present invention verifies the judgment result of the current operation stage according to the sensing time to reduce the system failure caused by false sensing. The embodiment of the present invention obtains the sensing time of the position sensor, and judges whether the determination result of the current operation stage is correct according to the sensing time and the preset duration. If it is not correct, the current operation stage is adjusted according to the sensing time. For example, when the lifting mechanism is operated to return to its original position, it is judged to be in the transition stage, but the sensing time of the position sensor exceeds 1 second, so the transition stage is skipped and the lifting mechanism is directly judged to have entered the descending stage.

[0074] In some optional implementations, the embodiments of the present invention can also reset the position of the lifting mechanism by manual operation. Specifically, when the position is lost due to system failure or maintenance, after continuously pressing the lifting mechanism lowering button for 15 seconds, no matter where the lifting mechanism is at the time, the system will restore the lifting mechanism to its initial state. Under normal circumstances, it takes about 10 seconds for the lifting mechanism to return to the initial state from the flipping stage. This is only an example and is not limited to this.

[0075] Step S7043, update the memory stage information according to the current operation stage.

[0076] Specifically, in the embodiment of the present invention, in order to prevent the position information from being lost after a power outage, the control unit updates the memory stage information in real time according to the current operation stage.

[0077] Step S705, determine the operating speed of the lifting mechanism according to the current operating mode and the current operating stage. Figure 1 Step S103 of the illustrated embodiment will not be described in detail here.

[0078] The control method of the lifting mechanism provided by the embodiment of the present invention detects whether the induction signal of the sensor installed at the bend of the guide rail is received after the lifting mechanism moves along the guide rail in the current operation mode. If received, the current operation stage of the lifting mechanism in the current operation mode is determined according to the number of times the induction signal is received, and the operation speed of the lifting mechanism is determined according to the current operation mode and the current operation stage. The present invention can adjust the operation speed of the lifting mechanism steplessly according to the actual operation conditions by reasonably dividing the operation process of the lifting mechanism into multiple stages, realize flexible adjustment of the speed, ensure the operation stability of the lifting mechanism, and further optimize its operation efficiency.

[0079] In this embodiment, a control method for a lifting mechanism is provided, which can be used for the control unit of the lifting mechanism. Figure 8 is a flow chart of a control method for a lifting mechanism according to an embodiment of the present invention. Figure 8 As shown, the process includes the following steps:

[0080] Step S801: After the lifting mechanism moves along the guide rail in the current operation mode, it is detected whether the sensing signal of the lifting mechanism is received from the position sensor, and the position sensor is installed at the bend of the guide rail. Figure 7 Step S703 of the illustrated embodiment will not be described in detail here.

[0081] Step S802: If a sensing signal is received, the current operation stage of the lifting mechanism in the current operation mode is determined according to the number of times the sensing signal is received. Figure 7 Step S704 of the illustrated embodiment will not be described in detail here.

[0082] Step S803, determining the operating speed of the lifting mechanism according to the current operating mode and the current operating stage.

[0083] Specifically, the above step S803 includes:

[0084] Step S8031, obtaining the correspondence between the preset operation mode, operation stage and current value.

[0085] Specifically, in the embodiment of the present invention, in order to enable the lifting mechanism to move at different speeds in different stages, the corresponding relationship between the operation mode, the operation stage and the current value is preset. Among them, the current value of each stage in the lifting mode is as follows: Fig. 9 As shown, the control unit outputs current 1 in the rising stage, current 2 in the transition stage, and current 3 in the flip stage; the current values ​​of each stage in the falling mode are as follows Fig.10 As shown, the control unit outputs current 6 in the flipping stage, the control unit outputs current 7 in the transition stage, and the control unit outputs current 7 in the descending stage. It can be seen that the current values ​​of each stage in the ascending mode are from large to small: ascending stage, first transition stage, first flipping stage, and the current values ​​of each stage in the descending mode are from large to small: descending stage, second transition stage, and second flipping stage. The specific current value is set according to the operation effect of the lifting mechanism and the selection of the proportional valve. For example, the threshold current of the proportional valve used in the embodiment of the present invention is 75±35mA, the maximum control current is 700±100mA, the threshold current is the minimum current that can control the opening of the proportional valve, and the proportional valve does not act when it is less than this value. The current values ​​corresponding to currents 1-8 are 700mA, 350mA, 210mA, 500mA, 300mA, 245mA, 385mA and 700mA, respectively, which are only used as examples and are not limited to this.

[0086] Step S8032, determining the operating speed of the lifting mechanism according to the corresponding relationship between the current operating mode, the current operating stage and the operating mode, the operating stage and the current value.

[0087] Specifically, in the embodiment of the present invention, if the initial operation stage is the ascending stage, it means that the lifting mechanism enters the ascending mode from the initial state of the feeding process, and updates the current operation stage according to the sensing times of the position sensor in the ascending mode, and determines the current operation mode and the target current value required to be provided under the current operation stage according to the corresponding relationship between the operation mode, the operation stage and the current value, such as Fig. 9 As shown, the opening of the proportional valve is controlled according to the target current value, and different oil inflows are provided to the lifting cylinder, so that the lifting mechanism moves at the optimal operating speed until the feeding process is completed. Similarly, if the initial operation stage is the second flip stage, it means that the lifting mechanism enters the descending mode from the initial state of the return process, and updates the current operation stage according to the sensing times of the position sensor in the descending mode. The target current value required to be provided under the current operation mode and the current operation stage is determined according to the corresponding relationship between the operation mode, the operation stage and the current value, as shown in FIG. Fig.10 As shown, the opening of the proportional valve is controlled according to the target current value to provide different oil inlet amounts for the lifting cylinder, so that the lifting mechanism moves at the optimal operating speed until the return process is completed.

[0088] In some optional implementations, if the initial operation stage is the first transition stage or the first flip stage, it means that a secondary start is performed during the feeding process. Considering the influence of inertia, the oil intake requirement of the lifting mechanism after stopping at the flip stage or transition stage is different from that of the continuous operation passing through this position. Therefore, it is necessary to adjust the oil intake during the secondary start in the flip stage or transition stage of the ascending mode. Fig. 9 As shown, the embodiment of the present invention pre-sets current 2 and current 4 in the transition stage of the rising mode, and current 3 and current 5 in the reversal stage, wherein current 4 is greater than current 2, and current 5 is greater than current 3, which is equivalent to correcting current 2 and current 3. When it is determined that a second start is performed in the transition stage or the reversal stage of the rising mode, the opening of the proportional valve is controlled according to the corrected target current value, that is, the opening of the proportional valve is controlled according to current 4 or current 5.

[0089] In some optional implementations, the embodiments of the present invention can also control the operating speed of the lifting mechanism by adjusting the motor speed.

[0090] The control method of the lifting mechanism provided by the embodiment of the present invention detects whether the induction signal of the sensor installed at the bend of the guide rail is received after the lifting mechanism moves along the guide rail in the current operation mode. If received, the current operation stage of the lifting mechanism in the current operation mode is determined according to the number of times the induction signal is received, and the operation speed of the lifting mechanism is determined according to the current operation mode and the current operation stage. The present invention can adjust the operation speed of the lifting mechanism steplessly according to the actual operation conditions by reasonably dividing the operation process of the lifting mechanism into multiple stages, realize flexible adjustment of the speed, ensure the operation stability of the lifting mechanism, and further optimize its operation efficiency.

[0091] In this embodiment, a control device for a lifting mechanism is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0092] This embodiment provides a control device for a lifting mechanism, such as Fig.11 As shown, including:

[0093] The sensing detection module 1101 is used to detect whether the sensing signal of the lifting mechanism is received from the position sensor after the lifting mechanism moves along the guide rail in the current operation mode. The position sensor is installed at the bending part of the guide rail.

[0094] The stage determination module 1102 is used to determine the current operation stage of the lifting mechanism in the current operation mode according to the number of times the sensing signal is received if the sensing signal is received.

[0095] The operation control module 1103 is used to determine the operation speed of the lifting mechanism according to the current operation mode and the current operation stage.

[0096] In some optional embodiments, the device further comprises:

[0097] The operation mode determination module is used to obtain the movement control signal; determine the current operation mode of the lifting mechanism according to the movement control signal, and the current operation mode is the ascending mode or the descending mode.

[0098] The initial stage judgment module is used to obtain the memory stage information; determine the initial operation stage of the lifting mechanism in the current operation mode according to the memory stage information, the operation stage of the ascending mode includes: the ascending stage, the first transition stage and the first flipping stage, and the operation stage of the descending mode includes: the descending stage, the second transition stage and the second flipping stage.

[0099] In some optional implementations, the stage determination module 1102 includes:

[0100] The rising mode stage determination unit is used to determine that the current running stage is the rising stage if the initial running stage is the rising stage; after receiving the sensing signal for the first time, determine that the current running stage is the first transition stage; after receiving the sensing signal for the second time, determine that the current running stage is the first flipping stage.

[0101] The descending mode stage determination unit is used to determine that the current operating stage is the second flip stage if the initial operating stage is the second flip stage; after receiving the sensing signal for the first time, determine that the current operating stage is the second transition stage; after receiving the sensing signal for the second time, determine that the current operating stage is the descending stage.

[0102] The memory stage update unit is used to update the memory stage information according to the current operation stage.

[0103] In some optional implementations, the operation control module 1103 includes:

[0104] A correspondence acquisition unit is used to obtain the correspondence between the preset operation mode, operation stage and current value; wherein, in the correspondence between the operation mode, operation stage and current value, the current values ​​of each stage in the rising mode are from large to small: rising stage, first transition stage, first flip stage, and the current values ​​of each stage in the falling mode are from large to small: falling stage, second transition stage, second flip stage.

[0105] The operating speed determining unit is used to determine the operating speed of the lifting mechanism according to the corresponding relationship between the current operating mode, the current operating stage and the operating mode, the operating stage and the current value.

[0106] In some optional implementations, the running speed determination unit includes:

[0107] The first current value determination subunit is used to, when the initial operation stage is the rising stage or the second reversal stage, use the current operation mode and the current operation stage to search in the corresponding relationship between the operation mode, the operation stage and the current value, and obtain the target current value corresponding to the current operation mode and the current operation stage; and control the opening of the proportional valve according to the target current value.

[0108] The second current value determination subunit is used to, when the initial operation stage is the first transition stage or the first reversal stage, use the current operation mode and the current operation stage to search in the corresponding relationship between the operation mode, the operation stage and the current value to obtain the target current value corresponding to the current operation mode and the current operation stage; increase the target current value corresponding to the first transition stage or the first reversal stage to obtain a corrected target current value; and control the opening of the proportional valve according to the corrected target current value.

[0109] In some optional implementations, the stage determination module 1102 further includes:

[0110] The stage verification unit is used to obtain the sensing time of the position sensor and determine whether the determination result of the current operation stage is correct based on the sensing time and the preset duration.

[0111] The stage adjustment unit is used to adjust the current operation stage according to the sensing time if it is incorrect.

[0112] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0113] The control device of the lifting mechanism in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0114] The embodiment of the present invention also provides a computer device having the above Fig.11 The control device of the lifting mechanism shown.

[0115] See also Fig.12 , Fig.12 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Fig.12 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig.12 A processor 10 is taken as an example.

[0116] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0117] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0118] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0119] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0120] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Fig.12 The example of connecting through bus is taken in the following.

[0121] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0122] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0123] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0124] The embodiment of the present invention also provides a control system for a lifting mechanism of a garbage truck, such as Figure 2 and Figure 3 As shown, including:

[0125] The lifting mechanism includes a sliding frame 100, a limiting plate 200 and a turning frame 300, which are used to fix the trash can and drive the trash can to move on the guide rail 400;

[0126] A lifting cylinder 500 is used to drive the guide rail 400 under the control of a proportional valve;

[0127] A position sensor 600, used for sensing the position of the lifting mechanism;

[0128] Control unit for executing Figure 1 , Figure 7 or Figure 8 The control method of the lifting mechanism shown.

[0129] Specifically, in the embodiment of the present invention, the control unit is not shown in the figure, the position sensor can be set as a proximity switch, a forming switch, an encoder or a coding ruler, etc., and the proportional valve can be set as a current type electromagnetic proportional valve or a voltage type current proportional valve. In addition, the system also includes a storage device for storing the memory stage information.

[0130] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A control method for a lifting mechanism, characterized in that: The method comprises: After the lifting mechanism moves along the guide rail in the current operation mode, detecting whether a sensing signal of the lifting mechanism is received from a position sensor, wherein the position sensor is installed at a bend of the guide rail; If the sensing signal is received, determining the current operation stage of the lifting mechanism in the current operation mode according to the number of times the sensing signal is received; The operating speed of the lifting mechanism is determined according to the current operating mode and the current operating stage.

2. The method according to claim 1, characterized in that Before detecting whether a sensing signal of the position sensor to the lifting mechanism is received, the method further includes: Obtaining mobile control signals; Determine the current operation mode of the lifting mechanism according to the movement control signal, wherein the current operation mode is an ascending mode or a descending mode; Get memory stage information; The initial operation stage of the lifting mechanism in the current operation mode is determined according to the memory stage information. The operation stages of the ascending mode include: an ascending stage, a first transition stage and a first flipping stage. The operation stages of the descending mode include: a descending stage, a second transition stage and a second flipping stage.

3. The method according to claim 2, characterized in that Determining the current operation stage of the lifting mechanism in the current operation mode according to the number of times the sensing signal is received includes: If the initial operation stage is the rising stage, the current operation stage is determined to be the rising stage; after receiving the sensing signal for the first time, the current operation stage is determined to be the first transition stage; after receiving the sensing signal for the second time, the current operation stage is determined to be the first flipping stage; If the initial operation stage is the second flip stage, the current operation stage is determined to be the second flip stage; after receiving the sensing signal for the first time, the current operation stage is determined to be the second transition stage; after receiving the sensing signal for the second time, the current operation stage is determined to be the descending stage; The memory stage information is updated according to the current operation stage.

4. The method according to claim 3, characterized in that Determining the operating speed of the lifting mechanism according to the current operating mode and the current operating stage includes: Obtaining a preset correspondence between an operation mode, an operation stage, and a current value; wherein, in the correspondence between the operation mode, the operation stage, and the current value, the current values ​​of the various stages in the rising mode are, from large to small, the rising stage, the first transition stage, and the first flip stage; and the current values ​​of the various stages in the falling mode are, from large to small, the falling stage, the second transition stage, and the second flip stage; The operating speed of the lifting mechanism is determined according to the current operating mode, the current operating stage and the corresponding relationship between the operating mode, the operating stage and the current value.

5. The method according to claim 4, characterized in that Determining the operating speed of the lifting mechanism according to the current operating mode, the current operating stage and the corresponding relationship between the operating mode, the operating stage and the current value includes: When the initial operation stage is the rising stage or the second reversal stage, the current operation mode and the current operation stage are used to search in the corresponding relationship among the operation mode, the operation stage and the current value to obtain a target current value corresponding to the current operation mode and the current operation stage; and the opening of the proportional valve is controlled according to the target current value; When the initial operation stage is the first transition stage or the first reversal stage, the current operation mode and the current operation stage are used to search in the correspondence between the operation mode, the operation stage and the current value to obtain a target current value corresponding to the current operation mode and the current operation stage; the target current value corresponding to the first transition stage or the first reversal stage is increased to obtain a corrected target current value; and the opening of the proportional valve is controlled according to the corrected target current value.

6. The method according to claim 3, characterized in that After determining the current operation stage of the lifting mechanism in the current operation mode according to the number of times the sensing signal is received, the method further includes: Obtaining the sensing time of the position sensor, and judging whether the determination result of the current operation stage is correct according to the sensing time and a preset duration; If it is incorrect, the current operation stage is adjusted according to the sensing time.

7. A control device for a lifting mechanism, characterized in that: The device comprises: The induction detection module is used to detect whether the induction signal of the lifting mechanism is received from the position sensor after the lifting mechanism moves along the guide rail in the current operation mode, and the position sensor is installed at the bending part of the guide rail; a stage determination module, for determining the current operation stage of the lifting mechanism in the current operation mode according to the number of times the sensing signal is received if the sensing signal is received; The operation control module is used to determine the operation speed of the lifting mechanism according to the current operation mode and the current operation stage.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the control method of the lifting mechanism according to any one of claims 1 to 6 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the control method of the lifting mechanism according to any one of claims 1 to 6.

10. A computer program product, characterized in that The invention comprises computer instructions, wherein the computer instructions are used to make a computer execute the control method of the lifting mechanism according to any one of claims 1 to 6.

11. A lifting mechanism control system for a garbage truck, characterized in that: include: The lifting mechanism includes a sliding frame, a limiting plate and a turning frame, and is used to fix the trash can and drive the trash can to move on the guide rail; A lifting cylinder, used to drive the guide rail under the control of a proportional valve; A position sensor, used for sensing the position of the lifting mechanism; A control unit, used to execute the control method of the lifting mechanism according to any one of claims 1 to 6.

Images