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

Abstract

The present application relates to the technical field of garbage trucks, and discloses a control method, device, equipment, medium and garbage truck of a lifting mechanism, the method comprising: after the lifting mechanism moves along a guide rail in a current operation mode, detecting whether an inductive signal of the lifting mechanism is received by a position sensor, the position sensor being installed at a bending portion of the guide rail; if the inductive signal is received, determining a current operation stage of the lifting mechanism in the current operation mode according to a number of times of receiving the inductive signal; and determining an operation speed of the lifting mechanism according to the current operation mode and the current operation stage. The present application divides the operation process of the lifting mechanism into multiple stages reasonably, can infinitely adjust the operation speed of the lifting mechanism according to actual operation conditions, realizes flexible adjustment of the speed, ensures the operation stability of the lifting mechanism, and further optimizes the operation efficiency.

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 garbage truck for a lifting mechanism. Background Art

[0002] Currently, most systems on the market rely on operators manually adjusting the opening of the reversing valve based on the actual position of the garbage truck's lifting mechanism to achieve different operating speeds. This method relies heavily on the operator's skills and experience, resulting in a high learning curve and complex operation, increasing the operator's workload. Alternatively, the lifting mechanism operates at a single speed throughout its entire operation. To prevent garbage from splashing during the turnover process, the speed is often set too low, significantly impacting 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. However, these two speeds are not adjustable. In actual operation, the optimal operating speed of the lifting mechanism in each stage of the rising and falling process has different requirements for the oil supply volume of the cylinder. Moreover, 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 lifting mechanism is received from the position sensor, which is installed at the bend of the guide rail;

[0007] If the sensing signal is received, the current operating stage of the lifting mechanism in the current operating 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 an embodiment of the present invention detects whether a sensing signal from a sensor installed at a bend of the guide rail is received after the lifting mechanism moves along the guide rail in the current operating mode. If received, the current operating stage of the lifting mechanism in the current operating mode is determined based on the number of times the sensing signal is received, and the operating speed of the lifting mechanism is determined based on the current operating mode and the current operating stage. By rationally dividing the operating process of the lifting mechanism into multiple stages, the present invention can infinitely adjust the operating speed of the lifting mechanism according to the actual operating conditions, thereby achieving flexible speed adjustment, ensuring the operating stability of the lifting mechanism, and further optimizing its operating 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 based on 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 based on 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 lifting mechanism.

[0012] In an optional embodiment, the current operating stage of the lifting mechanism in the current operating mode is determined based on 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 divides the operation process of the lifting mechanism into multiple stages, and can flexibly adjust its operation speed, so that the lifting mechanism moves at the optimal operation speed in each stage of the rising or falling process, thereby improving the operation efficiency.

[0014] In an alternative embodiment, the running speed of the lifting mechanism is determined according to the current running mode and the current running stage, comprising: obtaining a preset correspondence relationship among the running mode, the running stage and the current value; wherein, in the correspondence relationship among the running mode, the running stage and the current value, the current values of each stage in the rising mode are in descending order as follows: the rising stage, the first transition stage and the first turning stage, and the current values of each stage in the falling mode are in descending order as follows: the falling stage, the second transition stage and the second turning stage; and the running speed of the lifting mechanism is determined according to the current running mode, the current running stage and the correspondence relationship among the running mode, the running stage and the current value.

[0015] The present application can adjust the opening of the proportional valve by running at different current values in different stages, and flexibly adjust the speed by controlling the oil intake.

[0016] In an alternative embodiment, the running speed of the lifting mechanism is determined according to the current running mode, the current running stage and the correspondence relationship among the running mode, the running stage and the current value, comprising: when the initial running stage is the rising stage or the second turning stage, the target current value corresponding to the current running mode and the current running stage is obtained by searching in the correspondence relationship among the running mode, the running stage and the current value; the opening of the proportional valve is controlled according to the target current value; when the initial running stage is the first transition stage or the first turning stage, the target current value corresponding to the current running mode and the current running stage is obtained by searching in the correspondence relationship among the running mode, the running stage and the current value; the target current value corresponding to the first transition stage or the first turning 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 application can meet the greater demand for oil intake in the turning stage or the transition stage when the lifting mechanism is started for the second time by increasing the current value when the initial running stage is the transition stage or the turning stage in the rising mode, thereby ensuring the running efficiency on the basis of ensuring the smooth start.

[0018] In an alternative embodiment, after determining the current running stage of the lifting mechanism in the current running mode according to the number of times of receiving the sensing signal, the method further comprises: obtaining the sensing time of the position sensor, and determining whether the determination result of the current running stage is correct according to the sensing time and the preset time length; and if not, adjusting the current running stage according to the sensing time.

[0019] The present application can adjust the running speed according to the actual running condition by adjusting the running stage in time when the running stage is determined incorrectly due to system failure or the like, thereby reducing the system failure 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. 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 sensing signal is received if the sensing 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, computer instructions being stored in the memory, 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 is used to fix the trash can and drive the trash can to move on the guide rail;

[0029] Lifting cylinder, used to drive the guide rail under the control of the proportional valve;

[0030] A position sensor, used 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 embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any 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 2 is a front structural diagram of a lifting mechanism control system according to a method for controlling a lifting mechanism according to an embodiment of the present invention;

[0035] Figure 3 2 is a side structural diagram of a lifting mechanism control system according to a method for controlling a lifting mechanism according to an embodiment of the present invention;

[0036] Figure 4 is a schematic diagram of the lifting phase of a control method for a 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 a flipping stage of a control method for a 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] Figure 9 is a schematic diagram of rising mode current according to another method for controlling a lifting mechanism according to an embodiment of the present invention;

[0042] Figure 10 is a schematic diagram of current in a descending mode according to another method for controlling a lifting mechanism according to an embodiment of the present invention;

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

[0044] Figure 12 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] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying 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 making creative efforts shall fall within the scope of protection of the present invention.

[0047] The embodiments of the present invention are applicable to scenarios where workers operate the lifting mechanism of a garbage truck to empty garbage from a garbage bin into the truck's trash compartment. Related art discloses a multi-stage speed control system for a side-mounted elevator on a garbage truck. The system comprises a guide rail and a garbage bin drive mechanism. The garbage bin drive mechanism includes a cylinder, a hydraulic pump station, and a three-position, four-way valve. The cylinder and the hydraulic pump station are connected via the three-position, four-way valve. A two-position, three-way valve is installed between the cylinder's oil inlet and the three-position, four-way valve to adjust the cylinder's oil flow. A sensor detects the operating state of the garbage bin and switches the cylinder's fast / slow oil flow mode, thereby adjusting the garbage bin's operating speed. However, the optimal operating speed of the elevator mechanism during the various stages of the lifting and lowering process requires different oil flow from the cylinder. Furthermore, due to inertia, the oil flow required for restarting the elevator after stopping in the tilting phase is different from that required during continuous operation through this position. Therefore, simply dividing the elevator mechanism's operating process into fixed fast and slow oil flow modes by simply adding a two-position, three-way valve does not significantly improve efficiency and has limited applicability to similar structures. Furthermore, sensors are installed at the ends of the guide rails. When the lifting mechanism operates until the sensors detect that a partial flip has been performed, there is a lag in the adjustment process. This limits the operating speed in the fast mode to prevent waste from splashing. 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 rails and dividing the lifting mechanism's operation into multiple stages, the lifting mechanism's operation can be flexibly adjusted.

[0048] According to an embodiment of the present invention, an embodiment of a control method for 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 in 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, guide rails, a limit plate, a lifting cylinder, a sliding frame, a tilting frame, and a control unit. 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, thereby detecting in advance when the lifting mechanism is tilting. For example, the position sensor can sense the lifting mechanism within a certain range of distance from the lifting mechanism and the position sensor, so as to detect the position within 15 mm. The position sensor can be configured as a proximity switch, a form switch, an encoder, or a code ruler, etc., for example only and not limited to this. Taking the feeding process of the lifting mechanism as an example, when the garbage in the trash can needs to be cleaned, the trash can is first hung on the hanging teeth of the sliding frame, and the tilting frame remains stationary. The garbage truck is equipped with an up button and a down button. The operator controls the trash can by continuously pressing the up button. Specifically, when the sliding frame drives the trash can up to the position of the limit plate, the limit plate presses the trash can. Thereafter, the sliding frame and the tilting 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 from the position sensor is received.

[0052] Step S102: 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.

[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 the present invention 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 flip stage, and the operation stages of the descending mode include: the descending stage, the second transition stage and the second flip 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 this embodiment of the present invention, a 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 operating stage in the current operating mode is determined based on the number of times the sensing signal is received. In other words, the current operating stage is updated based on 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 an embodiment of the present invention, the movements 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. During actual operation, the optimal operating speed of the lifting mechanism at each stage of the ascent and descent process has different requirements for the amount of oil intake of the lifting cylinder. For example, the ascent and descent stages are relatively smooth, so the optimal operating speed is relatively large. To prevent garbage from splashing, the optimal operating speed during the transition and flipping stages is relatively small. Therefore, an embodiment of the present invention pre-sets different current values ​​for different stages under 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 an embodiment of the present invention detects whether a sensing signal from a sensor installed at a bend of the guide rail is received after the lifting mechanism moves along the guide rail in the current operating mode. If received, the current operating stage of the lifting mechanism in the current operating mode is determined based on the number of times the sensing signal is received, and the operating speed of the lifting mechanism is determined based on the current operating mode and the current operating stage. By rationally dividing the operating process of the lifting mechanism into multiple stages, the present invention can infinitely adjust the operating speed of the lifting mechanism according to the actual operating conditions, thereby achieving flexible speed adjustment, ensuring the operating stability of the lifting mechanism, and further optimizing its operating efficiency.

[0059] In this embodiment, a control method for a lifting mechanism is provided, which can be used in the control unit of the lifting mechanism. Figure 7is a flow chart of a control method of a lifting mechanism according to an embodiment of the present application, as shown in the figure, the flow comprises the following steps: Figure 7

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

[0061] Specifically, in the embodiment of the present application, the lifting mechanism is provided with corresponding up button and down button, the feeding process is executed through the up button, corresponding to the up mode, the return process is executed through the down button, corresponding to the down mode. Therefore, the corresponding movement control signal needs to be acquired, and the current operation mode of the lifting mechanism at this time is determined according to the movement control signal, so as to control the subsequent process in the current operation mode.

[0062] Step S702, acquire memory stage information; determine 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 application, generally, the staff completes the feeding process by continuously pressing the up button, and then completes the return process by continuously pressing the down button, so as to realize the cleaning of the garbage can. However, in actual operation, unexpected situations will inevitably occur, so it is possible to release the corresponding button in the feeding process or the return process, stop the process, and continue to execute the subsequent process after handling the unexpected situation, which is equivalent to secondary start. In this case, in order to continue to control the lifting mechanism according to the previous process, the operation stage of the lifting mechanism needs to be memorized in real time, that is, the position information of the lifting mechanism is memorized, so that the position information will not be lost after power failure.

[0064] In some optional embodiments, in actual operation, the embodiment of the present application starts the lifting mechanism by pressing the up button or the down button at the starting stage or the intermediate stage of the process, and cannot distinguish the initial operation stage after starting from the level of the movement control signal, so the initial operation stage of the lifting mechanism in the current operation mode is determined according to the acquired memory stage information.

[0065] Step S703, when the lifting mechanism moves along the guide rail in the current operation mode, it is detected 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. For details, see step S101 of the embodiment shown in the figure, which will not be repeated here. Figure 1

[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 of receiving the sensing signal.

[0067] Specifically, the above step S704 comprises:​​

[0068] In step S7041, if the initial running stage is the rising stage, it is determined that the current running stage is the rising stage; after the induction signal is received for the first time, it is determined that the current running stage is the first transition stage; after the induction signal is received for the second time, it is determined that the current running stage is the first turning stage.

[0069] Specifically, in the embodiment of the present application, taking the whole cleaning process of the garbage can as an example, the feeding process needs to be performed first. When the sliding frame and the turning frame are vertically raised to the position sensor along the guide rail after the staff continuously presses the rising button, the position sensor can first induce the lifting mechanism, so the vertical rising of the button to the first induction interval is defined as the rising stage; as the lifting mechanism begins to tilt, the lifting mechanism will be out of the induction area of the position sensor, and until the lifting mechanism runs to the end of the guide rail, the lifting mechanism will make a turning action upward with the roller of the turning frame as the center. At this time, as the lifting mechanism is re-flattened, the position sensor will again induce the lifting mechanism, and the interval between the two inductions is defined as the transition stage. The lifting mechanism will perform a turning action to pour the garbage can into the garbage can, and the interval from the second induction to the completion of the garbage pouring is defined as the turning stage. At this time, the feeding process ends, and the rising button can be released.

[0070] In some optional embodiments, if the feeding process is started twice, at this time, according to the memory stage information, it is determined that the initial running stage of the lifting mechanism is not the rising stage, and the subsequent stage cannot be updated by the number of induction signal receptions. Therefore, the embodiment of the present application can set the number of inductions, and different numbers of inductions correspond to different stages. When the feeding process is started twice, the number of inductions is set to zero, and the number of inductions is increased by one each time the position sensor induces the lifting mechanism. When the feeding process is started twice in the transition stage, the number of inductions is 1 at this time, and when the induction signal of the position sensor is received again, the number of inductions becomes 2, and the corresponding transition stage becomes the turning stage.

[0071] In step S7042, if the initial running stage is the second turning stage, it is determined that the current running stage is the second turning stage; after the induction signal is received for the first time, it is determined that the current running stage is the second transition stage; after the induction signal is received for the second time, it is determined that the current running stage is the falling stage.

[0072] Specifically, in an embodiment of the present invention, after the transparent process is completed, a return process needs to be executed. 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 flipping 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. The interval from pressing the button to the first sensing is defined as the flipping stage; then the lifting mechanism will continue to flip downward to a certain position, and then descend along the curved 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. 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. When the flipping frame descends to the lowest position, it will remain motionless, and the sliding frame will descend to the lowest position alone. 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 by the position sensor, due to the lifting mechanism's length and the position sensor's sensing area, the position sensor continuously senses the lifting mechanism for a certain period of time. Furthermore, the sensing time varies between different phases. For example, during the transition phase, when the lifting mechanism returns to its original position, the first sensing of the lifting mechanism leaving the sensor takes 0.5 seconds, while during the descent phase, the second sensing of the lifting mechanism leaving the sensor takes 2 seconds. This is by way of example only and is not intended to be limiting. If the memorized phase information is incorrect due to a system failure or other reasons, such as after startup, the lifting mechanism is actually in the transition phase, but the memorized phase information is in the flip phase, in this case, embodiments of the present invention verify the current operating phase determination result based on the sensing time, thereby mitigating system failures caused by false sensing. Embodiments of the present invention obtain the sensing time of the position sensor and determine whether the current operating phase determination result is correct based on the sensing time and a preset duration. If incorrect, the current operating phase is adjusted based on the sensing time. For example, when the lifting mechanism is returning to its original position, it is determined to be in the transition phase, but the sensing time of the position sensor exceeds 1 second. Therefore, the transition phase is skipped and the lifting mechanism is directly determined to have entered the descent phase.

[0074] In some optional embodiments, the embodiments of the present invention can also reset the position of the lifting mechanism through 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 application, in order to prevent the loss of position information after power-off, the control unit updates the memory stage information in real time according to the current running mode.

[0077] In step S705, the running speed of the lifting mechanism is determined according to the current running mode and the current running stage. For details, please refer to Figure 1 In step S103 of the embodiment shown in the figure, no further elaboration is given here.

[0078] The control method of the lifting mechanism provided by the embodiment of the present application, by detecting whether the sensing signal of the sensor installed at the bending part of the guide rail is received after the lifting mechanism moves along the guide rail in the current running mode, if the sensing signal is received, determining the current running stage of the lifting mechanism in the current running mode according to the number of times of receiving the sensing signal, and determining the running speed of the lifting mechanism according to the current running mode and the current running stage. The present application reasonably divides the running process of the lifting mechanism into multiple stages, and can infinitely adjust the running speed of the lifting mechanism according to the actual running condition, realizes flexible adjustment of the speed, ensures the running stability of the lifting mechanism, and further optimizes the running efficiency.

[0079] In the embodiment, a control method of a lifting mechanism is provided, which can be used for the control unit of the lifting mechanism, Figure 8 is a flow chart of the control method of the lifting mechanism according to the embodiment of the present application, as shown in the figure, the flow includes the following steps: Figure 8

[0080] In step S801, after the lifting mechanism moves along the guide rail in the current running mode, it is detected 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. For details, please refer to Figure 7 In step S703 of the embodiment shown in the figure, no further elaboration is given here.

[0081] In step S802, if the sensing signal is received, the current running stage of the lifting mechanism in the current running mode is determined according to the number of times of receiving the sensing signal. For details, please refer to Figure 7 In step S704 of the embodiment shown in the figure, no further elaboration is given here.

[0082] In step S803, the running speed of the lifting mechanism is determined according to the current running mode and the current running stage.

[0083] Specifically, the above step S803 includes:

[0084] In step S8031, the corresponding relationship between the preset running mode, running stage and current value is obtained.

[0085] ​Specifically, in the embodiment of the present invention, in order to make the lifting mechanism 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 rising mode is as follows: Figure 9 As shown, the control unit outputs current 1 in the rising phase, current 2 in the transition phase, and current 3 in the flip phase. The current values ​​of each phase in the falling mode are as follows: Figure 10 As shown, the reversing stage control unit outputs a current of 6, the transition stage control unit outputs a current of 7, and the descending stage control unit outputs a current of 7. It can be seen that the current values ​​of each stage in the ascending mode are, from large to small, the ascending stage, the first transition stage, and the first reversing stage. The current values ​​of each stage in the descending mode are, from large to small, the descending stage, the second transition stage, and the second reversing stage. The specific current values ​​are set according to the operating 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, and the maximum control current is 700±100mA. The threshold current is the minimum current that can control the opening of the proportional valve. The proportional valve will not operate if the current is less than this value. The current values ​​corresponding to currents 1-8 are 700mA, 350mA, 210mA, 500mA, 300mA, 245mA, 385mA, and 700mA, respectively. This is for example only and is 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, 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 number of 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 Figure 9 As shown, the opening of the proportional valve is controlled according to the target current value, providing different oil inflow amounts 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 in the descending mode, the current operation stage is updated according to the number of sensing times of the position sensor. The current operation mode and the target current value required for the current operation stage are determined according to the corresponding relationship between the operation mode, the operation stage and the current value, as shown in the figure. Figure 10 As shown, the opening of the proportional valve is controlled according to the target current value, providing different oil inlet amounts to the lifting cylinder, so that the lifting mechanism moves at the optimal operating speed until the return process is completed.

[0088] In some optional embodiments, if the initial operation stage is the first transition stage or the first reversal 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 reversal 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 reversal stage or transition stage of the ascending mode. Figure 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 may also control the operating speed of the lifting mechanism by adjusting the motor speed.

[0090] The control method of the lifting mechanism provided by an embodiment of the present invention detects whether a sensing signal from a sensor installed at a bend of the guide rail is received after the lifting mechanism moves along the guide rail in the current operating mode. If received, the current operating stage of the lifting mechanism in the current operating mode is determined based on the number of times the sensing signal is received, and the operating speed of the lifting mechanism is determined based on the current operating mode and the current operating stage. By rationally dividing the operating process of the lifting mechanism into multiple stages, the present invention can infinitely adjust the operating speed of the lifting mechanism according to the actual operating conditions, thereby achieving flexible speed adjustment, ensuring the operating stability of the lifting mechanism, and further optimizing its operating efficiency.

[0091] This embodiment also provides a control device for a lifting mechanism, which is used to implement the above-mentioned embodiments and preferred embodiments. Details already described will not be repeated here. As used below, the term "module" may refer to 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, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0092] This embodiment provides a control device for a lifting mechanism, such as Figure 11 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 bend of the guide rail.

[0094] The stage determination module 1102 is configured 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 judgment 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; based on the memory stage information, the initial operation stage of the lifting mechanism in the current operation mode is determined. The operation stages of the ascending mode include: the ascending stage, the first transition stage and the first flipping stage; the operation stages of the descending mode include: 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 operating stage is the rising stage if the initial operating stage is the rising stage; after receiving the sensing signal for the first time, determine that the current operating stage is the first transition stage; after receiving the sensing signal for the second time, determine that the current operating stage is the first flip stage.

[0101] The descent mode stage determination unit is configured to determine that the current operating stage is the second reversal stage if the initial operating stage is the second reversal stage; determine that the current operating stage is the second transition stage after receiving the sensing signal for the first time; and determine that the current operating stage is the descent stage after receiving the sensing signal for the second time.

[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] The corresponding relationship acquisition unit is used to obtain the corresponding relationship between the preset operating mode, operating stage and current value; wherein, in the corresponding relationship between the operating mode, operating 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 reversal stage, and the current values ​​of each stage in the falling mode are from large to small: falling stage, second transition stage, second reversal 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 determining unit includes:

[0107] The first current value determination subunit is used to, when the initial operating stage is the rising stage or the second reversal stage, use the current operating mode and the current operating stage to search in the corresponding relationship between the operating mode, the operating stage and the current value, and obtain the target current value corresponding to the current operating mode and the current operating 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 operating stage is the first transition stage or the first reversal stage, use the current operating mode and the current operating stage to search in the correspondence between the operating mode, the operating stage and the current value, to obtain a target current value corresponding to the current operating mode and the current operating 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 calibration 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 Figure 11 The control device of the lifting mechanism shown.

[0115] See also Figure 12 , Figure 12 is a structural diagram of a computer device provided by an optional embodiment of the present invention, such as Figure 12 As shown, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components utilize different buses to communicate with each other 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 the memory 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. Equally, multiple computer devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 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 an application-specific 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 that can be executed 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 and application programs required for at least one function; the data storage area may store data created based on 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 located 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 can be connected via a bus or other means. Figure 12 The bus connection is taken as an example.

[0121] The input device 30 can receive input digital or character information and generate key signal input related to user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touch pad, an indicator stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 can include a display device, an auxiliary lighting device (e.g., an LED), and a tactile feedback device (e.g., a vibration motor). 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 above-mentioned method according to the embodiment of the present invention can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, 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 drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. 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 portion 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 form in which the computer program instruction exists in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc. 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 that can be accessed by the computer.

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

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

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

[0127] 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 this embodiment of the present invention, the control unit is not shown in the figure. The position sensor can be configured as a proximity switch, a position switch, an encoder, or a code ruler, and the proportional valve can be configured as a current-type electromagnetic proportional valve or a voltage-type current proportional valve. Furthermore, the system includes a storage device for storing information during the memory phase.

[0130] Although the embodiments of the present invention have been described with reference to 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. 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, a movement control signal is obtained; the current operation mode of the lifting mechanism is determined according to the movement control signal, and the current operation mode is either an ascending mode or a descending mode; memory stage information is obtained; and 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, and the operation stages of the descending mode include: a descending stage, a second transition stage, and a second flipping stage; and detecting whether a sensing signal of the position sensor to the lifting mechanism is received, the position sensor being installed at a bend of the guide rail; If the sensing signal is received, if the initial operation stage is the ascending stage, the current operation stage is determined to be the ascending stage; after the sensing signal is received for the first time, the current operation stage is determined to be the first transition stage; after the sensing signal is received for the second time, the current operation stage is determined to be the first reversal stage; if the initial operation stage is the second reversal stage, the current operation stage is determined to be the second reversal stage; after the sensing signal is received for the first time, the current operation stage is determined to be the second transition stage; after the sensing signal is received for the second time, the current operation stage is determined to be the descending stage; and the stored stage information is updated according to the current operation stage; 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 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 operating mode, an operating stage, and a current value; wherein, in the correspondence between the operating mode, the operating stage, and the current value, the current values ​​in each stage 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 ​​in each stage 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.

3. The method according to claim 2, characterized in that The 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 phase is the rising phase or the second reversal phase, searching the corresponding relationship between the operation mode, the operation phase, and the current value using the current operation mode and the current operation phase to obtain a target current value corresponding to the current operation mode and the current operation phase; and controlling the opening of the proportional valve 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.

4. The method according to claim 1, wherein 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 a sensing time of the position sensor, and judging whether a determination result of the current operation stage is correct based on the sensing time and a preset duration; If it is incorrect, the current operation stage is adjusted according to the sensing time.

5. A control device for a lifting mechanism, characterized in that: The device comprises: The sensing detection module is used to obtain a movement control signal after the lifting mechanism moves along the guide rail in the current operation mode; determine the current operation mode of the lifting mechanism based on the movement control signal, wherein the current operation mode is an ascending mode or a descending mode; obtain memory stage information; determine the initial operation stage of the lifting mechanism in the current operation mode based on the memory stage information, wherein the operation stages of the ascending mode include: an ascending stage, a first transition stage, and a first flipping stage; and the operation stages of the descending mode include: a descending stage, a second transition stage, and a second flipping stage; and detect 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; a stage determination module, configured to, upon receiving the sensing signal, determine that the current operating stage is the ascending stage if the initial operating stage is the ascending stage; determine that the current operating stage is the first transition stage after receiving the sensing signal for the first time; determine that the current operating stage is the first flipping stage after receiving the sensing signal for the second time; determine that the current operating stage is the second flipping stage if the initial operating stage is the second flipping stage; determine that the current operating stage is the second transition stage after receiving the sensing signal for the first time; determine that the current operating stage is the descending stage after receiving the sensing signal for the second time; and update the stored stage information according to the current operating stage; An 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.

6. 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 4 by executing the computer instructions.

7. 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 4.

8. A computer program product, characterized in that The method comprises computer instructions for causing a computer to execute the control method of the lifting mechanism according to any one of claims 1 to 4.

9. 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, configured to execute the control method for the lifting mechanism according to any one of claims 1 to 4.

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