Automatic control method of intelligent garbage crane

Abstract

The invention belongs to the technical field of intelligent garbage cranes, and particularly relates to an automatic control method of an intelligent garbage crane, which comprises the following specific steps of: positioning a crane cart moving along an X axis by using a laser sensor, positioning a crane trolley moving along a Y axis by using an absolute value encoder so as to sense the position of a crown block, and then positioning the crane trolley along the Y axis by using an absolute value encoder. The central control system is used for accurately controlling the movement of the cart and the trolley and the grab postures moving along the Z axis according to the position of the trolley; a laser holder sensor is arranged on a cart and is vertically aligned with a garbage bin under a crown block, so that the height of garbage below can be measured by utilizing a vertical laser surface diverged by a laser holder. The intelligent garbage crane is controlled through the control method, the problem that when an existing intelligent garbage crane runs, the overall logicality of the intelligent garbage crane is poor can be solved, then the running smoothness of the intelligent garbage crane can be improved, and therefore the running efficiency of the intelligent garbage crane can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent garbage cranes, and in particular to an automatic control method for intelligent garbage cranes. Background Art

[0002] Smart garbage crane is a crane equipment suitable for waste incineration power plants and other scenarios. It combines automation technology, machine vision technology, big data analysis and other related technologies to achieve automation, intelligence, efficiency and safety of garbage disposal. This equipment can select appropriate lifting capacity and configuration according to different working requirements and conditions to improve the efficiency and quality of garbage feeding. The introduction of smart garbage crane can not only improve the efficiency and quality of garbage disposal, but also save labor costs and resource consumption. It is an environmentally friendly, economical and practical equipment.

[0003] However, the overall logic of the existing intelligent garbage crane is poor during operation, which will lead to conflicts between at least two processes during the operation of the intelligent garbage crane, thereby affecting the smoothness of the operation of the intelligent garbage crane and reducing the operation efficiency of the intelligent garbage crane. Therefore, an automatic control method for an intelligent garbage crane is invented. Summary of the invention

[0004] In view of the above problems and / or the problems existing in the existing automatic control method of an intelligent garbage crane, the present invention is proposed.

[0005] Therefore, the object of the present invention is to provide an automatic control method for an intelligent garbage crane, which can solve the above-mentioned existing problems.

[0006] To solve the above technical problems, according to one aspect of the present invention, the present invention provides the following technical solutions: An automatic control method for an intelligent garbage crane comprises the following specific steps: Step 1: Use laser sensors to locate the trolley moving along the X-axis, and use absolute encoders to locate the trolley moving along the Y-axis, so as to sense the position of the overhead crane. Then, use the central control system to accurately control the movement of the trolley and the grab bucket moving along the Z-axis according to the position of the trolley, so as to achieve real-time control of the three axes of the grab bucket. Step 2: Equip the truck with a laser pan-tilt sensor and vertically align it with the garbage bin directly below the overhead crane so that the height of the garbage below can be measured using the vertical laser surface emitted by the laser pan-tilt. In addition, when the laser pan-tilt moves with the vehicle, it can measure the height of the garbage in the entire garbage bin and draw a 3D topography map of the garbage. Afterwards, a longitudinal fermentation time map of the garbage is formed based on the operation conditions in the garbage bin, the time when the garbage enters the bin, and the fermentation time of the pile. A database is formed. Based on this, the calorific value of garbage in different areas and at different heights is predicted in combination with big data cumulative analysis, providing a reference for the combustion control of the back-end garbage. Step 3: Divide the garbage bin into functional areas: stacking area, fermentation area, and furnace area; Step 4: The information of the front-end scheduling of the unloading is interlocked and transmitted to the central processing system. According to the underlying rules, the functional area where such garbage needs to be piled is determined, so that the overhead crane controls the grab bucket to grab the newly input garbage at the unloading port to the designated location, and the unloading door switch signal is interlocked and transmitted to the central control system. An image recognition system is set at the unloading port to identify the opening of the unloading door to sense the start of unloading, interlock to determine the unloading situation, and more accurately control the overhead crane to control the grab bucket to grab the garbage input at the unloading port; Step 5: According to the scanned garbage pile type and the needs of garbage fermentation, transfer the garbage at the discharge port to the corresponding position of the stacking area for stacking, and control the overall garbage pile type to comply with the principle of stacking garbage at the bottom layer to ensure the stability of the garbage pile and avoid sliding and collapse; Step 6: When the image recognizes that the thickness of the garbage pile at the charging port is lower than the set height, the charging procedure is started, and the grab bucket is automatically controlled to grab garbage from the charging area and replenish it until it meets the average height; Step 7: The grab bucket can grab 8-9t of garbage at a time. When grabbing, the grabbing depth is based on the last grabbing depth. After grabbing, the overhead crane is controlled to lift the grab bucket to a certain height. The weight of the garbage is weighed. If it is more than 8-9t, the grab bucket opening is controlled to let some of the garbage fall down. If it is less than 8-9t, the garbage is grabbed again, and the grabbing depth this time is deeper than the last time.

[0007] As a preferred solution of the automatic control method of an intelligent garbage crane described in the present invention, wherein: in the step one, a safety control module is set in the central control system to control the speed of the trolley and the car, and the descending and lifting speed of the grab bucket to ensure that the grab buckets do not collide with each other, the grab bucket does not collide with the garbage unloading truck, and the grab bucket does not collide with the wall.

[0008] As a preferred solution of the automatic control method of an intelligent garbage crane described in the present invention, in step three, in order to ensure the garbage fermentation time, garbage pile type and realize the mixed treatment of special garbage, regular small areas are divided based on the functional areas to ensure that the grab can accurately grab the garbage at a specific location according to the operating rules.

[0009] As a preferred solution of the automatic control method of an intelligent garbage crane described in the present invention, the information of the unloading front-end scheduling in step four includes: garbage weight, garbage category, and unloading time.

[0010] As a preferred solution of the automatic control method of an intelligent garbage crane described in the present invention, in the step four, in order to ensure that the grab bucket will not collide with the unloading truck that has not left when the overhead crane controls the grab bucket to grab the garbage input into the unloading port, when it is recognized that the unloading process is in progress, it is stipulated that the overhead crane is prohibited from entering the regular area in the unloading area.

[0011] As a preferred solution of the automatic control method of an intelligent garbage crane described in the present invention, in the step seven, since the grabbing capacity of a single grab bucket meets 8-9t, if it is directly fed to the feeding port, it will inevitably be seriously higher than the average height of the garbage pile at the feeding port, resulting in blockage of the feeding port. Therefore, the feeding process is to prevent manual operation of fuzzy control and move the throwing and feeding, realize small amounts of gradual feeding, and stop when the average height is reached, and the process is controllable.

[0012] As a preferred solution of the automatic control method of an intelligent garbage crane described in the present invention, it also includes the following steps: to ensure the feeding of the back-end incinerator, a program judgment module is added, and when the overhead crane has multiple tasks in parallel and conflicts, feeding into the furnace is given priority as the main task; to improve the overall automation efficiency, active avoidance is achieved from the perspective of control strategy, and the overhead crane work tasks are adjusted in real time when dual overhead cranes have multiple tasks in parallel, the optimal solution is calculated, the overhead crane movement path is optimized, and the overall work efficiency is improved.

[0013] Compared with existing technologies: By controlling the intelligent garbage crane through the control method of the present invention, the problem of poor overall logic of the existing intelligent garbage crane during operation can be solved, thereby improving the operating smoothness of the intelligent garbage crane. Based on this, the operating efficiency of the intelligent garbage crane can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a reference diagram for partition management of the present invention; Figure 2 This is a schematic diagram of the two-sided support pile of the present invention; Figure 3 It is a schematic diagram of the partition of the three-sided support of the present invention; Figure 4 This is an example diagram of the grab door in the unloading and stacking operation of the present invention; Figure 5 This is an example diagram of the ditch grabbing operation in the front ditch of the door according to the present invention; Figure 6 This is an example diagram of the charging operation in the present invention. DETAILED DESCRIPTION

[0015] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0016] The present invention provides an automatic control method for an intelligent garbage crane. Figure 1-6 , including the following specific steps: Step 1: Use a laser sensor to position the trolley moving along the X-axis, and then use an absolute encoder to position the trolley moving along the Y-axis, so as to sense the position of the overhead crane. Then, use the central control system to accurately control the movement of the trolley and the trolley and the posture of the grab bucket moving along the Z-axis according to the position of the trolley, so as to achieve three-axis real-time control of the grab bucket; Among them, a safety control module is set in the central control system to control the speed of the trolley and the trolley, and the descent and lifting speed of the grab bucket to ensure that the grab buckets do not collide with each other, the grab bucket does not collide with the garbage unloading truck, and the grab bucket does not collide with the wall; Step 2: Equip the truck with a laser pan-tilt sensor and vertically align it with the garbage bin directly below the overhead crane so that the height of the garbage below can be measured using the vertical laser surface emitted by the laser pan-tilt. In addition, when the laser pan-tilt moves with the vehicle, it can measure the height of the garbage in the entire garbage bin and draw a 3D topography map of the garbage. Afterwards, a longitudinal fermentation time map of the garbage is formed based on the operation conditions in the garbage bin, the time when the garbage enters the bin, and the fermentation time of the pile. A database is formed. Based on this, the calorific value of garbage in different areas and at different heights is predicted in combination with big data cumulative analysis, providing a reference for the combustion control of the back-end garbage. Step 3: Divide the garbage bin into stacking area, fermentation area and furnace feeding area according to functional areas; in order to ensure the garbage fermentation time, garbage pile type and achieve the mixed treatment of special garbage, regular areas are divided on the basis of the functional areas to ensure that the grab can accurately grab the garbage at a specific location according to the operating rules; Step 4: The information of the unloading front-end scheduling (including: garbage weight, garbage category, unloading time) is interlocked and transmitted to the central processing system, and the functional area where such garbage needs to be stacked is determined according to the underlying rules, so that the overhead crane controls the grab bucket to grab the newly input garbage at the unloading port to the designated location, and the unloading door switch signal is interlocked and transmitted to the central control system, and an image recognition system is set at the unloading port to identify the opening of the unloading door to sense the start of unloading, interlock to determine the unloading situation, and more accurately control the overhead crane to control the grab bucket to grab the garbage input at the unloading port; Among them, in order to ensure that the grab bucket does not collide with the unloading vehicle that has not left during the process of the overhead crane controlling the grab bucket to grab the garbage input at the unloading port, when it is identified that the unloading process is in progress, it is stipulated that the overhead crane is prohibited from entering the regular area in the unloading area; Step 5: According to the scanned garbage pile type and the needs of garbage fermentation, transfer the garbage at the discharge port to the corresponding position of the stacking area for stacking, and control the overall garbage pile type to comply with the principle of stacking garbage at the bottom layer to ensure the stability of the garbage pile and avoid sliding and collapse; Step 6: When the image recognizes that the thickness of the garbage pile at the charging port is lower than the set height, the charging procedure is started, and the grab bucket is automatically controlled to grab garbage from the charging area and replenish it until it meets the average height; Step 7: The grab bucket can grab 8-9t of garbage at a time. When grabbing, the grab depth is based on the last grab depth. After grabbing, the overhead crane is controlled to lift the grab bucket to a certain height and weigh the garbage. If it is more than 8-9t, the grab bucket opening is controlled to leak some of the garbage. If it is less than 8-9t, the garbage is grabbed again and the grab depth is deeper than the last time. Since the grab bucket can grab 8-9t of garbage at a time, if it is directly fed to the feeding port, it will be seriously higher than the average height of the garbage pile at the feeding port, causing the feeding port to be blocked. Therefore, the feeding process is to prevent manual operation of fuzzy control of mobile throwing and feeding, so as to achieve small amounts of gradual feeding and stop when the average height is reached. The process is controllable.

[0017] The following steps are also included: to ensure the feeding of the back-end incinerator, a program judgment module is added, and when there is a conflict in the multi-task operation of the overhead crane, the furnace feeding task is given priority; to improve the overall automation efficiency, active avoidance is achieved from the control strategy perspective, and the overhead crane work tasks are adjusted in real time when the dual overhead cranes are operating in parallel, the optimal solution is calculated, the overhead crane movement path is optimized, and the overall work efficiency is improved.

[0018] Wherein: the control method of the present invention is supplemented as follows: Partition Management: The garbage pool is managed by grid mapping. Each grid overlaps and covers the entire garbage pool. Each grid has a unique ID number and special attributes such as coordinates, garbage category (stockpiling area, fermentation area, furnace feeding area), auxiliary coordinates, height, slope, undulation, fermentation time, whether mixed materials, etc. When the garbage pool is zoned, the grids are allocated to different areas, and the grab bucket diameter is usually used as the partition cell size; After the system is started, each partition is manually initialized and defined, and the current real-time partition information is set and displayed on the partition management interface. The initialized partitions are managed by the background software, and the operator can also use the authority to manually manage them; Zone change principles: 1. If the materials in the furnace-charging area have been used up, the original fermentation area will become the furnace-charging area, the original furnace-charging area will become the material stacking area, and the original material stacking area will become the fermentation area. The area change will be completed at one time.

[0019] 2. The inventory in the stacking area is too high and there is not enough space for stacking The front side of the original furnace-feeding area and the original stacking area are the stacking area; (the garbage in the stacking area can usually continue to be stacked in a certain amount after 1-2 hours due to the seepage and sedimentation of water) the back side of the original furnace-feeding area continues to be the furnace-feeding area; the original fermentation area continues to be the fermentation area until the garbage in the furnace-feeding area is used up, then the original fermentation area will be opened to become the new furnace-feeding area, and the original stacking area will be the new fermentation area, and the area change is completed after the original furnace-feeding area is transformed into the new stacking area.

[0020] During actual use, the zone change principle can be edited according to the actual on-site process. At the same time, the system reserves personnel intervention authority, and operators can manually change zones according to production conditions.

[0021] Material collection principle: The furnace feeding area is divided into the front and back parts from the furnace feeding port to the discharge door, and the grid ID is assigned in a grid manner. When the inventory is lower than the set level, the front side is taken first, and then the back side. This is also a preparation for the high inventory level in the stockpiling area during the peak period of garbage entering the site. The front side can be replaced in advance as a stacking area. When the inventory is lower than the set level, if the amount of material taken from the front side exceeds a certain amount, no more material will be taken; (after a certain height, the two sides are prone to sliding and squeezing the furnace feeding area, and contain a lot of water. The calorific value of the material that is too low is not enough and it is not easy to feed the furnace, so it is treated as bottom material).

[0022] Stacking principle: There are several types of garbage bin stacking: 1. When there is no support, the ideal garbage pile is a rectangular prism with a rectangular bottom surface, which gradually decreases from the bottom to the top. The stacking angle (repose angle) is 50 degrees, and the length is the size of the stacking area. The height is h=0.5L*Tanθ 2. For single-sided support partitions, stack them layer by layer from the support surface to the non-support surface; stack them according to the stacking principle of the low point or grid ID.

[0023] 3. For the partitions supported on both sides, they are stacked layer by layer from the furnace port side to the discharge door side. When the discharge door side reaches a certain height, they are stacked according to the principle of single-sided support.

[0024] 4. For the partition supported on three sides, the garbage is stacked layer by layer from the junction of the furnace inlet and the side wall of the garbage bin to the outside. After stacking to a certain height on the side of the unloading door, the garbage is stacked in different layers.

[0025] Among them, the stacking principle and zoning are related to each other. The order of conversion from the furnace throwing area to the stacking area also affects the stacking principle. The stacking area is dynamically adjusted according to the repose angle of the pile type and the stacking height.

[0026] The usage scenarios are as follows: The main tasks of garbage crane operation are grabbing doors, grabbing ditches, throwing into furnaces, mixing materials, etc. In the fully automatic mode, the priority of each task is a dynamic adjustment process. The conditions for each task are different. The following is a description of the conditions for generating some important task boundaries.

[0027] Take a door in Area A as an example: Unloading and stacking operations: grab the door The estimated time required for judging and executing the door grabbing task in area A is: The height of the grab door and the height of the stop grab door multiplied by the area of ​​the unloading area can be converted into the grab door volume and the stop grab door volume. The real-time unloading area volume provided by the intelligent garbage bin is compared with the grab door volume and the stop grab door volume to obtain the grab door operation conditions and the urgency of the grab door operation task; the laser scan of the unloading area volume of area A minus the stop grab door volume can obtain the garbage stacking volume in the unloading area of ​​area A; the garbage stacking volume in the unloading area of ​​area A is divided by the average grabbing volume to get the number of grab door operations in area A, and then multiplied by the average operation time of the grab door in area A, the execution time of the grab door operation task in area A can be obtained.

[0028] A area door grabbing task execution: Condition 1: When there is serious accumulation in the unloading area of ​​Zone A, the current low-priority task of the driving vehicle is interrupted to execute the door-grabbing task of Zone A; when there is moderate accumulation in the unloading area of ​​Zone A, if the driving vehicle already has a load, wait for the current operation to be completed before executing the door-grabbing task of Zone A. If the driving vehicle currently has no load, interrupt the current operation task and execute the door-grabbing task of Zone A; when there is general accumulation in the unloading area of ​​Zone A, wait for the current driving operation task to be completed before executing the door-grabbing task of Zone A.

[0029] Condition 2: Interlocking with the guidance system. When receiving information from the guidance system that garbage is currently being unloaded, the vehicle does not generate a door grabbing task.

[0030] Condition 3: The intelligent warehousing platform conducts long-term statistics on the unloading time of garbage trucks and the execution time of door-grabbing tasks, and then combines the material level information in front of the door with the vehicle entry and queuing information of the guidance system to assist in the generation of door-grabbing tasks through continuously optimized data models to improve unloading efficiency.

[0031] A area door grabbing task operation area: Determine the starting operation area: The volume of the red area and the blue area can determine whether the degree of material slippage in front of the unloading area and on the right side affects the door grabbing operation. The target coordinates of the door grabbing operation can be switched between the preset (x1,y1) (x1,y1) (x1,y1); Interlocking mechanism between garbage bin unloading door and door grabbing task: When the garbage truck is unloading, the unloading door opens a temporary protection zone, and the grabbing door area cannot be reached.

[0032] When the door grabbing task is generated, the control system is linked with the vehicle guidance system to prohibit the vehicle from unloading. When the vehicle is unloading, the priority of the door grabbing task is temporarily reduced. If there is a furnace throwing task, the dispatcher can perform other tasks.

[0033] Door front ditch work: ditch grabbing The grabbing ditch volume can be obtained by multiplying the area of ​​the ditch in front of the gate by the set depth of the ditch in front of the gate. The real-time volume of the ditch in front of the gate can intuitively reflect the garbage accumulation in the ditch in front of the gate. The comparison between the real-time volume of the ditch in front of the gate and the grabbing ditch volume can reveal the execution conditions of the grabbing ditch task and the urgency of the ditch grabbing task. The volumes of the red and blue areas can reflect the sliding conditions in front of the ditch in front of the gate. Comprehensive analysis can be used to determine whether it needs to be widened or deepened. The coordinates of the highest points of the three areas combined with the area coordinates and the grab bucket size can determine the grabbing ditch operation coordinates.

[0034] Feeding operation: feeding into the furnace #1 Furnace commissioning task judgment and task execution estimated time: The intelligent garbage bin management platform sets the running / shutdown status, garbage density, and low calorific value of furnace #1. The evaporation amount of the DCS system can determine the garbage consumption rate of furnace #1. The estimated garbage consumption time of furnace #1 can be calculated by dividing the garbage volume of furnace #1 hopper from the laser scanning system by the garbage consumption rate. The remaining garbage consumption time of furnace #1 can be obtained by timing at this time. The estimated garbage consumption time is updated after each laser scanning of furnace #1 hopper. The execution time required for the current execution of furnace #1 operation task is calculated as follows: (Full hopper (appropriate position) garbage volume of furnace #1 hopper - current hopper garbage volume) / average grab volume, the required number of furnace loading is obtained, and then multiplied by the average furnace loading operation time, the execution time required for this furnace loading operation task can be obtained. The above calculation can comprehensively judge the shortage status of furnace #1 garbage hopper: high, medium, and low shortage degree signs, the current hopper garbage volume percentage, and can also judge the bridge.

[0035] #1 Furnace commissioning task execution: When there is a serious shortage of materials, the current low-priority task of the crane will be interrupted to execute the furnace-loading task; when there is a moderate shortage of materials, if the crane already has a load, the furnace-loading task will be executed after the current task is completed. If the crane currently has no load, the current task will be interrupted to execute the furnace-loading task; when there is a general shortage of materials, the furnace-loading task will be executed after the current crane task is completed.

[0036] #1 Furnace commissioning task operation area: #1 The starting operation area of ​​the furnace operation task is determined and explained in the material taking principle; The #1 furnace operation task is completed and the operation area is determined: the #1 furnace opening has fixed coordinates, and point laying or mobile laying can be selected.

[0037] Although the present invention has been described above with reference to the embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the embodiments disclosed in the present invention may be used in combination with each other in any manner, and the fact that these combinations are not exhaustively described in this specification is only for the sake of omitting space and saving resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An automatic control method for an intelligent garbage crane, characterized in that: The specific steps are as follows: Step 1: Use laser sensors to locate the trolley moving along the X-axis, and use absolute encoders to locate the trolley moving along the Y-axis, so as to sense the position of the overhead crane. Then, use the central control system to accurately control the movement of the trolley and the grab bucket moving along the Z-axis according to the position of the trolley, so as to achieve real-time control of the three axes of the grab bucket. Step 2: Equip the truck with a laser pan-tilt sensor and vertically align it with the garbage bin directly below the overhead crane so that the height of the garbage below can be measured using the vertical laser surface emitted by the laser pan-tilt. In addition, when the laser pan-tilt moves with the vehicle, it can measure the height of the garbage in the entire garbage bin and draw a 3D topography map of the garbage. Afterwards, a longitudinal fermentation time map of the garbage is formed based on the operation conditions in the garbage bin, the time when the garbage enters the bin, and the fermentation time of the pile. A database is formed. Based on this, the calorific value of garbage in different areas and at different heights is predicted in combination with big data cumulative analysis, providing a reference for the combustion control of the back-end garbage. Step 3: Divide the garbage bin into functional areas: stacking area, fermentation area, and furnace area; Step 4: The information of the front-end scheduling of the unloading is interlocked and transmitted to the central processing system. According to the underlying rules, the functional area where such garbage needs to be piled is determined, so that the overhead crane controls the grab bucket to grab the newly input garbage at the unloading port to the designated location, and the unloading door switch signal is interlocked and transmitted to the central control system. An image recognition system is set at the unloading port to identify the opening of the unloading door to sense the start of unloading, interlock to determine the unloading situation, and more accurately control the overhead crane to control the grab bucket to grab the garbage input at the unloading port; Step 5: According to the scanned garbage pile type and the needs of garbage fermentation, transfer the garbage at the discharge port to the corresponding position of the stacking area for stacking, and control the overall garbage pile type to comply with the principle of stacking garbage at the bottom layer to ensure the stability of the garbage pile and avoid sliding and collapse; Step 6: When the image recognizes that the thickness of the garbage pile at the charging port is lower than the set height, the charging procedure is started, and the grab bucket is automatically controlled to grab garbage from the charging area and replenish it until it meets the average height; Step 7: The grab bucket can grab 8-9t of garbage at a time. When grabbing, the grabbing depth is based on the last grabbing depth. After grabbing, the overhead crane is controlled to lift the grab bucket to a certain height. The weight of the garbage is weighed. If it is more than 8-9t, the grab bucket opening is controlled to let some of the garbage fall down. If it is less than 8-9t, the garbage is grabbed again, and the grabbing depth this time is deeper than the last time.

2. The automatic control method of an intelligent garbage crane according to claim 1 is characterized in that: In the step 1, a safety control module is set in the central control system to control the speed of the large and small vehicles and the descending and lifting speed of the grab bucket to ensure that the grab buckets do not collide with each other, the grab buckets do not collide with the garbage unloading truck, and the grab buckets do not collide with the wall.

3. The automatic control method of an intelligent garbage crane according to claim 1 is characterized in that: In the step three, in order to ensure the garbage fermentation time, garbage pile type and achieve the mixed treatment of special garbage, regular areas are divided on the basis of functional areas to ensure that the grab can accurately grab the garbage at a specific location according to the operating rules.

4. The automatic control method of an intelligent garbage crane according to claim 1 is characterized in that: The information of the unloading front-end scheduling in step 4 includes: garbage weight, garbage category, and unloading time.

5. The automatic control method of an intelligent garbage crane according to claim 1 is characterized in that: In step 4, in order to ensure that the grab bucket will not collide with the unloading vehicle that has not left when the overhead crane controls the grab bucket to grab the garbage input into the unloading port, when the unloading process is identified, it is stipulated that the overhead crane is prohibited from entering the regular area in the unloading area.

6. The automatic control method of an intelligent garbage crane according to claim 1 is characterized in that: In step seven, since the grabbing capacity of a single grab bucket is 8-9t, if it is directly fed into the feeding port, it will inevitably be much higher than the average height of the garbage pile at the feeding port, causing the feeding port to be blocked. Therefore, the feeding process is to prevent manual operation of fuzzy control and move the throwing and feeding to achieve small amounts of gradual feeding, and stop when the average height is reached, and the process is controllable.

7. The automatic control method of an intelligent garbage crane according to claim 1 is characterized in that: The following steps are also included: In order to ensure the feeding of the back-end incinerator, a program judgment module is added, and when there is a conflict in the multi-task operation of the overhead crane, the furnace feeding task is given priority. In order to improve the overall automation efficiency, active avoidance is achieved from the perspective of control strategy. When the dual overhead cranes are operating in parallel, the overhead crane work tasks are adjusted in real time, the optimal solution is calculated, the overhead crane movement path is optimized, and the overall work efficiency is improved.

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