Flexible control method and system for feeding mechanism of kitchen garbage truck

Abstract

The invention belongs to the field of kitchen garbage truck control, and particularly relates to a flexible control method and system for a feeding mechanism of a kitchen garbage truck, and the method comprises the steps: obtaining a current working interval and a moving direction of the feeding mechanism; matching an interval database based on the current working interval to obtain an interval current; based on the interval current, the moving speed of the feeding mechanism is obtained; based on the moving speed, the feeding mechanism is controlled to move in the moving direction until the feeding mechanism moves to the next working interval; judging whether the next working interval is the last working interval or not; if the next working interval is the last working interval, changing the moving direction; and on the basis of the changed moving direction and the moving speed corresponding to the next working interval, the feeding mechanism is controlled to move till feeding of the kitchen garbage truck is completed. The kitchen garbage truck has the effect that the moving speeds of the kitchen garbage truck in different working areas are different, so that garbage splashing is prevented.

Description

Technical Field

[0001] The invention belongs to the field of food waste truck control, and in particular relates to a flexible control method and system for a feeding mechanism of a food waste truck. Background Art

[0002] A food waste truck is a vehicle specially used to collect and process food waste. It is usually equipped with a sealed garbage container and special collection equipment to collect food waste, such as leftovers, fruit peels, bones and other food residues. In recent years, with the rapid development of the economy, the country has higher and higher requirements for environmental protection, and requires the use of pollution-free, zero-leakage special vehicles to transport food waste. When loading food waste trucks, it is necessary to ensure no pollution, no splashing, high efficiency and energy saving.

[0003] In the related art, when the food waste truck is loading, the loading mechanism is controlled to move by the loading cylinder. The speed control of the loading cylinder relies on the strong throttling function of the throttle valve to control the movement speed of the cylinder. The excess flow overflows back to the oil tank through the direct-acting overflow valve at a pressure of 16Mpa.

[0004] With regard to the above-mentioned related technologies, the feeding mechanism controlled by the feeding cylinder has a situation in which the trash can shakes violently during the initial startup stage and the final dumping stage, which easily causes kitchen waste to splash, and has poor adaptability to working conditions. Summary of the invention

[0005] The technical problem to be solved by the present invention is that the present application provides a flexible control method and system for a feeding mechanism of a food garbage truck, so as to achieve different moving speeds of the food garbage truck in different working areas, thereby preventing garbage from splashing.

[0006] A flexible control method for a feeding mechanism of a food waste truck, comprising:

[0007] Get the current working range and moving direction of the feeding mechanism;

[0008] Based on the current working interval matching interval database, obtain the interval current;

[0009] Based on the interval current, obtaining the moving speed of the feeding mechanism;

[0010] Based on the moving speed, the feeding mechanism is controlled to move in the moving direction until it moves to the next working area;

[0011] Determining whether the next working interval is the last working interval;

[0012] If the next working interval is the last working interval, changing the moving direction;

[0013] Based on the changed moving direction and the moving speed corresponding to the next working interval, the loading mechanism is controlled to move until the loading of the food waste truck is completed.

[0014] Optionally, the obtaining the interval current based on the matching interval database of the current working interval includes:

[0015] The working interval includes the starting working interval, the high-speed working interval and the terminal working interval;

[0016] The starting working interval corresponds to a first working current, the high-speed working interval corresponds to a second working current, and the terminal working interval corresponds to a third working current, and both the first working current and the third working current are smaller than the second working current;

[0017] The interval database is obtained based on the first working current corresponding to the starting working interval, the second working current corresponding to the high-speed working interval, and the third working current corresponding to the terminal working interval;

[0018] The interval database is matched based on the current working interval to obtain the interval current.

[0019] Optionally, if the next working interval is the last working interval, changing the moving direction includes:

[0020] Acquire the current direction of the moving direction, where the moving direction includes upward movement and downward movement;

[0021] Determining whether the current direction is the upward movement;

[0022] If the current direction is the upward movement, changing the moving direction to the downward movement;

[0023] If the current direction is the downward movement, the moving direction is changed to the upward movement.

[0024] A flexible control system for a feeding mechanism of a food waste truck, comprising:

[0025] Pump source module, control module, detection module, drive module;

[0026] The pump source module is used to provide energy for the feeding mechanism, the control module is used to control the flow rate input by the pump source module to remain stable and the moving speed of the driving module, the detection module is used to detect the working range of the driving module, and the driving module is used to control the movement of the feeding mechanism;

[0027] The pump source module is connected to the control module, the control module is connected to the detection module, and the control module is connected to the driving module.

[0028] Optionally, the control module includes:

[0029] The control module comprises:

[0030] Pressure compensator, three-way flow valve, pressure reducing relief valve and proportional reversing valve;

[0031] The pressure compensator is used to maintain a stable pressure difference before and after the valve to achieve load-independent flow control. The three-way flow valve is used to allow excess energy to return to the oil tank through the three-way flow valve. The pressure reducing relief valve is used to ensure that the pressure provided by the pump source module does not exceed the set pressure. The proportional reversing valve is used to control the moving speed of the feeding mechanism.

[0032] The pressure compensator is connected to the pump source module and the oil inlet of the control module, the three-way flow valve is connected to the outlet of the pressure compensator and the oil inlet of the control module, the pressure reducing relief valve is connected to the oil inlet of the control module and the oil tank, and the proportional reversing valve is connected to the oil outlet of the load-sensitive proportional multi-way valve and the hydraulic actuator.

[0033] Optionally, the detection module includes:

[0034] A magnetostrictive displacement sensor, the magnetostrictive displacement sensor is used to detect the working range of the driving module, and the magnetostrictive displacement sensor is built in the feeding mechanism.

[0035] Optionally, the control module further includes an overflow valve, and the overflow valve is used to prevent the flow provided by the pump source module from exceeding the maximum pressure.

[0036] The beneficial effects of the present invention are:

[0037] 1. By detecting the different moving ranges of the feeding mechanism, the moving speed of the feeding mechanism in different working ranges is controlled to be different. The moving speed is slow in the starting working range and the end working range, and the moving speed is fast in the high-efficiency working range, thereby preventing the garbage from splashing due to the excessively fast moving speed in the starting working range and the end working range. The fast moving speed in the high-speed working range can meet the purpose of improving work efficiency.

[0038] 2. When controlling the movement of the feeding mechanism, the excess flow in the hydraulic system of the feeding mechanism of the food garbage truck is diverted at low pressure through the three-way flow valve of the load-sensitive multi-way valve, so that the excess flow returns to the hydraulic system, thereby saving energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic flow chart of a flexible control method of a feeding mechanism of a food waste truck according to the present invention;

[0040] Figure 2 This is a system block diagram of a flexible control system for a feeding mechanism of a food waste truck of the present invention;

[0041] Figure 3 This is a schematic diagram of a flexible control system for a feeding mechanism of a food garbage truck according to an embodiment of the present application.

[0042] Description of reference numerals:

[0043] 1. Pump source module; 2. Control module; 3. Detection module; 4. Drive module; 5. Feeding mechanism; 6. Pressure compensator; 7. Three-way flow valve; 8. Pressure reducing relief valve; 9. Proportional reversing valve; 10. Magnetostrictive displacement sensor; 11. Relief valve. DETAILED DESCRIPTION

[0044] A flexible control method for a feeding mechanism of a food waste truck, comprising:

[0045] S100, obtaining the current working range and moving direction of the feeding mechanism.

[0046] Specifically, the loading mechanism is a device that transports the garbage can to the food waste truck for loading. The current working range is the range where the loading mechanism is located in the moving track for loading. The moving direction indicates whether the loading mechanism is moving upward or downward. Moving upward means loading, and moving downward means that the garbage in the garbage can has been dumped into the food waste truck, and the garbage can is put down again.

[0047] S110, matching the interval database based on the current working interval to obtain the interval current.

[0048] Specifically, the interval current is the current of the feeding mechanism when working in different working intervals. The interval database includes working currents of different working intervals. By matching the working current of the current working interval with the working current of the corresponding working interval in the interval database, the interval current corresponding to the current working interval can be obtained. Different working intervals correspond to different interval currents.

[0049] S120. Obtain the moving speed of the feeding mechanism based on the interval current.

[0050] Specifically, in order to prevent the garbage bin from shaking violently and causing kitchen waste to splash during the initial startup stage of loading and the final dumping stage, the different moving speeds of the loading mechanism are controlled according to different working intervals. The moving speed of the loading mechanism is the moving speed at which the loading structure sends the garbage bin onto or off the kitchen waste truck, and the moving speed of the loading mechanism is determined by the interval current. The moving speed of the loading mechanism in different working intervals is controlled according to the interval current of different working intervals.

[0051] S130, controlling the feeding mechanism to move in a moving direction based on the moving speed until it moves to the next working area.

[0052] Specifically, when the feeding mechanism is feeding materials, it will change from one working area to another working area as the feeding mechanism moves.

[0053] S140: Determine whether the next working interval is the last working interval.

[0054] S150: If the next working interval is the last working interval, change the moving direction.

[0055] Specifically, the final working interval refers to the process of loading the food waste truck and the process of putting down the garbage bin after loading. When the food waste truck is loading, the working interval includes the starting working interval, the high-speed working interval and the terminal working interval. The final working interval is different for different moving directions of the loading mechanism.

[0056] S160, based on the change in moving direction and the moving speed corresponding to the next working interval, the loading mechanism is controlled to move until the loading of the food waste truck is completed.

[0057] Specifically, a complete loading process is that after the loading mechanism fixes the garbage can containing kitchen garbage, the loading mechanism starts to move upward, and after moving to the top, the kitchen garbage in the garbage can is poured into the food garbage truck, and then the loading mechanism moves downward until the garbage can is placed on the ground. Therefore, the loading mechanism moves upward to the last working interval, so it needs to change the moving direction and move downward to the last working interval.

[0058] In one implementation of this embodiment, step S110 is to match the interval database based on the current working interval, and obtain the interval current including:

[0059] S200, the working interval includes a starting working interval, a high-speed working interval and a terminal working interval.

[0060] Specifically, the feeding mechanism moves along the track on the food waste truck, dividing the entire track into three sections from bottom to top. The actual working interval is the first end where the feeding mechanism moves upward after fixing the garbage can, the height working interval is the middle section, and the end working interval is the third section. In the third section, the garbage in the garbage can is poured into the food waste truck.

[0061] S210, the starting working interval corresponds to a first working current, the high-speed working interval corresponds to a second working current, and the terminal working interval corresponds to a third working current, and both the first working current and the third working current are smaller than the second working current.

[0062] Specifically, in order to prevent the feeding mechanism from vibrating violently and easily splashing the kitchen waste during the initial startup stage and the final dumping stage, the feeding mechanism moves slowly in the initial working interval and the final working interval, and moves faster in the high-speed working interval. The magnitudes of the first working current and the third working current can be defined according to actual working conditions, and the first working current and the third working current can be equal or different, and both the first working current and the third working current are smaller than the second working current.

[0063] S220, obtaining an interval database based on the first working current corresponding to the starting working interval, the second working current corresponding to the high-speed working interval, and the third working current corresponding to the terminal working interval.

[0064] S230 , matching the interval database based on the current working interval to obtain the interval current.

[0065] Specifically, after the first working current, the second working current and the third working current are set, the interval database will store them, and when the feeding mechanism moves to the corresponding working interval, the corresponding interval current can be directly obtained from the interval database.

[0066] In one implementation of this embodiment, step S140, i.e., determining whether the next working interval is the last working interval, includes:

[0067] S300: Determine whether the next working interval is the starting working interval or the ending working interval.

[0068] S310: If the next working interval is the starting working interval or the ending working interval, determine whether the next working interval is the last working interval.

[0069] S320: If the next working interval is not the starting working interval or the ending working interval, determine that the next working interval is not the last working interval.

[0070] Specifically, the purpose of judging whether the next working interval is the actual working interval or the terminal working interval is to judge whether the moving direction needs to be changed after the next working interval is moved. The terminal working interval is the last working interval when the loading mechanism moves upward. When the loading mechanism dumps the garbage in the terminal working interval, it is necessary to change the moving direction and move downward. After moving to the starting working interval, if there is still garbage to be dumped, the moving direction needs to be changed to upward.

[0071] In one implementation of this embodiment, step S150, i.e., if the next working interval is the last working interval, then changing the moving direction includes:

[0072] S400, obtaining the current direction of the moving direction, the moving direction includes moving upward and moving downward

[0073] Specifically, the default moving direction is usually set to move upward, then if the moving direction is the same as the default moving direction, it is moving upward, and if the moving direction is opposite to the default moving direction, it is moving downward.

[0074] S410: Determine whether the current direction is upward movement.

[0075] S420: If the current direction is upward movement, change the moving direction to downward movement.

[0076] S430: If the current direction is downward movement, change the moving direction to upward movement.

[0077] Specifically, the loading mechanism theoretically moves upward and downward in a circular motion until all the garbage is loaded. When it moves upward to the end working interval, it needs to change the moving direction and move downward. When it moves downward to the starting working interval, it needs to change the moving direction and move upward.

[0078] A flexible control system for a feeding mechanism 5 of a food waste truck, such as Figure 2 and Figure 3 As shown, including:

[0079] Pump source module 1, control module 2, detection module 3, drive module 4.

[0080] The pump source module 1 is used to provide energy for the feeding mechanism 5, the control module 2 is used to control the flow input by the pump source module 1 to remain stable and the moving speed of the driving module 4, the detection module 3 is used to detect the working range of the driving module 4, and the driving module 4 is used to control the movement of the feeding mechanism 5.

[0081] The pump source module 1 is connected to the control module 2 , the control module 2 is connected to the detection module 3 , and the control module 2 is connected to the driving module 4 .

[0082] Specifically, the pump source module 1 is a module that provides a pump source for the entire feeding mechanism 5 of the food garbage truck. The pump source module 1 can be a hydraulic pump. The hydraulic flow generated by the hydraulic pump passes through the control module 2. The control module 2 will adjust the input flow according to the load change of the feeding mechanism 5 to keep the input flow stable, and control the hydraulic flow to control the moving speed of the drive module 4. The detection door module is used to detect the working range of the feeding mechanism 5. According to different working ranges, the control module 2 transmits different hydraulic flows, so that the moving speed of the drive module 4 is different in different working ranges.

[0083] The pump source module 1 is connected to the control module 2 , the control module 2 is connected to the execution module, and the execution module is connected to the driving module 4 .

[0084] The control module 2 includes:

[0085] Pressure compensator 6, three-way flow valve 7, pressure reducing relief valve 11 8 and proportional reversing valve 9.

[0086] The pressure compensator 6 is used to maintain the pressure difference between the front and rear of the valve stable and realize the flow control which is independent of the load. The three-way flow valve 7 is used to allow the excess flow to return to the oil tank through the three-way flow valve 7. The pressure relief valve 11 is used to ensure that the pressure provided by the pump source module 1 does not exceed the set pressure. The proportional reversing valve 9 is used to control the moving speed of the feeding mechanism 5. The feeding mechanism 5 is a feeding cylinder in this embodiment.

[0087] The pressure compensator 6 is connected to the oil inlet of the pump source module 1 and the control module 2, the three-way flow valve 7 is connected to the outlet of the pressure compensator 6 and the oil inlet of the control module 2, the pressure reducing relief valve 11 8 is connected to the oil inlet of the control module 2 and the oil tank, and the proportional reversing valve 9 is connected to the oil outlet of the load-sensitive proportional multi-way valve and the hydraulic actuator (such as a hydraulic cylinder).

[0088] The pressure compensator 6 is connected to the oil inlet of the pump source module 1 and the control module 2, the three-way flow valve 7 is connected to the outlet of the pressure compensator 6 and the oil inlet of the control module 2, the pressure reducing relief valve 8 is connected to the oil inlet of the control module 2 and the oil tank, and the proportional reversing valve 9 is connected to the oil outlet of the control module 2 and the hydraulic actuator. The control module 2 also includes a relief valve 11, which is used to prevent the flow pressure provided by the pump source module 1 from exceeding the maximum pressure, which is the maximum pressure allowed to flow into the control module. The flow of the pump source module 1 will first pass through the relief valve 11 to protect the equipment.

[0089] The detection module 3 includes:

[0090] The magnetostrictive displacement sensor 10 is used to detect the working range of the driving module 4 . The magnetostrictive displacement sensor 10 is built in the feeding mechanism 5 .

[0091] Specifically, as shown in the figure, the control module 2 can be a load-sensitive proportional multi-way valve, which includes a pressure compensator 6, a three-way flow valve 7, a pressure reducing relief valve 11 8 and a proportional reversing valve 9. The feeding mechanism 5 is controlled by the flow of the hydraulic pump passing through the P port to enter the oil through the pressure compensator 6 in the load-sensitive proportional multi-way valve to the proportional reversing valve 9 and then to the feeding cylinder. The speed control of the feeding cylinder is controlled by the valve core opening size of the proportional reversing valve 9. The larger the valve core opening, the larger the flow to the feeding cylinder, and the corresponding feeding cylinder speed is faster. The opening of the valve core of the proportional reversing valve 9 depends on the input current values ​​of YA1 and YA2, and the current value is positively correlated with the valve core opening within a certain range. At the same time, the size of YA1 and YA2 is determined by the AI ​​signal of the magnetostrictive displacement sensor 10. The control strategy of the lifting stage of the feeding mechanism 5 is: when the magnetostrictive displacement sensor 10 detects that the feeding cylinder is in the initial startup stage, the input current values ​​of YA1 and YA2 are small, and the feeding cylinder starts slowly. When the magnetostrictive displacement sensor 10 detects that the feeding cylinder is in the high-efficiency working range, the input current values ​​of YA1 and YA2 are large, and the feeding cylinder rises rapidly. When the magnetostrictive displacement sensor 10 detects that the feeding cylinder is in the terminal working range, the input current values ​​of YA1 and YA2 are small, and the feeding cylinder stops slowly. The control strategy of the feeding mechanism 5 in the unloading stage is the same as above. The entire working process of the feeding cylinder is closed-loop controlled, thereby realizing flexible control of the feeding mechanism 5 of the food garbage truck.

[0092] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as above, which are not provided in detail for the sake of simplicity.

[0093] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A flexible control method for the feeding mechanism of a food waste truck. Its characteristics are: include: Get the current working range and moving direction of the feeding mechanism; Based on the current working interval matching interval database, obtain the interval current; Based on the interval current, obtaining the moving speed of the feeding mechanism; Based on the moving speed, the feeding mechanism is controlled to move in the moving direction until it moves to the next working area; Determining whether the next working interval is the last working interval; If the next working interval is the last working interval, changing the moving direction; Based on the changed moving direction and the moving speed corresponding to the next working interval, the loading mechanism is controlled to move until the loading of the food waste truck is completed.

2. A flexible control method for a feeding mechanism of a food waste truck as claimed in claim 1, Its characteristics are: The obtaining of the interval current based on the matching interval database of the current working interval includes: The working interval includes the starting working interval, the high-speed working interval and the terminal working interval; The starting working interval corresponds to a first working current, the high-speed working interval corresponds to a second working current, and the terminal working interval corresponds to a third working current, and both the first working current and the third working current are smaller than the second working current; The interval database is obtained based on the first working current corresponding to the starting working interval, the second working current corresponding to the high-speed working interval, and the third working current corresponding to the terminal working interval; The interval database is matched based on the current working interval to obtain the interval current.

3. A flexible control method for a feeding mechanism of a food waste truck as claimed in claim 2, Its characteristics are: The determining whether the next working interval is the last working interval comprises: Determining whether the next working interval is a starting working interval or an ending working interval; If the next working interval is the starting working interval or the ending working interval, determining whether the next working interval is the last working interval; If the next working interval is not the starting working interval or the ending working interval, it is determined that the next working interval is not the last working interval.

4. A flexible control method for a feeding mechanism of a food waste truck as claimed in claim 1, Its characteristics are: If the next working interval is the last working interval, changing the moving direction includes: Acquire the current direction of the moving direction, where the moving direction includes upward movement and downward movement; Determining whether the current direction is the upward movement; If the current direction is the upward movement, changing the moving direction to the downward movement; If the current direction is the downward movement, the moving direction is changed to the upward movement.

5. A flexible control system for the feeding mechanism of a food waste truck. Its characteristics are: include: Pump source module, control module, detection module, drive module; The pump source module is used to provide energy for the feeding mechanism, the control module is used to control the energy input by the pump source module to remain stable and the moving speed of the driving module, the detection module is used to detect the working range of the driving module, and the driving module is used to control the movement of the feeding mechanism; The pump source module is connected to the control module, the control module is connected to the detection module, and the control module is connected to the driving module.

6. A flexible control system for a feeding mechanism of a food waste truck as claimed in claim 5, Its characteristics are: The control module comprises: Pressure compensator, three-way flow valve, pressure reducing relief valve and proportional reversing valve; The pressure compensator is used to maintain the pressure difference between the front and rear of the valve stable, and realize the flow control which is independent of the load. The three-way flow valve is used to allow the excess energy to return to the oil tank through the three-way flow valve. The pressure reducing relief valve is used to ensure that the pressure provided by the pump source module does not exceed the set pressure. The proportional reversing valve is used to control the moving speed of the feeding mechanism. The pressure compensator is connected to the pump source module and the oil inlet of the control module, the three-way flow valve is connected to the outlet of the pressure compensator and the oil inlet of the control module, the pressure reducing relief valve is connected to the oil inlet of the control module and the oil tank, and the proportional reversing valve is connected to the oil outlet of the load-sensitive proportional multi-way valve and the hydraulic actuator.

7. A flexible control system for a feeding mechanism of a food waste truck as claimed in claim 5, Its characteristics are: The detection module comprises: A magnetostrictive displacement sensor, the magnetostrictive displacement sensor is used to detect the working range of the driving module, and the magnetostrictive displacement sensor is built in the feeding mechanism.

8. A flexible control system for a feeding mechanism of a food waste truck as claimed in claim 5, Its characteristics are: include: The control module further includes a relief valve, which is used to prevent the flow provided by the pump source module from exceeding a maximum pressure.

9. A terminal device comprising a memory and a processor, It is characterized in that The memory stores a computer program that can be run on the processor, and when the processor loads and executes the computer program, the method according to any one of claims 1 to 4 is adopted.

10. A computer-readable storage medium having a computer program stored therein. It is characterized in that When the computer program is loaded and executed by a processor, the method according to any one of claims 1 to 4 is adopted.

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