Control system and method for garbage compression station

Abstract

The invention discloses a control system and method for a garbage compression station, and belongs to the technical field of garbage compression stations, the control system comprises a PLC (Programmable Logic Controller), an image acquisition module, a server image processing unit GPU (Graphic Processing Unit), sensors and a data processing unit, and the sensors and the image acquisition module-server image processing unit GPU arranged at each station realize dual detection. The operation of each device is controlled under the combined action of the PLC and the data processing unit; a hook arm transfer trolley is moved in place, a feeding door of a compatible garbage can is opened, a double-folding chute is overturned in place, a discharging trolley is moved in place, a rapid roller shutter door is automatically opened, the discharging trolley discharges materials, a deodorization system exhausts air for deodorization, a compression head assembly compresses garbage, the feeding door of the compatible garbage can is closed, and the hook arm transfer trolley transfers the materials. A high-pressure nozzle on the mechanical arm automatically cleans the first-layer working platform, and the intelligent sweeping robot automatically cleans the second-layer working platform.

Description

Technical Field

[0001] The invention belongs to the technical field of garbage compression stations, and in particular relates to a control system and method for garbage compression stations. Background Art

[0002] A garbage compression transfer station is a garbage treatment facility used to centrally compress and process garbage collected by garbage collection trucks. There are various types of existing garbage compression transfer stations, including a vertical garbage compression transfer station, which includes a garbage compression container placed in a pit, with a pressure hammer arranged on the top, and the garbage in the garbage compression container is directly compressed by the pressure hammer to reduce the volume of the garbage. Usually, multiple parallel pits are arranged in a transfer station to improve work efficiency. An entry track is arranged above each pit, and a displacement track is arranged above the rear side of the pit. A carrier A is arranged on the displacement track, and a carrier B equipped with a pressure hammer is also arranged above the carrier A through the track. The carrier A drives the pressure hammer to the workstation where the garbage needs to be compressed, and the carrier B drives the pressure hammer to move to the entry track. When the garbage compression station is used, multiple operators need to cooperate to operate it, and there is a disadvantage of high cost of use. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a control system and method for a garbage compression station. The sensors and image acquisition modules-server image processing unit GPU arranged at each workstation realize dual detection, and the operation of each device is controlled by the joint action of the PLC controller and the data processing unit, so as to realize the movement of the hook arm transfer vehicle into position, the opening of the feed door of the compatible garbage bin, the flipping of the double folding chute into position, the movement of the unloading vehicle into position, the automatic opening of the fast rolling door, the unloading vehicle unloading and the deodorization system exhaust deodorization, the compression head assembly compressing the garbage, the closing of the feed door of the compatible garbage bin, the transfer of the material by the hook arm transfer vehicle, the automatic cleaning of the first-layer working platform by the high-pressure nozzle on the mechanical arm, and the automatic cleaning of the second-layer working platform by the intelligent sweeping robot.

[0004] The objective of the present invention is achieved through the following technical solutions: Control system for waste transfer station, including PLC controller, image acquisition module, server image processing unit GPU, sensors and data processing unit. The image acquisition module includes cameras installed at the compressing head assembly, L-shaped rigid turbine rolling door, fast rolling door, double-fold chute, robotic arm, first-floor operation platform and second-floor operation platform, which are used to collect images of the compressing head assembly, L-shaped rigid turbine rolling door, fast rolling door, double-fold chute, robotic arm and intelligent floor cleaning robot, and send the data to the server image processing unit GPU in real time through the network port; the server image processing unit GPU processes the above data and transmits the real-time actions of the compressing head assembly, L-shaped rigid turbine rolling door, fast rolling door, double-fold chute, robotic arm and intelligent floor cleaning robot to the data processing unit; the sensors are respectively installed at the compressing head assembly, L-shaped rigid turbine rolling door, fast rolling door, double-fold chute, robotic arm and second-floor operation platform, which are used to collect the action information of the compressing head assembly, L-shaped rigid turbine rolling door, fast rolling door, double-fold chute, robotic arm and intelligent floor cleaning robot, and send the data to the data processing unit in real time. The data processing unit is used to receive and process and analyze the action information of the compressing head assembly, L-shaped rigid turbine rolling door, fast rolling door, double-fold chute, robotic arm and intelligent floor cleaning robot and the real-time actions of the compressing head assembly, L-shaped rigid turbine rolling door, fast rolling door, double-fold chute, robotic arm and intelligent floor cleaning robot, and transmit the control information to the PLC controller. The PLC controller is used for the actions of the compressing head assembly, L-shaped rigid turbine rolling door, fast rolling door, double-fold chute and robotic arm.

[0005] Preferably, the sensors include the first proximity switch sensor, the second proximity switch sensor, the third proximity switch sensor, the fourth proximity switch sensor, the laser sensor, the fifth proximity switch sensor, the sixth proximity switch sensor, the seventh proximity switch sensor, the eighth proximity switch sensor and the pressure sensor; the first proximity switch sensor is used to detect whether the compatible dustbin is in place; the second proximity switch sensor is used to detect whether the unloading truck is in the berth; the third proximity switch sensor is used to detect whether the hook-arm transfer vehicle is in place; the fourth proximity switch sensor is used to detect whether the compressing head assembly has moved in place; the laser sensor is used to detect the telescopic distance of the press head; the fifth proximity switch sensor is used to detect whether the double-fold chute is opened in place; the sixth proximity switch sensor is used to detect whether the L-shaped rigid turbine rolling door is opened and closed in place; the seventh proximity switch sensor is used to detect whether the fast rolling door is opened and closed in place; the eighth proximity switch sensor is used to detect whether the robotic arm is in place, and the pressure sensor is used to detect whether the compatible dustbin is full.

[0006] Preferably, the PLC controller is also connected to the suction fan and spray tower in the deodorization system.

[0007] Preferably, the PLC controller is also connected to the flushing water pump in the flushing water pump station.

[0008] A control method for a garbage compression station, using a control system for a garbage compression station, comprises the following steps: Step 1: All devices are in the initial position, waiting to receive information from the control system; Step 2: After the PLC controller sends a reverse signal to the hook-arm transfer vehicle, the operator of the hook-arm transfer vehicle reverses the hook-arm transfer vehicle and places the compatible garbage bin on the loading platform of the bin placing berth on the first-floor work platform. After the data processing unit receives the information that the hook-arm transfer vehicle and the compatible garbage bin are in place, it proceeds to the next step; Step 3: The PLC controller controls the robot arm to move to one side of the compatible trash bin. After the data processing unit receives the information that the robot arm is in place, the PLC controller controls the robot arm to insert the hydraulic quick-change joint, so that the compatible trash bin opens the feed door. Then, the PLC controller controls the robot arm to pull out the hydraulic quick-change joint and stand by. Step 4: The PLC controller controls the main downward flipping and the auxiliary forward flipping on the double-folding chute, and forms a berth together with the L-shaped hard turbine shutter door and the fast shutter door; Step 5: The unloading truck reverses to the parking space under the command of the PLC controller. After the data processing unit receives the information that the unloading truck is in the parking space, the PLC controller controls the fast rolling door to open automatically. The data processing unit receives the information that the fast rolling door is in place. The unloading truck stops at the vehicle stall and unloads materials under the command of the PLC controller until the unloading is completed and the truck leaves. After the data processing unit receives the signal that the compatible garbage bin is full, it enters the next step. During unloading, the PLC controller controls the deodorization system to perform exhaust deodorization synchronously. Step 6: After the unloading vehicle leaves, the PLC controller controls the auxiliary flip on the double folding chute to flip back, and the garbage dropped by the unloading vehicle is flipped and poured into the double folding chute. Then the PLC controller controls the opening of the L-shaped hard turbine rolling door and the closing of the fast rolling door. After the data processing unit receives the information that the L-shaped hard turbine rolling door and the fast rolling door are in place, it enters the next step; Step 7: The PLC controller controls the compression head assembly to move to the rear of the berth in the Y direction, and the data processing unit receives the information that the compression head assembly has moved into position, and then moves to the berth in the X direction. After receiving the information that the compression head assembly has moved into position, the data processing unit moves to the Z direction to compress the garbage, and the data processing unit receives the information of the compression head extension distance. When the compression is completed, the compression head assembly returns to the rear of the berth, and the PLC controller controls the L-shaped hard turbine rolling shutter door to close, and the data processing unit receives the information that the L-shaped hard turbine rolling shutter door is in position. Step 8: The PLC controller controls the operation of the flushing pump station. The cleaning nozzles on the double-fold chute flush the periphery of the double-fold chute. Then, the PLC controller controls the main flip on the double-fold chute to turn up. After the data processing unit receives the information that the double-fold chute is opened in place, it proceeds to the next step; Step 9: The PLC controller controls the robotic arm to move to the side of the compatible garbage bin again. After the data processing unit receives the information that the robotic arm is in place, the PLC controller controls the robotic arm to automatically insert the hydraulic quick-change joint, causing the operation of the compatible garbage bin to close the feeding door. Then, the PLC controller controls the robotic arm to pull out the hydraulic quick-change joint and standby; Step 10: After the PLC controller issues a reverse signal to the hook-arm transfer vehicle, the hook-arm transfer vehicle reverses and hooks away the compatible garbage bin full of garbage for garbage transfer and unloading at the incineration plant; Step 11: After the compatible garbage bin is pulled away, the PLC controller controls the high-pressure nozzle on the robotic arm to automatically flush the bearing platform and the surrounding area of the box placement berth on the first-floor operation platform, realizing the automatic cleaning of the first-floor operation platform; Step 12: After the unloading is completed, the intelligent floor-sweeping robot automatically sweeps the second-floor operation platform, realizing the automatic cleaning of the second-floor operation platform.

[0009] Preferably, in the above Step 1, all devices are in their initial positions, including: the compression head assembly 1 is located at the rear end of the berth 2; the double-fold chute 6 is in the up-turned state; the L-shaped rigid turbine rolling shutter door 3 is in the closed state; the fast rolling shutter door 4 is in the closed state.

[0010] Preferably, in the above Step 2, when the processing unit receives the information that the hook-arm transfer vehicle is in place: the signal is transmitted to the data processing unit through the third proximity switch sensor to obtain the first hook-arm transfer vehicle in-place information; the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the second hook-arm transfer vehicle in-place information. If the first hook-arm transfer vehicle in-place information and the second hook-arm transfer vehicle in-place information are consistent, the step continues. If the first hook-arm transfer vehicle in-place information and the second hook-arm transfer vehicle in-place information are inconsistent, the operation stops and an alarm message is issued; for the compatible garbage bin in-place information: the signal is transmitted to the data processing unit through the first proximity switch sensor to obtain the first compatible garbage bin in-place information, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the second compatible garbage bin in-place information. If the first compatible garbage bin in-place information and the second compatible garbage bin in-place information are consistent, the step continues. If the first compatible garbage bin in-place information and the second compatible garbage bin in-place information are inconsistent, the operation stops and an alarm message is issued.

[0011] Preferably, in the third and eighth steps, when the data processing unit receives the information that the robotic arm has reached its position: the signal is transmitted to the data processing unit through the eighth proximity switch sensor to obtain the first robotic arm in-position information, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the second robotic arm in-position information. If the first robotic arm in-position information is consistent with the second robotic arm in-position information, the steps continue; if the first robotic arm in-position information is inconsistent with the second robotic arm in-position information, the operation stops and an alarm message is sent.

[0012] Preferably, in the fifth step, when the data processing unit receives the information that the unloading truck is at the berth: the signal is transmitted to the data processing unit through the second proximity switch sensor to obtain the first unloading truck at-berth information, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the second unloading truck at-berth information. If the first unloading truck at-berth information is consistent with the second unloading truck at-berth information, the steps continue; if the first unloading truck at-berth information is inconsistent with the second unloading truck at-berth information, the operation stops and an alarm message is sent. When the data processing unit receives the information that the fast rolling shutter door has been opened / closed in place: the signal is transmitted to the data processing unit through the seventh proximity switch sensor to obtain the first fast rolling shutter door opened / closed in-place information, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the second fast rolling shutter door opened / closed in-place information. If the first fast rolling shutter door opened / closed in-place information is consistent with the second fast rolling shutter door opened / closed in-place information, the steps continue; if the first fast rolling shutter door opened / closed in-place information is inconsistent with the second fast rolling shutter door opened / closed in-place information, the operation stops and an alarm message is sent. When the data processing unit receives the signal that the compatible garbage bin is full: the signal is transmitted to the data processing unit through the pressure sensor to obtain the first compatible garbage bin full signal, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the second compatible garbage bin full signal. If the first compatible garbage bin full signal is consistent with the second compatible garbage bin full signal, the steps continue; if the first compatible garbage bin full signal is inconsistent with the second compatible garbage bin full signal, the operation stops and an alarm message is sent.

[0013] Preferably, in step six, the data processing unit receives the information that the fast rolling shutter door is in place: the first information that the fast rolling shutter door is in place is obtained by transmitting the signal to the data processing unit through the seventh proximity switch sensor, and the second information that the fast rolling shutter door is in place is obtained by transmitting the signal to the data processing unit through the camera and the GPU of the server image processing unit. If the first information that the fast rolling shutter door is in place is consistent with the second information that the fast rolling shutter door is in place, the steps continue. If the first information that the fast rolling shutter door is in place is inconsistent with the second information that the fast rolling shutter door is in place, the operation is stopped and an alarm message is sent; the data processing unit receives the information that the L-shaped rigid turbine rolling shutter door is in place: the first information that the L-shaped rigid turbine rolling shutter door is in place is obtained by transmitting the signal to the data processing unit through the sixth proximity switch sensor, and the second information that the L-shaped rigid turbine rolling shutter door is in place is obtained by transmitting the signal to the data processing unit through the camera and the GPU of the server image processing unit. If the first information that the L-shaped rigid turbine rolling shutter door is in place is consistent with the second information that the L-shaped rigid turbine rolling shutter door is in place, the steps continue. If the first information that the L-shaped rigid turbine rolling shutter door is in place is inconsistent with the second information that the L-shaped rigid turbine rolling shutter door is in place, the operation is stopped and an alarm message is sent.

[0014] Preferably, in step seven, the data processing unit receives the information that the compression head assembly has moved in place: the first information that the compression head assembly has moved in place is obtained by transmitting the signal to the data processing unit through the fourth proximity switch sensor, and the second information that the compression head assembly has moved in place is obtained by transmitting the signal to the data processing unit through the camera and the GPU of the server image processing unit. If the first information that the compression head assembly has moved in place is consistent with the second information that the compression head assembly has moved in place, the steps continue. If the first information that the compression head assembly has moved in place is inconsistent with the second information that the compression head assembly has moved in place, the operation is stopped and an alarm message is sent; the data processing unit receives the information about the telescopic distance of the pressing head: the first information about the telescopic distance of the pressing head is obtained by transmitting the signal to the data processing unit through the laser sensor, and the second information about the telescopic distance of the pressing head is obtained by transmitting the signal to the data processing unit through the camera and the GPU of the server image processing unit. If the first information about the telescopic distance of the pressing head is consistent with the second information about the telescopic distance of the pressing head, the steps continue. If the first information about the telescopic distance of the pressing head is inconsistent with the second information about the telescopic distance of the pressing head, the operation is stopped and an alarm message is sent; the data processing unit receives the information that the L-shaped rigid turbine rolling shutter door is in place: the first information that the L-shaped rigid turbine rolling shutter door is in place is obtained by transmitting the signal to the data processing unit through the sixth proximity switch sensor, and the second information that the L-shaped rigid turbine rolling shutter door is in place is obtained by transmitting the signal to the data processing unit through the camera and the GPU of the server image processing unit. If the first information that the L-shaped rigid turbine rolling shutter door is in place is consistent with the second information that the L-shaped rigid turbine rolling shutter door is in place, the steps continue. If the first information that the L-shaped rigid turbine rolling shutter door is in place is inconsistent with the second information that the L-shaped rigid turbine rolling shutter door is in place, the operation is stopped and an alarm message is sent.

[0015] Preferably, in step eight, when the data processing unit receives the information that the double-fold chute is opened in place: the signal is transmitted to the data processing unit through the fifth proximity switch sensor to obtain the first information that the double-fold chute is opened in place, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the second information that the double-fold chute is opened in place. If the first information that the double-fold chute is opened in place is consistent with the second information that the double-fold chute is opened in place, the steps continue. If the first information that the double-fold chute is opened in place is inconsistent with the second information that the double-fold chute is opened in place, the operation is stopped and an alarm message is issued.

[0016] The beneficial effects of this technical solution are as follows: First, the control system for the garbage compression station provided by the present invention sets up dual detection through the sensors and image acquisition modules - GPU of the server image processing unit at each work station, and controls the operation of each device under the joint action of the PLC controller and the data processing unit, realizing the movement of the hook-arm transfer vehicle in place, the opening of the feeding door of the compatible garbage bin, the flipping of the double-fold chute in place, the movement of the unloading vehicle in place, the automatic opening of the fast rolling shutter door, the unloading of the unloading vehicle and the extraction and deodorization of the deodorization system, the compression of garbage by the compression head assembly, the closing of the feeding door of the compatible garbage bin, the transfer of the hook-arm transfer vehicle, the automatic cleaning of the high-pressure nozzle on the robotic arm on the first-layer operation platform, and the automatic cleaning of the second-layer operation platform by the intelligent floor cleaning robot.

[0017] Second, the control method for the garbage compression station provided by the present invention realizes dual detection by the data processing unit according to the sensors and image acquisition modules - GPU of the server image processing unit at each work station, and sends the control information to the PLC controller. The PLC controller controls the automatic operation of each device and commands the actions of the hook-arm transfer vehicle and the unloading vehicle, so that the unmanned garbage compression station can operate automatically without additional operators, reducing the production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is the structural schematic diagram of the present invention; Figure 2 is the structural schematic of the garbage compression station in the present invention Figure 1 ; Figure 3 is the structural schematic of the garbage compression station in the present invention Figure 2 ; Figure 4 is the structural schematic diagram of the double-fold chute in the present invention; Figure 5 is the structural schematic diagram of the flushing water pump station in the present invention; Figure 6 is the structural schematic diagram of step three in Embodiment 3 of the present invention; Figure 7 It is a schematic structural diagram of the main flip-down in step four of Embodiment 3 of the present invention; Figure 8 It is a schematic structural diagram of the auxiliary flip-forward in step four of Embodiment 3 of the present invention; Figure 9 It is a schematic structural diagram of step five of Embodiment 3 of the present invention; Figure 10 It is a schematic structural diagram of the auxiliary flip-back in step six of Embodiment 3 of the present invention; Figure 11 It is a schematic structural diagram of the opening of the L-shaped rigid turbine rolling shutter door in step six of Embodiment 3 of the present invention, and the cleaning nozzle flushing in steps seven and eight; Figure 12 It is a schematic structural diagram of the closing of the L-shaped rigid turbine rolling shutter door in step seven of Embodiment 3 of the present invention and the main flip-up in step eight; Figure 13 It is a schematic structural diagram of step nine of Embodiment 3 of the present invention; Wherein: 1. Compression head assembly; 2. Berth; 3. L-shaped rigid turbine rolling shutter door; 4. Fast rolling shutter door; 5. Feeding port; 6. Double-fold chute; 61. Main flip; 62. Auxiliary flip; 63. Air inlet and outlet; 7. Compatible garbage bin; 8. First-layer operation platform; 9. Second-layer operation platform; 10. Unloading vehicle; 11. Manipulator; 12. Intelligent floor cleaning robot; 13. Deodorization system; 131. Suction hose; 132. Suction fan; 133. Spray tower; 14. Flushing water pump station; 141. Cleaning nozzle; 142. High-pressure nozzle; 143. Flushing water tank; 144. Flushing water pump; 145. Flushing water pipe. Detailed implementation manners

[0019] The present invention will be further described in detail below in conjunction with embodiments, but the implementation manners of the present invention are not limited thereto.

[0020] Such as Figures 2 - 5As shown, the waste transfer station adopted in Embodiment 1 to Embodiment 4 is an unmanned waste transfer station, which includes a compression head assembly 1, a plurality of juxtaposed berths 2 and a control system. The compression head assembly 1 is used to move on the Y-direction slide rail to the rear of the berth 2, then move in the X-direction to the berth 2, and move in the Z-direction to compress waste. At each berth 2, there are an L-shaped rigid turbine rolling door 3, a fast rolling door 4 and a feeding port 5. The L-shaped rigid turbine rolling door 3 is L-shaped and slides to open and close. When closed, it is used to seal the back side and the top side of the berth 2. When opened, it gives way to the X-direction movement of the two-way press head. The fast rolling door 4 slides up and down to open and close. When closed, it is used to seal the front side of the berth 2. When opened, it allows the unloading truck 10 to reverse and unload. At the feeding port 5, there is a double-fold chute 6 rotatably arranged. Below the feeding port 5, there is a compatible garbage bin 7. On one side of the compatible garbage bin 7, there is a robotic arm 11. On the robotic arm 11, there is a hydraulic quick-change joint for opening or closing the feeding door on the compatible garbage bin 7. The control system is used to control the compression head assembly 1, the L-shaped rigid turbine rolling door 3, the fast rolling door 4, the double-fold chute 6 and the robotic arm 11. The compression head assembly 1 is prior art (such as the mobile compaction platform in the publication number CN220906081U), and will not be described in detail here. The robotic arm 4 is prior art (such as the multi-axis robotic arm 4 in the publication number CN217958212U), and will not be described in detail here.

[0021] Wherein, the L-shaped rigid turbine rolling door 3 includes an L-shaped rolling curtain, a first reel connected to the L-shaped rolling curtain, and a first rolling curtain motor connected to the first reel. The first rolling curtain motor is connected to the control system.

[0022] Wherein, the fast rolling door 4 includes a vertical rolling curtain, a second reel connected to the vertical rolling curtain, and a second rolling curtain motor connected to the second reel. The second rolling curtain motor is connected to the control system.

[0023] Wherein, the double-fold chute 6 includes a main flip 61 and a sub-flip 62. The main flip 61 is rotatably arranged below the berth 2, and the sub-flip 62 is rotatably arranged on the main flip 61.

[0024] Wherein, it further includes a first-layer operation platform 8 and a second-layer operation platform 9. The compatible garbage bin 7 is arranged on the first-layer operation platform 8, and the compression head assembly 1, a plurality of juxtaposed berths 2 and the unloading truck 10 are all arranged on the second-layer operation platform 9.

[0025] Wherein, there is an intelligent floor cleaning robot 12 on the second-layer operation platform 9. The intelligent floor cleaning robot 12 is connected to the control system. The intelligent floor cleaning robot 11 is prior art (such as an intelligent floor cleaning robot 11 in the publication number CN208942014U), and will not be described in detail here.

[0026] Among them, air inlet and outlet openings 63 are arranged on both sides of the main turnover 61, and the air inlet and outlet openings 63 are connected to the deodorization system 13. The deodorization system 13 includes a suction hose 131, a suction fan 132, and a spray tower 133 that are connected in sequence. The suction fan 132 and the spray tower 133 are connected to a PLC controller.

[0027] Among them, it further includes a flushing water pump station 14 arranged on the first-layer operation platform 8. The flushing water pump station 14 is connected to a plurality of cleaning nozzles 141 and high-pressure nozzles 142. The cleaning nozzles 141 are arranged on the main turnover 61, and the high-pressure nozzles are arranged on the robotic arm 11. The flushing water pump station 14 is connected to a PLC controller.

[0028] Among them, the flushing water pump station 14 includes a flushing water tank 143, a flushing water pump 144, and a flushing water pipe 145 that are connected in sequence. Both the high-pressure nozzles 142 and the cleaning nozzles 141 are arranged on the flushing water pipe 145.

[0029] Among them, the robotic arm 11 is slidably arranged on a slide rail.

[0030] Embodiment 1 Such as Figure 1As shown in the figure, the control system for a garbage compression station includes a PLC controller, an image acquisition module, a server image processing unit GPU, sensors, and a data processing unit. The image acquisition module includes cameras installed at the compression head assembly 1, L-shaped rigid turbine rolling shutter door 3, fast rolling shutter door 4, double-fold chute 6, robotic arm 11, the first-floor operation platform 8, and the second-floor operation platform 9, which are used to acquire images of the compression head assembly 1, L-shaped rigid turbine rolling shutter door 3, fast rolling shutter door 4, double-fold chute 6, robotic arm 11, and intelligent floor cleaning robot 12, and send the data to the server image processing unit GPU in real time through the network port. The server image processing unit GPU processes the above data and transmits the real-time actions of the compression head assembly 1, L-shaped rigid turbine rolling shutter door 3, fast rolling shutter door 4, double-fold chute 6, robotic arm 11, and intelligent floor cleaning robot 12 to the data processing unit. The sensors are respectively installed at the compression head assembly 1, L-shaped rigid turbine rolling shutter door 3, fast rolling shutter door 4, double-fold chute 6, robotic arm 11, and the second-floor operation platform 9, which are used to acquire the action information of the compression head assembly 1, L-shaped rigid turbine rolling shutter door 3, fast rolling shutter door 4, double-fold chute 6, robotic arm 11, and intelligent floor cleaning robot 12, and send the data to the data processing unit in real time. The data processing unit is used to receive and process and analyze the action information of the compression head assembly 1, L-shaped rigid turbine rolling shutter door 3, fast rolling shutter door 4, double-fold chute 6, robotic arm 11, and intelligent floor cleaning robot 12 and the real-time actions of the compression head assembly 1, L-shaped rigid turbine rolling shutter door 3, fast rolling shutter door 4, double-fold chute 6, robotic arm 11, and intelligent floor cleaning robot 12, and transmit the control information to the PLC controller. The PLC controller is used to control the actions of the compression head assembly 1, L-shaped rigid turbine rolling shutter door 3, fast rolling shutter door 4, double-fold chute 6, and robotic arm 11.

[0031] Embodiment 2 Control system for waste transfer station, comprising a PLC controller, an image acquisition module, a server image processing unit GPU, sensors and a data processing unit. The image acquisition module includes cameras arranged at the compression head assembly 1, L-shaped rigid turbine rolling shutter door 3, fast rolling shutter door 4, double-fold chute 6, robotic arm 11, first-floor operation platform 8 and second-floor operation platform 9, which are used to acquire images of the compression head assembly 1, L-shaped rigid turbine rolling shutter door 3, fast rolling shutter door 4, double-fold chute 6, robotic arm 11 and intelligent floor cleaning robot 12, and transmit the data to the server image processing unit GPU in real time through the network port; the server image processing unit GPU processes the above data and transmits the real-time actions of the compression head assembly 1, L-shaped rigid turbine rolling shutter door 3, fast rolling shutter door 4, double-fold chute 6, robotic arm 11 and intelligent floor cleaning robot 12 to the data processing unit; the sensors are respectively arranged at the compression head assembly 1, L-shaped rigid turbine rolling shutter door 3, fast rolling shutter door 4, double-fold chute 6, robotic arm 11 and second-floor operation platform 9, which are used to acquire the action information of the compression head assembly 1, L-shaped rigid turbine rolling shutter door 3, fast rolling shutter door 4, double-fold chute 6, robotic arm 11 and intelligent floor cleaning robot 12, and transmit the data to the data processing unit in real time. The data processing unit is used to receive and process and analyze the action information of the compression head assembly 1, L-shaped rigid turbine rolling shutter door 3, fast rolling shutter door 4, double-fold chute 6, robotic arm 11 and intelligent floor cleaning robot 12 and the real-time actions of the compression head assembly 1, L-shaped rigid turbine rolling shutter door 3, fast rolling shutter door 4, double-fold chute 6, robotic arm 11 and intelligent floor cleaning robot 12, and transmit the control information to the PLC controller. The PLC controller is used for the actions of the compression head assembly 1, L-shaped rigid turbine rolling shutter door 3, fast rolling shutter door 4, double-fold chute 6 and robotic arm 11.

[0032] Among them, the sensors include a first proximity switch sensor, a second proximity switch sensor, a third proximity switch sensor, a fourth proximity switch sensor, a laser sensor, a fifth proximity switch sensor, a sixth proximity switch sensor, a seventh proximity switch sensor, an eighth proximity switch sensor and a pressure sensor; the first proximity switch sensor is used to detect whether the compatible trash bin 7 is in place; the second proximity switch sensor is used to detect whether the unloading vehicle 10 is in the berth 2; the third proximity switch sensor is used to detect whether the hook arm transfer vehicle is in place; the fourth proximity switch sensor is used to detect whether the compression head assembly 1 moves into place; the laser sensor is used to detect the extension and retraction distance of the pressure head; the fifth proximity switch sensor is used to detect whether the double folding chute 6 is opened in place; the sixth proximity switch sensor is used to detect whether the L-shaped hard turbine rolling shutter door 3 is opened and closed in place; the seventh proximity switch sensor is used to detect whether the fast rolling shutter door 4 is opened and closed in place; the eighth proximity switch sensor is used to detect whether the mechanical arm 11 is in place, and the pressure sensor is used to detect whether the compatible trash bin 7 is full.

[0033] The PLC controller is also connected to the air intake fan 132 and the spray tower 133 in the deodorization system 13 .

[0034] The PLC controller is also connected to the flushing water pump 144 in the flushing water pump station 14 .

[0035] Example 3 like Figures 6 - 13 As shown, the control method for a garbage compression station adopts the control system for a garbage compression station described in Example 2, and includes the following steps: Step 1: All devices are in the initial position, waiting to receive information from the control system; Step 2: After the PLC controller sends a hook-arm transfer vehicle reversing signal, the hook-arm transfer vehicle operator operates the hook-arm transfer vehicle to reverse and places the compatible garbage bin 7 on the loading platform of the bin placing berth 2 of the first-layer working platform 8. After the data processing unit receives the hook-arm transfer vehicle arrival information and the compatible garbage bin 7 arrival information, it proceeds to the next step; Step 3: The PLC controller controls the robot arm 11 to move to the side of the compatible trash bin 7. After the data processing unit receives the information that the robot arm 11 is in place, the PLC controller controls the robot arm 11 to insert the hydraulic quick-change joint, so that the compatible trash bin 7 opens the feed door. Then, the PLC controller controls the robot arm 11 to pull out the hydraulic quick-change joint and stand by. Step 4: The PLC controller controls the main flip 61 on the double-folding chute 6 to flip down and the auxiliary flip 62 to flip forward, and together with the L-shaped hard turbine shutter door 3 and the fast shutter door 4, form a berth 2; Step 5: The unloading truck 10 reverses under the command of the PLC controller and heads towards berth 2. After the data processing unit receives the information that the unloading truck 10 is at berth 2, the PLC controller controls the rapid rolling shutter door 4 to open automatically, and the data processing unit receives the information that the rapid rolling shutter door 4 is in place for opening and closing; the unloading truck 10 stops at the vehicle stop for unloading under the command of the PLC controller until the unloading is completed and then drives away. After the data processing unit receives the signal that the compatible garbage bin 7 is full, it enters the next step. During unloading, the PLC controller controls the deodorization system 13 to perform exhaust air deodorization synchronously; Step 6: After the unloading truck 10 drives away, the PLC controller controls the secondary flip 62 on the double-fold chute 6 to flip backward, flips the garbage spilled by the unloading truck 10 into the double-fold chute 6. Subsequently, the PLC controller controls the L-shaped rigid turbine rolling shutter door 3 to open and the rapid rolling shutter door 4 to close. After the data processing unit receives the information that the L-shaped rigid turbine rolling shutter door 3 is in place and the information that the rapid rolling shutter door 4 is in place, it enters the next step; Step 7: The PLC controller controls the compression head assembly 1 to move in the Y direction to the rear of berth 2. After the data processing unit receives the information that the compression head assembly 1 has moved in place, it then moves in the X direction to berth 2. After the data processing unit receives the information that the compression head assembly 1 has moved in place, it moves in the Z direction to compress the garbage. The data processing unit receives the information on the telescopic distance of the compression head. When the compression is completed, the compression head assembly 1 returns to the rear of berth 2, and the PLC controller controls the L-shaped rigid turbine rolling shutter door 3 to close. The data processing unit receives the information that the L-shaped rigid turbine rolling shutter door 3 is in place; Step 8: The PLC controller controls the operation of the flushing water pump station 14, and the cleaning nozzles 141 on the double-fold chute 6 flush the periphery of the double-fold chute 6. Then, the PLC controller controls the main flip 61 on the double-fold chute 6 to turn upward. After the data processing unit receives the information that the double-fold chute 6 is opened in place, it enters the next step; Step 9: The PLC controller controls the robotic arm 11 to move to the side of the compatible garbage bin 7 again. After the data processing unit receives the information that the robotic arm 11 is in place, the PLC controller controls the robotic arm 11 to automatically insert the hydraulic quick-change joint, enabling the operation to close the feeding door of the compatible garbage bin 7. Then, the PLC controller controls the robotic arm 11 to pull out the hydraulic quick-change joint and standby; Step 10: After the PLC controller issues a reverse signal for the hook-arm transfer vehicle, the hook-arm transfer vehicle reverses and hooks away the compatible garbage bin 7 filled with garbage for garbage transfer and unloading at the incineration plant; Step 11: After the compatible garbage bin 7 is pulled away, the PLC controller controls the high-pressure nozzle 142 on the robotic arm 11 to automatically flush the loading platform of the box placement berth 2 on the first-floor operation platform 8 and the surrounding area, realizing the automatic cleaning of the first-floor operation platform 8; Step 12: After the unloading is completed, the intelligent floor-sweeping robot 12 automatically sweeps the second-floor operation platform 9, realizing the automatic cleaning of the second-floor operation platform 9.

[0036] Example 4 A control method for a garbage transfer station, adopting the control system for a garbage transfer station described in Example 2, includes the following steps: Step 1: All devices are in the initial position, waiting to receive information from the control system; Step 2: After the PLC controller issues a backing signal for the hook-arm transfer vehicle, the operator of the hook-arm transfer vehicle operates the vehicle to back up and places the compatible garbage bin 7 on the loading platform of the box-placement berth 2 on the first floor. After the data processing unit receives the information that the hook-arm transfer vehicle has arrived (i.e., the data processing unit learns that the hook-arm transfer vehicle has arrived) and the information that the compatible garbage bin 7 has arrived (i.e., the data processing unit learns that the compatible garbage bin 7 is placed on the loading platform of berth 2), it proceeds to the next step; Step 3: The PLC controller controls the manipulator 11 to move to one side of the compatible garbage bin 7. After the data processing unit receives the information that the manipulator 11 has arrived (i.e., the data processing unit learns that the manipulator 11 has moved into place), the PLC controller controls the manipulator 11 to insert the hydraulic quick-change joint, causing the compatible garbage bin 7 to open the feed door. Then, the PLC controller controls the manipulator 11 to pull out the hydraulic quick-change joint and standby; Step 4: The PLC controller controls the main flip 61 of the double-fold chute 6 to turn downward and the sub-flip 62 to turn forward, and together with the L-shaped rigid turbine rolling shutter door 3 and the fast rolling shutter door 4, forms berth 2; Step 5: The unloading truck 10 reverses to berth 2 under the command of the PLC controller. After the data processing unit receives the information that the unloading truck 10 is at berth 2 (i.e., the data processing unit learns that the unloading truck has reversed to the berth), the PLC controller controls the fast rolling shutter door 4 to open automatically. After the data processing unit receives the information that the fast rolling shutter door 4 has opened and closed in place (i.e., the data processing unit learns that the fast rolling shutter door 4 has opened), the unloading truck 10 stops at the vehicle stop to unload until unloading is completed and then drives away. After the data processing unit receives the signal that the compatible garbage bin 7 is full (i.e., the data processing unit learns that the compatible garbage bin 7 is already full), it proceeds to the next step. During unloading, the PLC controller controls the deodorization system 13 to perform exhaust air deodorization synchronously; Step 6: After the unloading truck 10 drives away, the PLC controller controls the sub-flip 62 of the double-fold chute 6 to turn backward, turning the garbage spilled by the unloading truck 10 into the double-fold chute 6. Subsequently, the PLC controller controls the L-shaped rigid turbine rolling shutter door 3 to open and the fast rolling shutter door 4 to close. After the data processing unit receives the information that the L-shaped rigid turbine rolling shutter door 3 has arrived (i.e., the data processing unit learns that the L-shaped rigid turbine rolling shutter door has opened) and the information that the fast rolling shutter door 4 has arrived (i.e., the data processing unit learns that the fast rolling shutter door 4 has closed), it proceeds to the next step; Step 7: The PLC controller controls the compression head assembly to move 1Y-directionally to the rear of berth 2. After the data processing unit receives the information that the compression head assembly has moved into place (i.e., the data processing unit learns that the compression head assembly has moved into place in the Y-direction), it then moves 1X-directionally to berth 2. After the data processing unit receives the information that the compression head assembly has moved into place (i.e., the data processing unit learns that the compression head assembly has moved into place in the X-direction), it moves 1Z-directionally to perform garbage compression. The data processing unit receives the information on the telescopic distance of the compression head (i.e., the data processing unit learns that the compression head assembly has moved into place in the Z-direction). When the compression is completed, the compression head assembly returns to the rear of berth 2, and the PLC controller controls the L-shaped rigid turbine rolling shutter door 3 to close. The data processing unit receives the information that the L-shaped rigid turbine rolling shutter door 3 has moved into place (i.e., the data processing unit learns that the L-shaped rigid turbine rolling shutter door has closed); Step 8: The PLC controller controls the operation of the flushing water pump station 14. The cleaning nozzles 141 on the double-fold chute 6 flush the periphery of the double-fold chute 6. Then, the PLC controller controls the main flip 61 on the double-fold chute 6 to flip upward. After the data processing unit receives the information that the double-fold chute 6 has been opened in place (i.e., the data processing unit learns that the main flip 61 on the double-fold chute 6 has flipped upward in place), it proceeds to the next step; Step 9: The PLC controller controls the robotic arm 11 to move to the side of the compatible garbage bin 7 again. After the data processing unit receives the information that the robotic arm 11 has moved into place (i.e., the data processing unit learns that the robotic arm 11 has moved into place), the PLC controller controls the robotic arm 11 to automatically insert the hydraulic quick-change joint, causing the operation of the compatible garbage bin 7 to close the feed door. Then, the PLC controller controls the robotic arm 11 to pull out the hydraulic quick-change joint and standby; Step 10: After the PLC controller issues a reverse signal to the hook-arm transfer vehicle, the hook-arm transfer vehicle reverses and hooks away the compatible garbage bin 7 filled with garbage for garbage transfer and unloading at the incineration plant; Step 11: After the compatible garbage bin 7 is pulled away, the PLC controller controls the high-pressure nozzle 142 on the robotic arm 11 to automatically flush the loading platform of the box placement berth 2 on the first-floor operation platform 8 and the surrounding area, realizing the automatic cleaning of the first-floor operation platform 8; Step 12: After the unloading is completed, the intelligent floor-sweeping robot 12 automatically sweeps the second-floor operation platform 9, realizing the automatic cleaning of the second-floor operation platform 9.

[0037] Among them, in the above Step 1, all devices are in their initial positions, including: the compression head assembly 11 is located at the rear end of berth 22; the double-fold chute 66 is in the upward-flipped state; the L-shaped rigid turbine rolling shutter door 33 is in the closed state; the fast rolling shutter door 44 is in the closed state.

[0038] Among them, in the second step, the processing unit receives the in-place information of the hook-arm transfer vehicle: the signal is transmitted to the data processing unit through the third proximity switch sensor to obtain the first in-place information of the hook-arm transfer vehicle; the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the second in-place information of the hook-arm transfer vehicle. If the first in-place information of the hook-arm transfer vehicle is consistent with the second in-place information of the hook-arm transfer vehicle, the steps continue; if the first in-place information of the hook-arm transfer vehicle is inconsistent with the second in-place information of the hook-arm transfer vehicle, the operation is stopped and an alarm message is sent; in-place information of the compatible garbage bin 7: the first in-place information of the compatible garbage bin 7 obtained by transmitting the signal to the data processing unit through the first proximity switch sensor, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the second in-place information of the compatible garbage bin 7. If the first in-place information of the compatible garbage bin 7 is consistent with the second in-place information of the compatible garbage bin 7, the steps continue; if the first in-place information of the compatible garbage bin 7 is inconsistent with the second in-place information of the compatible garbage bin 7, the operation is stopped and an alarm message is sent.

[0039] Among them, in the third step and the eighth step, the data processing unit receives the in-place information of the robotic arm 11: the signal is transmitted to the data processing unit through the eighth proximity switch sensor to obtain the first in-place information of the robotic arm 11, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the second in-place information of the robotic arm 11. If the first in-place information of the robotic arm 11 is consistent with the second in-place information of the robotic arm 11, the steps continue; if the first in-place information of the robotic arm 11 is inconsistent with the second in-place information of the robotic arm 11, the operation is stopped and an alarm message is sent.

[0040] Among them, in the fifth step, the data processing unit receives the information of the unloading truck 10 at berth 2: the signal is transmitted to the data processing unit through the second proximity switch sensor to obtain the information of the first unloading truck 10 at berth 2, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the information of the second unloading truck 10 at berth 2. If the information of the first unloading truck 10 at berth 2 is consistent with the information of the second unloading truck 10 at berth 2, the steps continue. If the information of the first unloading truck 10 at berth 2 is inconsistent with the information of the second unloading truck 10 at berth 2, the operation is stopped and an alarm message is sent; the data processing unit receives the information that the fast rolling shutter door 4 is opened and closed in place: the signal is transmitted to the data processing unit through the seventh proximity switch sensor to obtain the information that the first fast rolling shutter door 4 is opened and closed in place, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the information that the second fast rolling shutter door 4 is opened and closed in place. If the information that the first fast rolling shutter door 4 is opened and closed in place is consistent with the information that the second fast rolling shutter door 4 is opened and closed in place, the steps continue. If the information that the first fast rolling shutter door 4 is opened and closed in place is inconsistent with the information that the second fast rolling shutter door 4 is opened and closed in place, the operation is stopped and an alarm message is sent; the data processing unit receives the signal that the compatible garbage bin 7 is full: the signal is transmitted to the data processing unit through the pressure sensor to obtain the first signal that the compatible garbage bin 7 is full, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the second signal that the compatible garbage bin 7 is full. If the first signal that the compatible garbage bin 7 is full is consistent with the second signal that the compatible garbage bin 7 is full, the steps continue. If the first signal that the compatible garbage bin 7 is full is inconsistent with the second signal that the compatible garbage bin 7 is full, the operation is stopped and an alarm message is sent.

[0041] Among them, in the sixth step, the data processing unit receives the information that the fast rolling shutter door 4 is in place: the signal is transmitted to the data processing unit through the seventh proximity switch sensor to obtain the first information that the fast rolling shutter door 4 is in place, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the second information that the fast rolling shutter door 4 is in place. If the first information that the fast rolling shutter door 4 is in place is consistent with the second information that the fast rolling shutter door 4 is in place, the steps will continue. If the first information that the fast rolling shutter door 4 is in place is inconsistent with the second information that the fast rolling shutter door 4 is in place, the operation will be stopped and an alarm message will be sent; the data processing unit receives the information that the L-shaped rigid turbine rolling shutter door 3 is in place: the signal is transmitted to the data processing unit through the sixth proximity switch sensor to obtain the first information that the L-shaped rigid turbine rolling shutter door 3 is in place, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the second information that the L-shaped rigid turbine rolling shutter door 3 is in place. If the first information that the L-shaped rigid turbine rolling shutter door 3 is in place is consistent with the second information that the L-shaped rigid turbine rolling shutter door 3 is in place, the steps will continue. If the first information that the L-shaped rigid turbine rolling shutter door 3 is in place is inconsistent with the second information that the L-shaped rigid turbine rolling shutter door 3 is in place, the operation will be stopped and an alarm message will be sent.

[0042] Among them, in the seventh step, the data processing unit receives the in-place information of the compression head assembly 1: the signal is transmitted to the data processing unit through the fourth proximity switch sensor to obtain the in-place information of the first compression head assembly 1, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the in-place information of the second compression head assembly 1. If the in-place information of the first compression head assembly 1 and the in-place information of the second compression head assembly 1 are consistent, the steps continue. If the in-place information of the first compression head assembly 1 and the in-place information of the second compression head assembly 1 are inconsistent, the operation stops and an alarm message is sent; the data processing unit receives the head telescopic distance information: the signal is transmitted to the data processing unit through the laser sensor to obtain the first head telescopic distance information, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the first head telescopic distance information. If the first head telescopic distance information and the second head telescopic distance information are consistent, the steps continue. If the first head telescopic distance information and the second head telescopic distance information are inconsistent, the operation stops and an alarm message is sent; the data processing unit receives the in-place information of the L-shaped rigid turbine rolling shutter 3: the signal is transmitted to the data processing unit through the sixth proximity switch sensor to obtain the in-place information of the first L-shaped rigid turbine rolling shutter 3, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the in-place information of the second L-shaped rigid turbine rolling shutter 3. If the in-place information of the first L-shaped rigid turbine rolling shutter 3 and the in-place information of the second L-shaped rigid turbine rolling shutter 3 are consistent, the steps continue. If the in-place information of the first L-shaped rigid turbine rolling shutter 3 and the in-place information of the second L-shaped rigid turbine rolling shutter 3 are inconsistent, the operation stops and an alarm message is sent.

[0043] Among them, in the eighth step, the data processing unit receives the in-place information of the double-fold chute 6 being opened: the signal is transmitted to the data processing unit through the fifth proximity switch sensor to obtain the in-place information of the first double-fold chute 6 being opened, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the in-place information of the second double-fold chute 6 being opened. If the in-place information of the first double-fold chute 6 being opened and the in-place information of the second double-fold chute 6 being opened are consistent, the steps continue. If the in-place information of the first double-fold chute 6 being opened and the in-place information of the second double-fold chute 6 being opened are inconsistent, the operation stops and an alarm message is sent.

[0044] The beneficial effects of the present invention: 1. The control system for a garbage compression station provided by the present invention performs dual detection through sensors and image acquisition modules - server image processing unit GPU arranged at each work station, and controls the operation of each device under the combined action of a PLC controller and a data processing unit, so as to realize the following operations: the hook-arm transfer vehicle moves into place, the feeding door of the compatible garbage bin 7 opens, the double-fold chute 6 flips into place, the unloading vehicle 10 moves into place, the fast rolling shutter door 4 automatically opens, the unloading vehicle 10 unloads and the deodorization system 13 extracts air for deodorization, the compression head assembly 1 compresses garbage, the compatible garbage bin 7 closes the feeding door, the hook-arm transfer vehicle transfers materials, the high-pressure nozzle 142 on the robotic arm 11 automatically cleans the first-layer working platform 8, and the intelligent floor cleaning robot 12 automatically cleans the second-layer working platform 9.

[0045] 2. The control method for a garbage compression station provided by the present invention, the data processing unit performs dual detection according to sensors and image acquisition modules - server image processing unit GPU at each work station, and sends control information to the PLC controller. The PLC controller controls the automatic operation of each device and commands the actions of the hook-arm transfer vehicle and the unloading vehicle 10, so that the unmanned garbage compression station can operate automatically without additional operators, reducing production costs.

[0046] The above are only preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Any simple modification or equivalent change made to the above embodiments based on the technical essence of the present invention falls within the protection scope of the present invention.

Claims

1. Control system for garbage compression station, characterized in that: It includes a PLC controller, an image acquisition module, a server image processing unit GPU, sensors, and a data processing unit. The image acquisition module includes cameras installed at the compression head assembly, L-shaped rigid turbine rolling door, fast rolling door, double-fold chute, robotic arm, first-floor operation platform, and second-floor operation platform, which are used to collect images of the compression head assembly, L-shaped rigid turbine rolling door, fast rolling door, double-fold chute, robotic arm, and intelligent floor cleaning robot, and send the data to the server image processing unit GPU in real time through the network port. The server image processing unit GPU processes the above data and transmits the real-time actions of the compression head assembly, L-shaped rigid turbine rolling door, fast rolling door, double-fold chute, robotic arm, and intelligent floor cleaning robot to the data processing unit. The sensors are respectively installed at the compression head assembly, L-shaped rigid turbine rolling door, fast rolling door, double-fold chute, robotic arm, and second-floor operation platform, which are used to collect the action information of the compression head assembly, L-shaped rigid turbine rolling door, fast rolling door, double-fold chute, robotic arm, and intelligent floor cleaning robot, and send the data to the data processing unit in real time. The data processing unit is used to receive and process and analyze the action information of the compression head assembly, L-shaped rigid turbine rolling door, fast rolling door, double-fold chute, robotic arm, and intelligent floor cleaning robot and the real-time actions of the compression head assembly, L-shaped rigid turbine rolling door, fast rolling door, double-fold chute, robotic arm, and intelligent floor cleaning robot, and transmit the control information to the PLC controller. The PLC controller is used for the actions of the compression head assembly, L-shaped rigid turbine rolling door, fast rolling door, double-fold chute, and robotic arm.

2. The control system for a garbage compression station according to claim 1, characterized in that: The sensors include a first proximity switch sensor, a second proximity switch sensor, a third proximity switch sensor, a fourth proximity switch sensor, a laser sensor, a fifth proximity switch sensor, a sixth proximity switch sensor, a seventh proximity switch sensor, an eighth proximity switch sensor, and a pressure sensor; The first proximity switch sensor is used to detect whether the compatible trash bin is in place; The second proximity switch sensor is used to detect whether the unloading truck is in the berth; The third proximity switch sensor is used to detect whether the hook arm transfer vehicle is in place; the fourth proximity switch sensor is used to detect whether the compression head assembly has moved in place; the laser sensor is used to detect the telescopic distance of the press head; the fifth proximity switch sensor is used to detect whether the double-fold chute is opened in place; the sixth proximity switch sensor is used to detect whether the L-shaped rigid turbine rolling door is opened and closed in place; the seventh proximity switch sensor is used to detect whether the fast rolling door is opened and closed in place; The eighth proximity switch sensor is used to detect whether the robotic arm is in place, and the pressure sensor is used to detect whether the compatible trash bin is full.

3. The control system for a garbage compression station according to claim 2, characterized in that: The PLC controller is also connected to the suction fan and spray tower in the deodorization system.

4. The control system for a waste compression station according to claim 3, characterized in that: The PLC controller is also connected to the flushing water pump in the flushing water pump station.

5. The control method of the control system for a garbage compression station according to any one of claims 1-4, characterized in that, It includes the following steps: Step 1: All devices are in the initial position, waiting to receive information from the control system; Step 2: After the PLC controller sends a reverse signal to the hook-arm transfer vehicle, the operator of the hook-arm transfer vehicle reverses the hook-arm transfer vehicle and places the compatible garbage bin on the loading platform of the bin placing berth on the first-floor work platform. After the data processing unit receives the information that the hook-arm transfer vehicle and the compatible garbage bin are in place, it proceeds to the next step; Step 3: The PLC controller controls the robot arm to move to one side of the compatible trash bin. After the data processing unit receives the information that the robot arm is in place, the PLC controller controls the robot arm to insert the hydraulic quick-change joint, so that the compatible trash bin opens the feed door. Then, the PLC controller controls the robot arm to pull out the hydraulic quick-change joint and stand by. Step 4: The PLC controller controls the main downward flipping and the auxiliary forward flipping on the double-folding chute, and forms a berth together with the L-shaped hard turbine shutter door and the fast shutter door; Step 5: The unloading truck reverses to the parking space under the command of the PLC controller. After the data processing unit receives the information that the unloading truck is in the parking space, the PLC controller controls the fast rolling door to open automatically. The data processing unit receives the information that the fast rolling door is in place. The unloading truck stops at the vehicle stall and unloads materials under the command of the PLC controller until the unloading is completed and the truck leaves. After the data processing unit receives the signal that the compatible garbage bin is full, it enters the next step. During unloading, the PLC controller controls the deodorization system to perform exhaust deodorization synchronously. Step 6: After the unloading vehicle leaves, the PLC controller controls the auxiliary flip on the double folding chute to flip back, and the garbage dropped by the unloading vehicle is flipped and poured into the double folding chute. Then the PLC controller controls the opening of the L-shaped hard turbine rolling door and the closing of the fast rolling door. After the data processing unit receives the information that the L-shaped hard turbine rolling door and the fast rolling door are in place, it enters the next step; Step 7: The PLC controller controls the compression head assembly to move to the rear of the berth in the Y direction, and the data processing unit receives the information that the compression head assembly has moved into position, and then moves to the berth in the X direction. After receiving the information that the compression head assembly has moved into position, the data processing unit moves to the Z direction to compress the garbage, and the data processing unit receives the information of the compression head extension distance. When the compression is completed, the compression head assembly returns to the rear of the berth, and the PLC controller controls the L-shaped hard turbine rolling shutter door to close, and the data processing unit receives the information that the L-shaped hard turbine rolling shutter door is in position. Step 8: The PLC controller controls the operation of the flushing water pump station, and the cleaning nozzle on the double folding chute flushes the periphery of the double folding chute, and then the main flip on the double folding chute is controlled by the PLC controller to flip up, and the data processing unit enters the next step after receiving the information that the double folding chute is opened in place; Step 9: The PLC controller controls the robot arm to move to the side of the compatible trash bin again. After the data processing unit receives the information that the robot arm is in place, the PLC controller controls the robot arm to automatically insert the hydraulic quick-change joint, so that the compatible trash bin can close the feed door. Then, the PLC controller controls the robot arm to pull out the hydraulic quick-change joint and stand by. Step 10: After the PLC controller sends a reverse signal to the hook-arm transfer vehicle, the hook-arm transfer vehicle reverses and hooks away the compatible garbage bin filled with garbage to transfer the garbage and unload it at the incineration plant; Step Eleven: After the compatible garbage bin is taken away, the PLC controller controls the high-pressure nozzle on the robotic arm to automatically wash the loading platform and the surrounding area of the box placement berth on the first-floor operation platform, realizing the automatic cleaning of the first-floor operation platform. Step Twelve: After unloading is completed, the intelligent floor-sweeping robot automatically sweeps the second-floor operation platform, realizing the automatic cleaning of the second-floor operation platform.

6. The control method for a garbage compression station according to claim 5, characterized in that: In the above Step One, all devices are in their initial positions, including: the compressing head assembly 1 is located at the rear end of the berth 2; the double-fold chute 6 is in the up-flipped state; the L-shaped rigid turbine rolling shutter door 3 is in the closed state; the fast rolling shutter door 4 is in the closed state.

7. The control method for a garbage compression station according to claim 6, characterized in that: In the above Step Two, the processing unit receives the in-place information of the hook-arm transfer vehicle: the signal is transmitted to the data processing unit through the third proximity switch sensor to obtain the first in-place information of the first hook-arm transfer vehicle; the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the second in-place information of the first hook-arm transfer vehicle. If the first in-place information of the first hook-arm transfer vehicle is consistent with the second in-place information of the first hook-arm transfer vehicle, the steps continue. If the first in-place information of the first hook-arm transfer vehicle is inconsistent with the second in-place information of the first hook-arm transfer vehicle, the operation stops and an alarm message is sent; for the in-place information of the compatible garbage bin: the signal is transmitted to the data processing unit through the first proximity switch sensor to obtain the first in-place information of the compatible garbage bin, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the second in-place information of the compatible garbage bin. If the first in-place information of the compatible garbage bin is consistent with the second in-place information of the compatible garbage bin, the steps continue. If the first in-place information of the compatible garbage bin is inconsistent with the second in-place information of the compatible garbage bin, the operation stops and an alarm message is sent.

8. The control method for a garbage compression station according to claim 7, characterized in that: In the above Step Three and Step Eight, the data processing unit receives the in-place information of the robotic arm: the signal is transmitted to the data processing unit through the eighth proximity switch sensor to obtain the first in-place information of the robotic arm, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the second in-place information of the robotic arm. If the first in-place information of the robotic arm is consistent with the second in-place information of the robotic arm, the steps continue. If the first in-place information of the robotic arm is inconsistent with the second in-place information of the robotic arm, the operation stops and an alarm message is sent.

9. The control method for a garbage compression station according to claim 8, wherein: In the fifth step, the data processing unit receives the information of the unloading truck at the berth: the signal is transmitted to the data processing unit through the second proximity switch sensor to obtain the information of the first unloading truck at the berth, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the information of the second unloading truck at the berth. If the information of the first unloading truck at the berth is consistent with the information of the second unloading truck at the berth, the steps continue; if the information of the first unloading truck at the berth is inconsistent with the information of the second unloading truck at the berth, the operation stops and an alarm message is issued. The data processing unit receives the information that the fast rolling shutter door is opened / closed in place: the signal is transmitted to the data processing unit through the seventh proximity switch sensor to obtain the information that the first fast rolling shutter door is opened / closed in place, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the information that the second fast rolling shutter door is opened / closed in place. If the information that the first fast rolling shutter door is opened / closed in place is consistent with the information that the second fast rolling shutter door is opened / closed in place, the steps continue; if the information that the first fast rolling shutter door is opened / closed in place is inconsistent with the information that the second fast rolling shutter door is opened / closed in place, the operation stops and an alarm message is issued. The data processing unit receives the signal that the compatible garbage bin is full: the signal is transmitted to the data processing unit through the pressure sensor to obtain the signal that the first compatible garbage bin is full, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the signal that the second compatible garbage bin is full. If the signal that the first compatible garbage bin is full is consistent with the signal that the second compatible garbage bin is full, the steps continue; if the signal that the first compatible garbage bin is full is inconsistent with the signal that the second compatible garbage bin is full, the operation stops and an alarm message is issued.

10. The control method for a garbage compression station according to claim 9, characterized in that: In the sixth step, the data processing unit receives the information that the fast rolling shutter door is opened / closed in place: the signal is transmitted to the data processing unit through the seventh proximity switch sensor to obtain the information that the first fast rolling shutter door is opened / closed in place, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the information that the second fast rolling shutter door is opened / closed in place. If the information that the first fast rolling shutter door is opened / closed in place is consistent with the information that the second fast rolling shutter door is opened / closed in place, the steps continue; if the information that the first fast rolling shutter door is opened / closed in place is inconsistent with the information that the second fast rolling shutter door is opened / closed in place, the operation stops and an alarm message is issued. The data processing unit receives the information that the L-shaped rigid turbine rolling shutter door is in place: the signal is transmitted to the data processing unit through the sixth proximity switch sensor to obtain the information that the first L-shaped rigid turbine rolling shutter door is in place, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the information that the second L-shaped rigid turbine rolling shutter door is in place. If the information that the first L-shaped rigid turbine rolling shutter door is in place is consistent with the information that the second L-shaped rigid turbine rolling shutter door is in place, the steps continue; if the information that the first L-shaped rigid turbine rolling shutter door is in place is inconsistent with the information that the second L-shaped rigid turbine rolling shutter door is in place, the operation stops and an alarm message is issued.

11. The control method for a garbage compression station according to claim 10, wherein: In the seventh step, the data processing unit receives the information that the compression head assembly has moved into place: the signal is transmitted to the data processing unit through the fourth proximity switch sensor to obtain the information that the first compression head assembly has moved into place, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the information that the second compression head assembly has moved into place. If the information that the first compression head assembly has moved into place is consistent with the information that the second compression head assembly has moved into place, the steps continue. If the information that the first compression head assembly has moved into place is inconsistent with the information that the second compression head assembly has moved into place, the operation is stopped and an alarm message is sent; the data processing unit receives the information on the telescopic distance of the punch head: the signal is transmitted to the data processing unit through the laser sensor to obtain the information on the first telescopic distance of the punch head, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the information on the first telescopic distance of the punch head. If the information on the first telescopic distance of the punch head is consistent with the information on the second telescopic distance of the punch head, the steps continue. If the information on the first telescopic distance of the punch head is inconsistent with the information on the second telescopic distance of the punch head, the operation is stopped and an alarm message is sent; the data processing unit receives the information that the L-shaped rigid turbine rolling shutter door has moved into place: the signal is transmitted to the data processing unit through the sixth proximity switch sensor to obtain the information that the first L-shaped rigid turbine rolling shutter door has moved into place, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the information that the second L-shaped rigid turbine rolling shutter door has moved into place. If the information that the first L-shaped rigid turbine rolling shutter door has moved into place is consistent with the information that the second L-shaped rigid turbine rolling shutter door has moved into place, the steps continue. If the information that the first L-shaped rigid turbine rolling shutter door has moved into place is inconsistent with the information that the second L-shaped rigid turbine rolling shutter door has moved into place, the operation is stopped and an alarm message is sent.

12. The control method for a garbage compression station according to claim 11, wherein: In the eighth step, the data processing unit receives the information that the double-fold chute has been opened in place: the signal is transmitted to the data processing unit through the fifth proximity switch sensor to obtain the information that the first double-fold chute has been opened in place, and the signal is transmitted to the data processing unit through the camera and the GPU of the server image processing unit to obtain the information that the second double-fold chute has been opened in place. If the information that the first double-fold chute has been opened in place is consistent with the information that the second double-fold chute has been opened in place, the steps continue. If the information that the first double-fold chute has been opened in place is inconsistent with the information that the second double-fold chute has been opened in place, the operation is stopped and an alarm message is sent.

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