Feeding control method, device and equipment of garbage grab bucket and storage medium

Abstract

The invention discloses a garbage grab bucket feeding control method, device and equipment and a storage medium, and the method comprises the steps that the total weight of garbage grabbed by a garbage grab bucket is detected, the distance between the garbage grab bucket and a feeding terminal point is detected, the movement speed of the garbage grab bucket and the grab bucket opening time are initialized, and the garbage grab bucket is controlled according to the distance, the movement speed and the total weight; the average feeding weight is calculated, when the garbage grab bucket throws garbage every time, the garbage grab bucket is driven to throw the garbage every time according to the grab bucket opening time for throwing the garbage every time, and the grab bucket opening time is continuously adjusted according to the weight and time adjusting coefficient after the sub-garbage is thrown one by one. Therefore, in the moving process of the garbage grab bucket, the opening time of the grab bucket can be adjusted in real time according to the weight of each part of sub-garbage, the opening time of a large part of garbage is shortened, the opening time of a small part of garbage is prolonged, and therefore it is guaranteed that the garbage grab bucket evenly throws the garbage on the feeding belt of the feeding opening, and the garbage is more stably combusted after entering an incinerator.

Description

Technical Field

[0001] The present application relates to the technical field of garbage disposal equipment, and more specifically, to a feeding control method, device, equipment and storage medium for a garbage grab bucket. Background Art

[0002] In the garbage incineration power generation industry, the stable combustion and efficient energy conversion of garbage incinerators are extremely crucial, and a reasonable feeding method is the core element to achieve this goal. Traditional garbage feeding relies on manual experience, and the feeding of garbage cranes is highly random. As a result, the garbage is unevenly distributed at the feeding port, and garbage accumulates in some areas, not only causing incomplete combustion and low energy conversion rate, but also discharging a large amount of pollutants without sufficient combustion, aggravating environmental pollution. At the same time, the temperature in the incinerator fluctuates violently, affecting the stable operation of the equipment, shortening the service life of the equipment, and increasing the maintenance cost.

[0003] With the continuous improvement of environmental protection standards and the higher pursuit of power generation efficiency, precise and uniform feeding has become an inevitable requirement for the industry's development. Uniform feeding can allow the garbage to fully contact oxygen, achieve rapid and stable combustion, improve the energy conversion rate, reduce pollutant emissions, and also maintain the stable operation of the incinerator and reduce equipment wear. However, in actual operation, there are differences in the weight of the garbage, and the moving speed of the grab bucket varies, and currently it is impossible to accurately control the opening time and amplitude of the grab bucket, making it difficult to achieve an ideal uniform feeding effect.

[0004] Based on this, how to develop a method that can comprehensively consider various variables and accurately control the opening time of the grab bucket so that the garbage grab bucket evenly discharges garbage on the feeding belt at the feeding port for the garbage to burn more stably after entering the incinerator is an issue that needs attention. Summary of the Invention

[0005] In view of the above problems, the present application provides a feeding control method, device, equipment and storage medium for a garbage grab bucket, so that the garbage grab bucket evenly discharges garbage on the feeding belt at the feeding port for the garbage to burn more stably after entering the incinerator.

[0006] To achieve the above object, the following specific solutions are proposed:

[0007] A feeding control method for a garbage grab bucket, applied to a controller of the garbage grab bucket, includes:

[0008] Detect the total weight of all garbage grabbed by the garbage grab bucket, detect the distance between the garbage grab bucket and the feeding end point, initialize the moving speed of the garbage grab bucket, and initialize the grab opening time for the garbage grab bucket to discharge garbage;

[0009] Calculate the average feeding weight of the garbage grab bucket per unit time according to the distance, the moving speed and the total weight;

[0010] When the garbage grab bucket releases garbage each time, drive the garbage grab bucket to release the garbage of this time according to the grab bucket opening time of this garbage release, where the grab bucket opening time of this garbage release is:

[0011]

[0012] Wherein, is the grab bucket opening time of the i-th garbage release, is the grab bucket opening time of the (i - 1)-th garbage release, is the time adjustment coefficient of the (i - 1)-th garbage release, is the garbage release weight of the (i - 1)-th garbage release, and the garbage release weight of the (i - 1)-th garbage release is obtained by monitoring the total weight difference of the garbage grab bucket before and after releasing the (i - 1)-th garbage, is the average feeding weight, is the grab bucket opening time of the first garbage release, is the grab bucket opening time for initializing the garbage grab bucket to release garbage.

[0013] Optionally, calculating the average feeding weight of the garbage grab bucket per unit time according to the distance, the moving speed, and the total weight includes:

[0014] Calculating the total release time required for the garbage grab bucket to release all garbage according to the distance and the moving speed;

[0015] Calculating the average feeding weight per unit time according to the total weight and the total release time.

[0016] Optionally, the method further includes:

[0017] When the garbage grab bucket releases garbage each time, monitoring the garbage release weight of this garbage release;

[0018] When the garbage release weight of each garbage release exceeds the release weight threshold, drive the garbage grab bucket to tighten to end the garbage release work of this time, and the release weight threshold is less than twice the average feeding weight.

[0019] Optionally, the method further includes:

[0020] When the time adjustment coefficient of the (i - 1)-th garbage release is between the lower limit of the first preset accuracy and the upper limit of the first preset accuracy, .

[0021] Optionally, the method further includes:

[0022] When the garbage grabber throws garbage for the (i - 1)-th time, if the time adjustment coefficient for the (i - 1)-th garbage throw is greater than the upper limit of the second preset accuracy or less than the lower limit of the second preset accuracy, the grab opening time for the (i - 1)-th garbage throw is:

[0023] ;

[0024] If the time adjustment coefficient for the (i - 1)-th garbage throw is between the lower limit of the second preset accuracy and the upper limit of the second preset accuracy, and ,then wherein the lower limit of the second preset accuracy is less than the lower limit of the first preset accuracy, and the upper limit of the second preset accuracy is greater than the upper limit of the second preset accuracy.

[0025] A feeding control device for a garbage grabber, applied to the controller of the garbage grabber, includes:

[0026] An initialization unit, configured to detect the total weight of all the garbage grabbed by the garbage grabber, detect the distance between the garbage grabber and the feeding end point, initialize the moving speed of the garbage grabber, and initialize the grab opening time for the garbage grabber to throw garbage;

[0027] An average feeding weight calculation unit, configured to calculate the average feeding weight of the garbage grabber per unit time according to the distance, the moving speed, and the total weight;

[0028] A sub - garbage throwing unit, configured to drive the garbage grabber to throw the garbage each time when the garbage grabber throws garbage, according to the grab opening time for throwing the garbage this time, wherein the grab opening time for throwing the garbage this time is:

[0029]

[0030] wherein, is the grab opening time for the i - th garbage throw, is the grab opening time for the (i - 1)-th garbage throw, is the time adjustment coefficient for the (i - 1)-th garbage throw, is the garbage throwing weight for the (i - 1)-th garbage throw, and the garbage throwing weight for the (i - 1)-th garbage throw is obtained by monitoring the difference in the total weight before and after the garbage grabber throws the (i - 1)-th garbage, is the average feeding weight, is the grab opening time for the first garbage throw, is the grab opening time for the garbage grabber to throw garbage initialized.

[0031] Optionally, the average feeding weight calculation unit includes:

[0032] The first average feeding weight calculation subunit is configured to calculate the total feeding time required for the garbage grab to discharge all the garbage according to the distance and the moving speed;

[0033] The second average feeding weight calculation subunit is configured to calculate the average feeding weight per unit time according to the total weight and the total feeding time.

[0034] Optionally, the device further includes:

[0035] The weight monitoring unit is configured to monitor the garbage discharge weight of each garbage discharge when the garbage grab discharges garbage each time;

[0036] The grab tightening unit is configured to drive the garbage grab to tighten when the garbage discharge weight of each garbage discharge exceeds the discharge weight threshold, so as to end the garbage discharge work of this time, and the discharge weight threshold is less than twice the average feeding weight.

[0037] Optionally, the device further includes:

[0038] The grab opening time determination unit is configured to, when the time adjustment coefficient of the (i - 1)-th garbage discharge is between the lower limit of the first preset accuracy and the upper limit of the first preset accuracy, .

[0039] Optionally, the device further includes:

[0040] The grab opening time readjustment unit is configured to, when the garbage grab discharges garbage for the (i - 1)-th time, if the time adjustment coefficient of the (i - 1)-th garbage discharge is greater than the upper limit of the second preset accuracy or less than the lower limit of the second preset accuracy, the grab opening time of the (i - 1)-th garbage discharge is:

[0041] ;

[0042] The grab opening time non-adjustment unit is configured to, if the time adjustment coefficient of the (i - 1)-th garbage discharge is between the lower limit of the second preset accuracy and the lower limit of the second preset accuracy, and , then , where the lower limit of the second preset accuracy is less than the lower limit of the first preset accuracy, and the upper limit of the second preset accuracy is greater than the upper limit of the second preset accuracy.

[0043] A feeding control device for a garbage grab, comprising a memory and a processor;

[0044] The memory is configured to store programs;

[0045] The processor is configured to execute the program to implement each step of the feeding control method of the garbage grab as described above.

[0046] A storage medium stores a computer program which, when executed by a processor, implements each step of the feeding control method of the garbage grab as described above.

[0047] By means of the above technical solution, the present application detects the total weight of all garbage grabbed by the garbage grab, detects the distance between the garbage grab and the feeding end point, initializes the moving speed of the garbage grab, and the grab opening time of the garbage grab for discharging garbage. According to the distance, moving speed and total weight, the average feeding weight of the garbage grab per unit time is calculated. When the garbage grab discharges garbage each time, the garbage grab is driven to discharge the garbage according to the grab opening time of the garbage discharge. Among them, the grab opening time is continuously adjusted according to the weight and time adjustment coefficient after each sub-portion of garbage is discharged. It can be seen that during the movement of the garbage grab, the grab opening time can be adjusted in real time according to the weight of each sub-portion of garbage, so that the opening time is shortened for large portions of garbage and lengthened for small portions of garbage, thereby ensuring that the garbage grab evenly discharges garbage on the feeding belt at the feeding port, so that the garbage burns more stably after entering the incinerator. Description of the Drawings

[0048] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. Also, throughout the drawings, the same reference numerals are used to denote the same components. In the drawings:

[0049] Figure 1 FIG. is a schematic diagram of a scenario where the garbage grab provided by the embodiment of the present application realizes garbage discharge on the feeding belt at the feeding port;

[0050] Figure 2 FIG. is a schematic flowchart of implementing the feeding control of the garbage grab provided by the embodiment of the present application;

[0051] Figure 3 FIG. is a schematic structural diagram of a device for implementing the feeding control of the garbage grab provided by the embodiment of the present application;

[0052] Figure 4 FIG. is a schematic structural diagram of a device for implementing the feeding control of the garbage grab provided by the embodiment of the present application. Detailed Embodiments

[0053] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0054] The solution of the present application can be implemented based on a terminal with data processing capabilities. The terminal can be a controller of a garbage grab, and the garbage grab can be equipped with a gravity sensor for detecting the weight of the garbage grabbed by the garbage grab. A schematic diagram of the garbage grab moving and discharging garbage on the feeding belt at the feeding port is as Figure 1 shown.

[0055] Next, in combination with Figure 2 as described above, the feeding control method of the garbage grab of the present application may include the following steps:

[0056] Step S110: Detect the total weight of all the garbage grabbed by the garbage grab, detect the distance between the garbage grab and the feeding end point, initialize the moving speed of the garbage grab, and initialize the grab opening time of the garbage grab for discharging garbage.

[0057] Step S120: Calculate the average feeding weight of the garbage grab per unit time according to the distance, the moving speed, and the total weight.

[0058] It can be understood that if the weight of the garbage discharged each time by the garbage grab is equal to the average feeding weight, then the garbage grab can achieve uniform discharging of garbage on the feeding belt. Therefore, the average feeding weight can be used as a weight reference value for the garbage discharged by the garbage grab each time.

[0059] Step S130: When the garbage grab discharges garbage each time, drive the garbage grab to discharge the garbage of this time according to the grab opening time of this time for discharging garbage.

[0060] Among them, the grab opening time for discharging garbage each time is:

[0061]

[0062] Among them, is the grab opening time for the i-th garbage discharge, is the grab opening time for the (i - 1)-th garbage discharge, is the time adjustment coefficient for the (i - 1)-th garbage discharge, is the garbage discharge weight for the (i - 1)-th garbage discharge, and the garbage discharge weight for the (i - 1)-th garbage discharge is obtained by monitoring the difference in the total weight before and after the (i - 1)-th garbage discharge of the garbage grab. is the average feeding weight, is the grab opening time for the first garbage discharge, is the grab opening time for initializing the garbage grab for garbage discharge.

[0063] Specifically, when the garbage grab moves towards the end point, it can discharge garbage at a constant speed or at a constant distance. Before and after each garbage discharge, the total weight change value of the garbage grab can be recorded as the weight value of the garbage discharged this time.

[0064] It can be understood that since the average feeding weight is used as a reference value, if the weight of the garbage discharged in a certain time is greater than the average feeding weight, it indicates that too much garbage is discharged this time. Then, the grab opening time needs to be adjusted smaller to reduce the amount of garbage discharged each time. If the weight of the garbage discharged in a certain time is greater than the average feeding weight, it indicates that too much garbage is discharged this time. Then, the grab opening time needs to be adjusted smaller to reduce the amount of garbage discharged each time. In terms of the formula, when too much garbage is discharged, the time adjustment coefficient value is positive, , when too little garbage is discharged, the time adjustment coefficient value is negative, . Since the garbage grab executes the discharge and grasping actions rhythmically, when converges, the grab opening time also converges, and the amount of garbage discharged each time also converges to the average feeding weight, so that the garbage grab discharges garbage evenly on the feeding belt at the feeding port, making the garbage burn more stably after entering the incinerator.

[0065] The feeding control method of the garbage grab provided in this embodiment detects the total weight of all the garbage grabbed by the garbage grab, detects the distance between the garbage grab and the feeding end point, initializes the moving speed of the garbage grab, and the grab opening time for the garbage grab to discharge garbage. According to the distance, moving speed and total weight, the average feeding weight of the garbage grab per unit time is calculated. When the garbage grab discharges garbage each time, it drives the garbage grab to discharge the garbage this time according to the grab opening time for this garbage discharge. Among them, the grab opening time is continuously adjusted according to the weight and time adjustment coefficient after each sub-portion of garbage is discharged. It can be seen that during the movement of the garbage grab, the grab opening time can be adjusted in real time according to the weight of each sub-portion of garbage, shortening the opening time for large portions of garbage and lengthening the opening time for small portions of garbage, so as to ensure that the garbage grab discharges garbage evenly on the feeding belt at the feeding port, making the garbage burn more stably after entering the incinerator.

[0066] In some embodiments of the present application, the process of step S120, calculating the average feeding weight of the garbage grab per unit time according to the distance, the moving speed and the total weight, is introduced. This process may include:

[0067] S1. Calculate the total discharging time required for the garbage grabber to discharge all the garbage based on the distance and the moving speed.

[0068] Specifically, the total discharging time required for the garbage grabber to discharge all the garbage can be calculated by the following formula:

[0069]

[0070] wherein, is the total discharging time required for the garbage grabber to discharge all the garbage, is the distance between the garbage grabber and the discharging end point, is the moving speed of the garbage grabber.

[0071] S2. Calculate the average feeding weight per unit time based on the total weight and the total discharging time.

[0072] Specifically, the average feeding weight per unit time can be calculated by the following formula:

[0073]

[0074] wherein, the average feeding weight per unit time is , is the total weight of all the garbage grabbed by the garbage grabber.

[0075] It can be understood that generally, the weight of the garbage discharged each time by the garbage grabber should be near the average feeding weight. However, considering that the weight of the garbage discharged in the initial several times may deviate greatly from the average feeding weight, and when the weight of the garbage discharged in a single time exceeds twice the average feeding weight, instead of decreasing, it starts to increase, and the garbage grabber cannot obtain positive feedback regulation. Based on this, in some embodiments of the present application, for the situation where the weight of the garbage discharged in a single time exceeds twice the average feeding weight, the feeding control method of the garbage grabber provided may further include:

[0076] S1. When the garbage grabber discharges the garbage each time, monitor the garbage discharging weight of this garbage discharge.

[0077] It can be understood that by monitoring the weight of the garbage discharged each time in real time, the discharging working condition of the garbage grabber can be known more intuitively and clearly.

[0078] S2. When the garbage discharging weight of each garbage discharge exceeds the discharging weight threshold, drive the garbage grabber to tighten to end the garbage discharging work of this time.

[0079] wherein, the discharging weight threshold is less than twice the average feeding weight.

[0080] It is understandable that when the weight of a certain garbage disposal is too large and is about to exceed twice the average feeding weight, the disposal needs to be stopped to avoid negative feedback regulation of the garbage grab.

[0081] Considering that the time adjustment coefficient has converged to a certain extent or varies within a certain minimum value range, the grab opening time may not need to be adjusted. Based on this, the feeding control method for the garbage grab provided in this application also includes the following situations:

[0082] The first situation: when the time adjustment coefficient of the (i - 1)-th garbage disposal is between the lower limit of the first preset accuracy and the upper limit of the first preset accuracy, .

[0083] For example, when has converged to the interval [-0.05, 0.05], it indicates that the time adjustment coefficient has completed iteration and only fluctuates within the error tolerance range. Then, the grab opening time can be maintained.

[0084] Furthermore, although the time adjustment coefficient does not need to be used as a reference factor for calculating the grab opening time, the time adjustment coefficient still needs to be continuously monitored because the following second situation may occur:

[0085] When the garbage grab disposes of garbage for the (i - 1)-th time, if the time adjustment coefficient of the (i - 1)-th garbage disposal breaks through the error range outside the convergence interval, that is, it is greater than the upper limit of the second preset accuracy or less than the lower limit of the second preset accuracy, then the grab opening time needs to be recalculated with the time adjustment coefficient as the reference value. That is, the grab opening time for the (i - 1)-th garbage disposal is:

[0086] .

[0087] Among them, the lower limit of the second preset accuracy is less than the lower limit of the first preset accuracy, and the upper limit of the second preset accuracy is greater than the upper limit of the second preset accuracy.

[0088] The third situation: if the time adjustment coefficient of the (i - 1)-th garbage disposal is between the lower limit of the second preset accuracy and the lower limit of the second preset accuracy, and , then .

[0089] Among them, the lower limit of the second preset accuracy and the lower limit of the second preset accuracy can form the error range of the time adjustment coefficient, such as [-0.1, 0.1].

[0090] It is understandable that when the time adjustment coefficient of garbage disposal does not exceed the error range but has exceeded the convergence interval, it is necessary to refer to the previous grab opening time to determine whether adjustment is needed.

[0091] Specifically, when the time adjustment coefficient of the (i - 1)-th garbage dumping breaks through the convergence interval but does not exceed the error range, if the grab opening time of the (i - 1)-th garbage dumping is the same as that of the (i - 2)-th garbage dumping, that is, the grab opening time of the (i - 1)-th garbage dumping is not adjusted, then the grab opening time of the i-th garbage dumping can also not be adjusted.

[0092] Next, the device for realizing the feeding control of the garbage grab provided by the embodiment of the present application will be described. The device for realizing the feeding control of the garbage grab described below can be correspondingly referred to the method for realizing the feeding control of the garbage grab described above.

[0093] See Figure 3 , Figure 3 which is a schematic structural diagram of a device for realizing the feeding control of a garbage grab disclosed in the embodiment of the present application.

[0094] As Figure 3 shown, the device may include:

[0095] An initialization unit 11, configured to detect the total weight of all garbage grabbed by the garbage grab, detect the distance between the garbage grab and the feeding end point, initialize the movement speed of the garbage grab, and initialize the grab opening time for the garbage grab to dump garbage;

[0096] An average feeding weight calculation unit 12, configured to calculate the average feeding weight of the garbage grab per unit time according to the distance, the movement speed, and the total weight;

[0097] A sub-garbage dumping unit 13, configured to drive the garbage grab to dump the garbage each time when the garbage grab dumps garbage, according to the grab opening time of the garbage dumping this time, where the grab opening time of the garbage dumping this time is:

[0098]

[0099] where, is the grab opening time of the i-th garbage dumping, is the grab opening time of the (i - 1)-th garbage dumping, is the time adjustment coefficient of the (i - 1)-th garbage dumping, is the garbage dumping weight of the (i - 1)-th garbage dumping, and the garbage dumping weight of the (i - 1)-th garbage dumping is obtained by monitoring the difference in the total weight before and after the (i - 1)-th garbage dumping of the garbage grab, is the average feeding weight, is the grab opening time of the 1st garbage dumping, is the grab opening time for initializing the waste grab to discharge waste.

[0100] Optionally, the average feeding weight calculation unit includes:

[0101] A first average feeding weight calculation subunit, configured to calculate the total discharge time required for the waste grab to discharge all waste according to the distance and the movement speed;

[0102] A second average feeding weight calculation subunit, configured to calculate the average feeding weight per unit time according to the total weight and the total discharge time.

[0103] Optionally, the device further includes:

[0104] A weight monitoring unit, configured to monitor the waste discharge weight of the waste discharged each time the waste grab discharges waste;

[0105] A grab tightening unit, configured to drive the waste grab to tighten when the waste discharge weight of each waste discharge exceeds a discharge weight threshold, so as to end the waste discharge work of this time, and the discharge weight threshold is less than twice the average feeding weight.

[0106] Optionally, the device further includes:

[0107] A grab opening time determination unit, configured to when the time adjustment coefficient of the (i - 1)-th waste discharge is between a first preset precision lower limit and a first preset precision upper limit, .

[0108] Optionally, the device further includes:

[0109] A grab opening time readjustment unit, configured to when the waste grab discharges waste for the (i - 1)-th time, if the time adjustment coefficient of the (i - 1)-th waste discharge is greater than a second preset precision upper limit or less than a second preset precision lower limit, then the grab opening time of the (i - 1)-th waste discharge is:

[0110] ;

[0111] A grab opening time non-adjustment unit, configured to if the time adjustment coefficient of the (i - 1)-th waste discharge is between the second preset precision lower limit and the second preset precision lower limit, and , then , where the second preset precision lower limit is less than the first preset precision lower limit, and the second preset precision upper limit is greater than the second preset precision upper limit.

[0112] The device for controlling the feeding of the garbage grab provided by the embodiment of the present application can be applied to the equipment for controlling the feeding of the garbage grab, such as the controller of the garbage grab. Optionally, Figure 4 The hardware structure block diagram of the equipment for controlling the feeding of the garbage grab is shown. Referring to Figure 4 , the hardware structure of the equipment for controlling the feeding of the garbage grab may include: at least one processor 1, at least one communication interface 2, at least one memory 3, and at least one communication bus 4;

[0113] In the embodiment of the present application, the number of the processor 1, the communication interface 2, the memory 3, and the communication bus 4 is at least one, and the processor 1, the communication interface 2, and the memory 3 complete mutual communication through the communication bus 4;

[0114] The processor 1 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention, etc.;

[0115] The memory 3 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory;

[0116] Wherein, the memory stores a program, and the processor can call the program stored in the memory. The program is used for:

[0117] Detect the total weight of all the garbage grabbed by the garbage grab, detect the distance between the garbage grab and the feeding end point, initialize the moving speed of the garbage grab, and initialize the grab opening time of the garbage grab for discharging the garbage;

[0118] Calculate the average feeding weight of the garbage grab per unit time according to the distance, the moving speed, and the total weight;

[0119] When the garbage grab discharges the garbage each time, drive the garbage grab to discharge the garbage of this time according to the grab opening time of this time for discharging the garbage, wherein the grab opening time of this time for discharging the garbage is:

[0120]

[0121] Wherein, is the grab opening time for the i-th garbage discharge, is the grab opening time for the (i - 1)-th garbage discharge, is the time adjustment coefficient for the (i - 1)-th garbage discharge, is the garbage disposal weight of the (i - 1)-th garbage disposal, and the garbage disposal weight of the (i - 1)-th garbage disposal is obtained by monitoring the total weight difference of the garbage grab before and after the (i - 1)-th garbage disposal. is the average feeding weight. is the grab opening time of the 1st garbage disposal. is the grab opening time for garbage disposal for initializing the garbage grab.

[0122] Optionally, the refinement functions and extension functions of the program can be referred to the above description.

[0123] The embodiment of the present application also provides a storage medium, which can store a program suitable for execution by a processor. The program is used for:

[0124] detecting the total weight of all garbage grabbed by the garbage grab, detecting the distance between the garbage grab and the feeding end point, initializing the moving speed of the garbage grab, and initializing the grab opening time for garbage disposal of the garbage grab;

[0125] calculating the average feeding weight of the garbage grab per unit time according to the distance, the moving speed and the total weight;

[0126] When the garbage grab disposes of garbage each time, driving the garbage grab to dispose of the garbage of this time according to the grab opening time of this garbage disposal, where the grab opening time of this garbage disposal is:

[0127]

[0128] where is the grab opening time of the i-th garbage disposal, is the grab opening time of the (i - 1)-th garbage disposal, is the time adjustment coefficient of the (i - 1)-th garbage disposal, is the garbage disposal weight of the (i - 1)-th garbage disposal, and the garbage disposal weight of the (i - 1)-th garbage disposal is obtained by monitoring the total weight difference of the garbage grab before and after the (i - 1)-th garbage disposal. is the average feeding weight. is the grab opening time of the 1st garbage disposal, is the grab opening time for garbage disposal for initializing the garbage grab.

[0129] Optionally, the refinement functions and extension functions of the program can be referred to the above description.

[0130] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0131] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0132] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A feeding control method for a garbage grab, characterized in that, A controller applied to a garbage grab bucket, comprising: Detect the total weight of all the garbage grabbed by the garbage grab bucket, detect the distance between the garbage grab bucket and the feeding end point, initialize the moving speed of the garbage grab bucket, and initialize the grab opening time of the garbage grab bucket for discharging garbage; Calculate the average feeding weight of the garbage grab bucket per unit time according to the distance, the moving speed and the total weight; When the garbage grab bucket discharges garbage each time, drive the garbage grab bucket to discharge the garbage of this time according to the grab opening time of this garbage discharge, wherein the grab opening time of this garbage discharge is: Among them, is the grab opening time for the i-th garbage disposal, is the grab opening time for the (i - 1)-th garbage disposal, is the time adjustment coefficient for the (i - 1)-th garbage disposal, is the garbage disposal weight for the (i - 1)-th garbage disposal, and the garbage disposal weight for the (i - 1)-th garbage disposal is obtained by monitoring the total weight difference of the garbage grab before and after the (i - 1)-th garbage disposal, is the average feeding weight, is the grab opening time for the 1st garbage disposal, is the grab opening time for initializing the garbage grab for garbage disposal.

2. The method according to claim 1, characterized in that, Calculating the average feeding weight of the garbage grab bucket per unit time according to the distance, the moving speed and the total weight, including: Calculate the total discharge time required for the garbage grab bucket to discharge all the garbage according to the distance and the moving speed; Calculate the average feeding weight per unit time according to the total weight and the total discharge time.

3. The method according to claim 1, characterized in that, It further includes: When the garbage grab bucket discharges garbage each time, monitor the garbage discharge weight of this garbage discharge; When the garbage discharge weight of each garbage discharge exceeds the discharge weight threshold, drive the garbage grab bucket to tighten to end the garbage discharge work of this time, and the discharge weight threshold is less than twice the average feeding weight.

4. The method according to claim 1, wherein It further includes: When the time adjustment coefficient of the (i - 1)-th garbage disposal is between the lower limit and the upper limit of the first preset precision, .

5. The method according to claim 4, characterized in that, It further includes: When the garbage grab bucket discharges garbage for the (i - 1)-th time, if the time adjustment coefficient of the (i - 1)-th garbage discharge is greater than the upper limit of the second preset accuracy or less than the lower limit of the second preset accuracy, then the grab opening time of the (i - 1)-th garbage discharge is: ； If the time adjustment coefficient for the (i - 1)-th garbage disposal lies between the lower limit of the second preset accuracy and the lower limit of the second preset accuracy, and , then , where the lower limit of the second preset accuracy is less than the lower limit of the first preset accuracy, and the upper limit of the second preset accuracy is greater than the upper limit of the second preset accuracy.

6. A feeding control device for a garbage grab bucket, characterized in that, A controller applied to a garbage grab bucket, comprising: An initialization unit, configured to detect the total weight of all the garbage grabbed by the garbage grab bucket, detect the distance between the garbage grab bucket and the feeding end point, initialize the moving speed of the garbage grab bucket, and initialize the grab opening time of the garbage grab bucket for discharging garbage; An average feeding weight calculation unit, configured to calculate the average feeding weight of the garbage grab bucket per unit time according to the distance, the moving speed and the total weight; A sub-garbage discharge unit, configured to drive the garbage grab bucket to discharge the garbage of this time according to the grab opening time of this garbage discharge when the garbage grab bucket discharges garbage each time, wherein the grab opening time of this garbage discharge is: Among them, is the grab opening time for the i-th garbage delivery, is the grab opening time for the (i - 1)-th garbage delivery, is the time adjustment coefficient for the (i - 1)-th garbage delivery, is the garbage delivery weight for the (i - 1)-th garbage delivery, and the garbage delivery weight for the (i - 1)-th garbage delivery is obtained by monitoring the total weight difference of the garbage grab before and after the (i - 1)-th garbage delivery, is the average feeding weight, is the grab opening time for the first garbage delivery, is the grab opening time for initializing the garbage grab for garbage delivery.

7. The device according to claim 6, characterized in that The average feeding weight calculation unit includes: A first average feeding weight calculation sub-unit, configured to calculate the total discharge time required for the garbage grab bucket to discharge all the garbage according to the distance and the moving speed; A second average feeding weight calculation sub-unit, configured to calculate the average feeding weight per unit time according to the total weight and the total discharge time.

8. The device according to claim 6, wherein It further includes: A weight monitoring unit, configured to monitor the garbage discharge weight of this garbage discharge when the garbage grab bucket discharges garbage each time; A grab tightening unit, configured to drive the garbage grab bucket to tighten to end the garbage discharge work of this time when the garbage discharge weight of each garbage discharge exceeds the discharge weight threshold, and the discharge weight threshold is less than twice the average feeding weight.

9. A feeding control device for a garbage grab, characterized in that, It includes a memory and a processor; The memory is used for storing programs; The processor is configured to execute the program to implement each step of the feeding control method of the garbage grab as described in any one of claims 1-5.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, each step of the feeding control method of the garbage grab as described in any one of claims 1-5 is implemented.

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