Uploading control method of garbage truck

Abstract

The invention provides a loading control method of a garbage truck, and relates to the technical field of garbage trucks. The method comprises the steps that firstly, a mode selection instruction is obtained, the mode selection instruction comprises an automatic mode and a manual mode, when a discharging preparation signal is received, a discharging preparation stage is started, and a first flag bit is generated; after unloading preparation is completed, the first mark position is reset; when a push shovel push-out signal is received, entering a push shovel push-out stage, and generating a second flag bit; after the push shovel is pushed out, the second mark position is reset; when a push shovel withdrawing signal is received, entering a push shovel withdrawing stage, and generating a third flag bit; after the push shovel is withdrawn, the third flag position is reset; wherein; when a driving preparation signal is received, entering a driving preparation stage, and generating a fourth flag bit; and after driving preparation is completed, the fourth flag bit is reset to complete loading control. The mechanism has the advantages that the operation is convenient, and the problems of mechanism collision, interference and the like are not easy to occur.

Description

Technical Field

[0001] The present application relates to the technical field of garbage trucks, and in particular to a method for controlling the upper part of a garbage truck. Background Art

[0002] A compression garbage truck is a special vehicle designed for efficient and environmentally friendly garbage collection and transportation. It is an efficient special vehicle that integrates the functions of "garbage collection, transfer, and compression".

[0003] The core function of a compression garbage truck is to compress and reduce the volume of bulk garbage through powerful mechanical force, thereby improving the efficiency of a single transportation and preventing secondary pollution during transportation.

[0004] The working process of a compression garbage truck generally includes loading, filling, and unloading. However, the loading control operation of existing compression garbage trucks is generally complicated, and the garbage truck is prone to problems such as mechanism collision and interference during the loading control process. Summary of the Invention

[0005] The purpose of the present application is to provide a method for controlling the loading of a garbage truck, so as to solve the problems existing in the prior art that the loading control operation of the garbage truck is generally complicated, and the garbage truck is prone to problems such as mechanism collision and interference during the loading control process.

[0006] In order to achieve the above objectives, the technical solutions adopted in the embodiments of the present application are as follows:

[0007] The present invention provides a method for controlling the loading of a garbage truck, the method comprising:

[0008] Acquire a mode selection instruction, wherein the mode selection instruction includes an automatic mode and a manual mode;

[0009] When the unloading preparation signal is received, the unloading preparation phase is entered and a first flag is generated; when the unloading preparation is completed, the first flag is reset;

[0010] When a push shovel push signal is received, the push shovel push phase is entered and a second flag is generated; when the push shovel is pushed out, the second flag is reset; wherein, when in automatic mode, the push shovel push signal is a point control signal; when in manual mode, the push shovel push signal is a continuous signal;

[0011] When a dozer blade retraction signal is received, the dozer blade retraction phase is entered and a third flag is generated; when the dozer blade retraction is completed, the third flag is reset; wherein, when in automatic mode, the dozer blade retraction signal is a point control signal; when in manual mode, the dozer blade retraction signal is a continuous signal;

[0012] When the driving preparation signal is received, the driving preparation phase is entered and a fourth flag is generated; when the driving preparation is completed, the fourth flag is reset to complete the upper installation control.

[0013] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0014] An embodiment of the present application provides a method for controlling the loading of a garbage truck, which obtains a mode selection instruction, wherein the mode selection instruction includes an automatic mode and a manual mode. When a unloading preparation signal is received, the method enters the unloading preparation stage and generates a first flag bit; when the unloading preparation is completed, the first flag bit is reset; when a shovel push-out signal is received, the method enters the shovel push-out stage and generates a second flag bit; when the shovel push-out is completed, the second flag bit is reset; wherein, when in automatic mode, the shovel push-out signal is a point control signal; when in manual mode, the shovel push-out signal is a continuous signal; when a shovel retraction signal is received, the method enters the shovel retraction stage and generates a third flag bit; when the shovel retraction is completed, the third flag bit is reset; wherein, when in automatic mode, the shovel retraction signal is a point control signal; when in manual mode, the shovel retraction signal is a continuous signal; when a driving preparation signal is received, the method enters the driving preparation stage and generates a fourth flag bit; when the driving preparation is completed, the fourth flag bit is reset to complete the loading control.

[0015] First, since the method provided in this application provides both automatic and manual modes, the degree of operational freedom is greater, making it easier for users to use in different scenarios. Second, a corresponding flag is generated in each step to ensure that the next action is executed only after the previous action is completed, thus avoiding problems such as collisions and interference caused by inadequate execution of the device's actions. Third, since there are only four stages in total and the overall buttons are smaller, user operations can be reduced, making operation more convenient.

[0016] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0018] Figure 1This is an exemplary flow chart of the upper loading control method of a garbage truck provided in an embodiment of the present application.

[0019] Figure 2 A schematic diagram of the modules of the upper control system of a garbage truck provided in an embodiment of the present application.

[0020] Figure 3 This is a schematic diagram of the sub-step flow of S104 provided in an embodiment of the present application.

[0021] Figure 4 This is a schematic diagram of the sub-step flow of S106 provided in an embodiment of the present application.

[0022] Figure 5 This is a schematic diagram of the sub-step flow of S108 provided in an embodiment of the present application.

[0023] Figure 6 This is a schematic diagram of the sub-step flow of S110 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0026] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0027] It should be noted that, in this document, relational terms such as first and second, etc. are merely 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.

[0028] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0029] As mentioned in the background, current garbage truck loading controls are often complex and prone to mechanical collisions and interference. Loading control refers to the process of unloading garbage from a truck after it is fully loaded and transported to a designated location.

[0030] In view of this, in order to solve the above problems, the present application embodiment provides a method for controlling the loading of a garbage truck, please refer to Figure 1 As an implementation method, the method includes:

[0031] S102: Acquire a mode selection instruction, where the mode selection instruction includes an automatic mode and a manual mode.

[0032] S104, when the unloading preparation signal is received, the unloading preparation phase is entered and a first flag is generated; when the unloading preparation is completed, the first flag is reset.

[0033] S106, when the push-pull signal is received, the push-pull phase is entered and a second flag is generated; when the push-pull is completed, the second flag is reset; wherein, when in automatic mode, the push-pull signal is a point control signal; when in manual mode, the push-pull signal is a continuous signal.

[0034] S108, when the dozer blade retraction signal is received, the dozer blade retraction phase is entered and a third flag is generated; when the dozer blade retraction is completed, the third flag is reset; wherein, when in automatic mode, the dozer blade retraction signal is a point control signal; when in manual mode, the dozer blade retraction signal is a continuous signal.

[0035] S110, when the driving preparation signal is received, the driving preparation phase is entered and a fourth flag is generated; when the driving preparation is completed, the fourth flag is reset to complete the upper installation control.

[0036] Among them, the garbage truck provided in this application has fewer overall control buttons, including only 5 buttons, namely the mode switching button, the unloading preparation button, the shovel push-out button, the shovel retraction button and the driving preparation button. When the user presses the corresponding button, the corresponding control signal can be generated. The user has to operate less overall and the operation is more convenient.

[0037] In addition, the method provided in this application adopts sequential control logic and sets corresponding flag bits. Each step of the action is executed on the premise that the previous step is completed, thereby avoiding mechanical collision, interference and other faults in the equipment.

[0038] In order to realize the generation of flags and the loading control at different stages, the garbage truck provided by this application is equipped with corresponding sensors and valves. In addition, the loading control of the garbage truck generally includes bucket unloading control → bucket lifting control → lock pin control → tailgate opening control → scraper control → filler control → shovel control and driving preparation. On this basis, please refer to Figure 2 The entire upper control system of the garbage truck includes a controller, multiple buttons, multiple sensors, multiple valves and multiple cylinders. The controller is connected to each button, each sensor and each valve respectively, and each valve is connected to the corresponding cylinder. When the controller controls any valve to move, the corresponding cylinder moves, so that the controller can execute the upper control method of the garbage truck provided in this application.

[0039] Specifically, the buttons provided in this application include a mode switching button, a unloading preparation button, a shovel push-out button, a shovel retraction button, and a driving preparation button. When the user presses the corresponding button, the controller executes the corresponding function.

[0040] The sensors include a proximity switch for the slide to reach the upper position, a proximity switch for the slide to reach the lower position, a proximity switch for the scraper to reach the closed position, a proximity switch for the loader to reach the upper position, a proximity switch for the tailgate to reach the open position, a proximity switch for the shovel to reach the retracted position, a proximity switch for the bucket lifting and pressing position, a proximity switch for the loader to reach the lower position, and a pull rope length sensor. Each sensor is connected to the controller and transmits the detected signal to the controller.

[0041] Valves include the slide up valve, slide down valve, scraper opening valve, scraper closing valve, dozer blade push-out valve, dozer blade retraction valve, bucket lift valve, bucket unloading valve, tailgate opening valve, tailgate closing valve, lock pin opening valve, lock pin closing valve, barrel plate clamping valve, barrel plate releasing valve, loader lifting valve, loader lowering valve, and flapper valve. Each valve is connected to a controller, which controls the cylinder's motion by controlling the valves.

[0042] Among them, in the controller control, when the slide plate upward valve is energized, the slide plate cylinder retracts; when the slide plate downward valve is energized, the slide plate cylinder extends; when the scraper opening valve is energized, the scraper cylinder retracts; when the scraper closing valve is energized, the scraper cylinder extends; when the push shovel push-out valve is energized, the push shovel cylinder extends; when the push shovel retract valve is energized, the push shovel cylinder retracts; when the bucket lifting valve is energized, the bucket lifting cylinder retracts; when the bucket unloading valve is energized, the bucket lifting cylinder extends; when the tailgate opening valve is energized, the tailgate cylinder retract; when the tailgate closing valve is energized, the tailgate cylinder extends; when the lock pin opening valve is energized, the lock pin cylinder retracts; when the lock pin closing valve is energized, the lock pin cylinder extends; when the barrel plate tightening valve is energized, the barrel pressure cylinder retracts; when the barrel plate releasing valve is energized, the barrel pressure cylinder extends; when the filler lifting valve is energized, the filler cylinder extends; when the filler lowering valve is energized, the filler cylinder retracts; when the flapper valve is energized, the flapper cylinder retracts; when the flapper valve loses power, the flapper cylinder extends.

[0043] In terms of mode selection, this application provides two operating modes, which allow users to choose by themselves, with greater freedom and convenient use in different scenarios. During the specific operation process, the user only needs to press and hold the mode switch button for a period of time to switch the mode. For example, when the user presses and holds the mode switch button for 10 seconds, the system obtains the mode switching instruction and switches from manual mode to automatic mode, or from automatic mode to manual mode. Alternatively, when the user presses and holds the mode switch button for 10 seconds, the mode selection interface is entered. At this time, the user presses the mode switch button again to switch the mode.

[0044] The automatic and manual modes described in this application primarily refer to the dozer blade control phase. In automatic mode, the dozer blade moves directly into position after pressing the dozer blade push-out or dozer blade retraction buttons. Specifically, in automatic mode, the dozer blade push-out signal is a point-controlled signal, a digital signal as described in this application. The user only needs to press the button once for the controller to control the system to directly complete the entire dozer blade push-out or dozer blade retraction process. In manual mode, the dozer blade push-out signal is a continuous signal, an analog signal as described in this application. The user must continuously press the dozer blade push-out or dozer blade retraction buttons for the dozer blade to move into position. Once the user releases the button, the dozer blade will stop at its current position.

[0045] Moreover, regardless of manual mode or automatic mode, the upper installation control includes four stages, each stage is controlled by a corresponding button. It can be understood that the steps included in each stage are different in manual mode and automatic mode.

[0046] As an implementation, in automatic mode, see Figure 3 , S104 includes:

[0047] S1041, when the duration of the unloading preparation signal is greater than a first threshold, a first flag is generated, and the barrel unloading valve is controlled to be energized, generating a barrel unloading flag;

[0048] S1042: When the barrel unloading valve is energized for t1 or the barrel lifting and pressing position proximity switch senses a signal, the barrel unloading flag is reset and the barrel pressing plate release valve is energized to generate a barrel release flag. t1 is related to the barrel lifting cylinder's stroke length, extension and retraction speed, and safety factor.

[0049] S1043: When the barrel pressing plate release valve is energized for a period of time t2, the barrel pressing plate release valve is de-energized; t2 is related to the stroke length, extension and retraction speed, and safety factor of the barrel pressing cylinder;

[0050] S1044, when the duration of the barrel loose flag reaches a second threshold, the lock pin opening valve is controlled to be energized, the barrel unloading valve is de-energized, and the barrel loose flag is reset;

[0051] S1045: When the lock pin opening valve is energized for a period of time t3, the tailgate opening valve is energized and the lock pin opening valve is de-energized; t3 is associated with the stroke length, extension and retraction speed, and safety factor of the lock pin cylinder;

[0052] S1046: When the tailgate opening valve is energized for t4 and the tailgate is fully opened and the proximity switch senses a signal, a bulldozer unloading flag is generated, the tailgate opening valve is controlled to lose power, and the first flag is reset; wherein, t4 is associated with the stroke length, extension and retraction speed, and safety factor of the tailgate cylinder.

[0053] When the unloading action restriction conditions are met, the unloading preparation action begins after the user presses the unloading preparation button for a period of time. This time is used to prevent user error. For example, the first threshold time can be set to 2 seconds. When the user presses the unloading preparation button for 2 seconds or more, the first flag step1 is generated, and the unloading valve is energized, generating the unloading flag R1.

[0054] When the unloading valve is energized for t1 or the proximity switch for the bucket lifting and pressing position senses a signal, and the unloading flag R1 is present, the unloading flag is reset, and the release valve for the pressing plate is energized, generating the release flag step1_1. t1 is related to the stroke length, extension and retraction speed, and safety factor of the bucket lifting cylinder.

[0055] Specifically, t1 = k1 * L1 / u1, where L1 is the bucket cylinder stroke length, u1 is the bucket cylinder extension speed, and K1 is the safety factor. Different brands and different models will affect the K1 value, and this application does not limit it.

[0056] When the barrel plate release valve is energized for t2, it is de-energized. t2 is related to the barrel cylinder's stroke length, extension speed, and safety factor. t2 = k1 * L2 / u2, where L2 is the barrel cylinder's stroke length and u2 is the extension speed.

[0057] When the duration of the barrel release flag step1_1 reaches a second threshold, the lock pin is controlled to open the valve, the barrel unloading valve is de-energized, and the barrel release flag step1_1 is reset. The second threshold can be set to 6 seconds.

[0058] When the lock pin opening valve is energized for a period of t3 and the first flag step1 is present, the tailgate opening valve is energized and the lock pin opening valve is de-energized; t3 is associated with the stroke length, extension speed, and safety factor of the lock pin cylinder.

[0059] Specifically, t3 = k1*L3 / u3, L3 is the stroke length of the locking pin cylinder, and u3 is the extension and retraction speed of the locking pin cylinder.

[0060] When the tailgate opening valve is energized for t4 and the tailgate fully opened proximity switch senses a signal, the dozer unloading flag, step1_2, is generated, the tailgate opening valve is de-energized, and the first flag, step1, is reset. t4 is related to the tailgate cylinder's stroke length, extension speed, and safety factor. Here, t4 = k1 * L4 / u4, where L4 is the tailgate cylinder's stroke length and u4 is the tailgate cylinder's extension speed.

[0061] When the first flag step1 is reset, it means that the first stage has been completed and the second stage, the push shovel push-out stage, can be entered. It should be noted that in this application, each stage can be executed only if the flag of the previous stage is reset. The reset mentioned in this application refers to the elimination of the corresponding flag. For example, when the first flag step1 is not reset, even if the user presses the push shovel push-out button at this time, the system will not perform the push shovel push-out action. Moreover, each stage is connected, and it is impossible to skip a stage and execute the next stage. For example, when the first flag step1 is reset, if the user presses the push shovel retract button at this time, the system will not act.

[0062] As an implementation, see Figure 4 , S106 includes:

[0063] S1061: When a push shovel push-out signal is received and the tailgate is fully opened and the proximity switch senses a signal, the scraper opening valve is controlled to be energized and a second flag and a scraper action flag are generated.

[0064] S1062, when the scraper opening valve is energized for a period of t5 and the scraper is in position and the proximity switch senses a signal, the filler lifting valve is controlled to be energized to generate a filler lifting flag; and the scraper opening valve is controlled to be de-energized and the scraper action flag is reset; wherein, t5 is associated with the stroke length, extension and retraction speed and safety factor of the scraper cylinder.

[0065] S1063, when the loader is lifted into position and the proximity switch senses a signal that lasts for the third threshold and the scraper is scraped into position and the proximity switch senses a signal, the loader lifting valve is controlled to lose power, the loader lifting flag is reset, and the dozer blade push-out valve is controlled to be energized, generating the dozer blade push-out flag and the dozer blade first section flag.

[0066] S1064: When the length value of the pull rope length sensor reaches the first length value, the first section flag of the push shovel is reset, and the second section flag of the push shovel is generated.

[0067] S1065: When the length value of the pull rope length sensor is greater than or equal to the second length value, the control flapper valve is energized.

[0068] S1066, when the length value of the pull rope length sensor is greater than or equal to the third length value, and the duration of the second section flag of the dozer blade reaches the fourth threshold; or the dozer blade push-out valve is energized for t8, the dozer blade push-out valve is controlled to lose power, the second flag, the dozer blade push-out flag and the dozer blade second section flag are reset, and the dozer blade unloading completion flag is generated; wherein, the first length value, the second length value and the third length value increase in sequence, and t8 is associated with the maximum length, extension speed and safety factor of the dozer blade cylinder.

[0069] After the first flag, step 1, is reset, if the user presses the push-shovel push button, the system will receive the push-shovel push signal. It should be noted that during the unloading preparation phase, the user must hold the push-shovel push button for a minimum of a first threshold before the system activates to prevent false triggering. During the push-shovel push phase, the user simply presses the push-shovel push button, with no time limit required, for the system to receive the push-shovel push signal.

[0070] When the push shovel push signal is received, the tailgate is fully opened, the proximity switch senses the signal, and the push shovel unloading flag step1_2 is present, the scraper opening valve is controlled to be energized, and the second flag step2 and the scraper action flag step2_1 are generated.

[0071] When the scraper opening valve is energized for t5, the proximity switch senses a signal indicating the scraper is fully engaged, and the second flag, step2, and the scraper action flag, step2_1, are present, the loader lift valve is energized, generating the loader lift flag, step2_2. The scraper opening valve is de-energized, resetting the scraper action flag, step2_1. t5 is related to the scraper cylinder's stroke length, extension and retraction speed, and safety factor.

[0072] Specifically, t5=k1*L5 / u5, L5 is the stroke length of the scraper cylinder, and u5 is the extension and retraction speed of the scraper cylinder.

[0073] However, if the scraper opening valve remains energized for t6, but the scraper-closed proximity switch fails to sense a signal, and both the second flag, step2, and the scraper action flag, step2_1, are present, this indicates a scraper operation failure. To protect the scraper, the system de-energizes the scraper opening valve and simultaneously resets the second flag, step2, and the scraper action flag, step2_1, halting the entire operation. Here, t6 = k1 * L6 / u6, where L6 is the maximum length of the scraper cylinder and u6 is the extension and retraction speed of the scraper cylinder.

[0074] When the loader is lifted into position and the proximity switch senses a signal that continues for the third threshold value and the scraper is scraped into position and the proximity switch senses a signal, and there is the second flag step2 and the loader lifted flag step2_2, the system controls the loader lift valve to be powered off, resets the loader lift flag step2_2, and controls the dozer blade push-out valve to be powered on, generating the dozer blade push-out flag step2_3 and the dozer blade first section flag step2_3_1.

[0075] However, if the loader lift valve is energized for t7, the proximity switch does not sense a signal when the loader is fully raised, and the second flag, step2, and the loader lift flag, step2_2, are present, the loader lift valve is de-energized, the second flag, step2, and step2_2 are reset, and the loading control process is exited, thus protecting the loader. t7 is related to the maximum length, extension speed, and safety factor of the loader cylinder. Here, t7 = k1 * L7 / u7, where L7 is the maximum length of the loader cylinder and u7 is the extension speed.

[0076] After generating the dozer blade push-out flag step2_3 and the dozer blade first section flag step2_3_1, when the length value of the pull rope length sensor reaches the set value, the second flag, the dozer blade push-out flag and the dozer blade first section flag are reset, and the dozer blade unloading completion flag is generated.

[0077] Specifically, when the length value of the pull rope length sensor reaches the first length value, the first segment flag bit step2_3_1 of the dozer blade is reset, and the second segment flag bit step2_3_2 of the dozer blade is generated.

[0078] When the length value of the pull rope length sensor is greater than or equal to the second length value, the control flapper valve is energized. Otherwise, the control flapper valve is de-energized.

[0079] When the length of the pull rope length sensor is greater than or equal to the third length value and the duration of the dozer blade's second segment flag reaches a fourth threshold, or the dozer blade push-out valve remains energized for a duration of t8, the dozer blade push-out valve is de-energized, the second flag, step2, the dozer blade push-out flag, step2_3, and the dozer blade's second segment flag, step2_3_2, are reset, and the dozer blade unloading completion flag, step2_4, is generated. The first, second, and third length values ​​increase in sequence. For example, the first length value is set to 2250 mm, the second length value is set to 2900 mm, and the third length value is set to 3700 mm. t8 is associated with the dozer blade cylinder's maximum length, extension speed, and safety factor: t8 = k1*L8 / u8, where L8 is the dozer blade cylinder's maximum length and u8 is the dozer blade cylinder's extension speed.

[0080] As an implementation, see Figure 5 , S108 step package:

[0081] S1081: When a dozer blade retraction signal is received, the dozer blade retraction valve is controlled to be energized and a third flag is generated.

[0082] S1082: When the length value of the pull rope length sensor is less than or equal to the first length value and the tailgate fully opened sensor senses a signal, the dozer blade retraction valve is controlled to lose power and the loader lowering valve is controlled to gain power.

[0083] S1083, when the loader descending valve is powered for a period of t9, or the loader descends to the position where the proximity switch senses a signal that lasts for the fifth threshold, the loader descending valve is controlled to lose power and the third flag is reset; wherein, t9 is associated with the stroke length, telescopic speed and safety factor of the filler cylinder.

[0084] It should be noted that in this application, the unloading preparation stage and the push shovel push-out stage refer to the stage of unloading the garbage from the garbage truck, during which various structures on the garbage truck will move. The push shovel retraction stage and the driving preparation stage are for resetting various structures.

[0085] Among them, when the user presses the dozer blade retraction button, a dozer blade retraction signal will be generated. At this time, if there is a dozer blade unloading completion flag step2_4, the system will control the dozer blade retraction valve to be energized and generate the third flag step3.

[0086] At this time, when the length value of the pull rope length sensor is less than or equal to the first length value and the tailgate fully opened sensor senses a signal, the dozer blade retraction valve is controlled to be de-energized and the loader lowering valve is controlled to be energized.

[0087] If the dozer blade retraction valve is energized and the dozer blade retraction sensor detects a signal, the dozer blade retraction valve is de-energized and the third flag, step3, is reset. Alternatively, if the loader lowering valve is energized for a duration of t9, or if the loader lowering proximity switch reaches a signal exceeding the fifth threshold, the loader lowering valve is de-energized and the third flag, step3, is reset. The dozer blade discharge completion flag, step2_4, and the dozer blade discharge completion flag, step1_2, are also reset. t9 is related to the dozer cylinder stroke length, extension speed, and safety factor. t9 = k1*L9 / u9, where L9 is the loader cylinder stroke length and u9 is the loader cylinder extension speed.

[0088] As an implementation, see Figure 6 , S110 includes:

[0089] S1101, when the duration of the driving preparation signal is greater than the first threshold and the filler is lowered into position and the proximity switch receives a signal, the tailgate closing valve is controlled to be energized and a fourth flag and a tailgate closing action flag are generated.

[0090] S1102, when the tailgate closing valve is energized for a duration of t10, the lock pin closing valve is controlled to be energized, the tailgate closing action flag is reset, and a lock pin closing flag is generated, wherein t10 is associated with the maximum length, extension speed, and safety factor of the tailgate cylinder.

[0091] S1103, when the lock pin closing valve is energized for a period of t11, the lock pin closing valve is controlled to lose power, the lock pin closing flag is reset, and the bucket lifting valve is controlled to be energized to generate a bucket lifting action flag; wherein t11 is associated with the maximum length, extension and retraction speed, and safety factor of the lock pin cylinder.

[0092] S1104, when the bucket lifting valve is energized for t12, or the bucket lifting and pressing position proximity switch senses a signal, the bucket pressing plate clamping valve is controlled to be energized, and a bucket pressing valve action flag is generated; wherein, t12 is associated with the bucket lifting cylinder's stroke length, extension and retraction speed, and safety factor.

[0093] S1105, when the barrel pressing plate clamping valve is energized for t13, the barrel pressing plate clamping valve is controlled to lose power and the barrel pressing valve action flag is reset; wherein t13 is associated with the maximum length, extension and retraction speed and safety factor of the barrel pressing cylinder.

[0094] S1106, when the bucket lifting valve is energized for t14, the bucket lifting valve is controlled to lose power, and the bucket lifting action flag and the fourth flag are reset; wherein t14 is associated with the maximum length, extension speed and safety factor of the bucket lifting cylinder.

[0095] When the user presses the driving equipment button for 2 seconds and the filler is lowered into position and the proximity switch receives a signal, the system controls the tailgate closing valve to be energized and generates the fourth flag step4 and the tailgate closing action flag step4_1.

[0096] When the tailgate closing valve is energized for t10 and the fourth flag step4 and the tailgate closing action flag step4_1 are present, the lock pin closing valve is energized, the tailgate closing action flag step4_1 is reset, and the lock pin closing flag step4_2 is generated. t10 is associated with the maximum length, extension speed, and safety factor of the tailgate cylinder: t10 = k1*L10 / u10, where L10 is the maximum length of the tailgate cylinder and u10 is the extension speed of the tailgate cylinder.

[0097] If the lock pin closing valve is energized for t11 and both the fourth flag, step4, and the lock pin closing flag, step4_2, are set, the lock pin closing valve is de-energized, resetting the lock pin closing flag, step4_2. The bucket lifting valve is then energized, generating the bucket lifting action flag, step4_3. t11 is related to the maximum length, extension speed, and safety factor of the lock pin cylinder: t11 = k1 * L11 / u11, where L11 is the maximum length of the lock pin cylinder and u11 is the extension speed.

[0098] When the bucket lift valve is energized for t12, or the bucket lift and hold position proximity switch senses a signal, and the fourth flag, step4, and the bucket lift action flag, step4_3, are present, the hold plate clamping valve is energized and the hold valve action flag, step4_3_1, is generated. t12 is related to the bucket lift cylinder's stroke length, extension speed, and safety factor. t12 = k1 * L12 / u12, where L12 is the maximum length of the locking pin cylinder and u11 is the locking pin cylinder's extension speed.

[0099] If the hold plate clamping valve remains energized for t13 and both the fourth flag, step4, and the hold valve actuation flag, step4_3_1, are set, the hold plate clamping valve is de-energized and the hold valve actuation flag, step4_3_1, is reset. t13 is related to the maximum length, extension and retraction speed of the hold cylinder, and the safety factor. t13 = k1 * L13 / u13, where L13 is the hold cylinder stroke length and u13 is the hold cylinder extension and retraction speed.

[0100] If the bucket lift valve is energized for t14 and the fourth flag, step4, and the bucket lift action flag, step4_3, are set, the bucket lift valve is de-energized, the bucket lift action flag, step4_3, and the fourth flag, step4, are reset, and the action is complete, ending the entire process. t14 is related to the maximum length, extension speed, and safety factor of the bucket lift cylinder. t14 = k1 * L14 / u14, where L14 is the maximum length of the bucket lift cylinder and u14 is the extension speed.

[0101] By dividing the automatic mode into four stages provided in this application, the time required for the four stages can be basically equal, and the control effect is better. Of course, the division of each stage can also be flexibly adjusted according to actual needs, which is not limited here.

[0102] As another implementation of the present application, in the manual mode, S104 includes:

[0103] S1041, when the duration of the unloading preparation signal is greater than the first threshold, a flag is generated, and the barrel unloading valve is controlled to be energized, generating a barrel unloading flag;

[0104] S1042, when the barrel unloading valve is energized for t1 or the barrel lifting and pressing position proximity switch senses a signal, the barrel unloading flag is reset, and the barrel pressing plate release valve is controlled to be energized to generate a barrel release flag; wherein, t1 is associated with the stroke length, extension and retraction speed, and safety factor of the barrel lifting cylinder.

[0105] S1043, when the barrel pressing plate release valve is energized for a period of time t2, the barrel pressing plate release valve is controlled to lose power; wherein t2 is associated with the stroke length, extension and retraction speed, and safety factor of the barrel pressing cylinder.

[0106] S1044, when the duration of the barrel loose flag reaches a second threshold, the lock pin opening valve is controlled to be energized, the barrel unloading valve is de-energized, and the barrel loose flag is reset.

[0107] S1045, when the lock pin opening valve is energized for a period of time lasting t3, the tailgate opening valve is controlled to be energized and the lock pin opening valve is de-energized; wherein t3 is associated with the stroke length, extension and retraction speed, and safety factor of the lock pin cylinder.

[0108] S1046: When the tailgate opening valve is energized for t4 and the tailgate is fully opened, the proximity switch senses a signal, the tailgate opening valve is controlled to be de-energized, and the scraper opening valve is controlled to be energized, generating a scraper action flag.

[0109] S1047, when the scraper opening valve is energized for a period of t5, and the scraper is in position, the proximity switch senses a signal; the filler lifting valve is controlled to be energized, generating a filler lifting flag; and the scraper opening valve is controlled to be de-energized and reset the scraper action flag; wherein, t5 is associated with the stroke length, extension and retraction speed, and safety factor of the scraper cylinder.

[0110] S1048: When the proximity switch sensing the signal of the loader lifted to the position continues for the third threshold and the proximity switch sensing the signal of the scraper scraped to the position, the loader lifting valve is controlled to lose power, the loader lifting flag is reset, and the driving preparation completion flag is generated.

[0111] When the unloading action restriction conditions are met, when the user presses the unloading preparation button for 2 seconds, the unloading preparation action begins, the barrel unloading valve is energized, and the first flag step1 is generated; at the same time, the barrel unloading flag R1 is generated.

[0112] When the unloading valve is energized for t1 or the bucket lift and hold position proximity switch senses a signal, the unloading flag R1 is reset, and the hold plate release valve is energized, generating the bucket release flag step1_1. t1 is related to the lift cylinder's stroke length, extension and retraction speed, and safety factor. The specific formula for determining this is the same as the automatic mode formula above and is omitted here.

[0113] When the barrel pressing plate release valve is energized for a period of time lasting t2, the barrel pressing plate release valve is controlled to lose power; wherein t2 is associated with the stroke length, extension and retraction speed, and safety factor of the barrel pressing cylinder.

[0114] When the duration of the barrel release flag reaches a second threshold, the lock pin opening valve is powered on, the barrel unloading valve is de-energized, and the barrel release flag step1_1 is reset. The second threshold may be 6 seconds.

[0115] When the lock pin opening valve is energized for a period of t3 and there is a first flag step1, the tailgate opening valve is energized and the lock pin opening valve is de-energized; t3 is associated with the stroke length, extension speed, and safety factor of the lock pin cylinder.

[0116] When the tailgate opening valve is energized for a period of time t4 and the tailgate is fully opened and the proximity switch senses a signal, the tailgate opening valve is controlled to be de-energized and the scraper opening valve is controlled to be energized, generating the scraper action flag step1_2.

[0117] When the scraper opening valve is energized for a period of t5, and the scraper is in position when the proximity switch senses a signal; and there is the first flag step1 and the scraper action flag step1_2, the system will control the loader lifting valve to be energized, generating the loader lifting flag step1_3; and control the scraper opening valve to be de-energized, resetting the scraper action flag step1_2; wherein, t5 is associated with the stroke length, extension and retraction speed, and safety factor of the scraper cylinder.

[0118] The scraper opening valve is energized for t6, but the proximity switch fails to sense the signal when the scraper is fully closed, and there are the first flag step1 and the scraper action flag step1_2. Then the scraper opening valve loses power, the first flag step1 and the scraper action flag step1_2 are reset, and the entire process stops.

[0119] When the filler lift position proximity switch senses a signal that lasts for the third threshold and the scraper scraping position proximity switch senses a signal, and there is the first flag step1 and the filler lift position flag step1_3, the filler lift valve is controlled to lose power, the filler lift position flag step1_3 is reset, and the driving preparation completion flag step1_4 is generated.

[0120] As an implementation method, S106 includes:

[0121] S1061, when the dozer blade push-out signal is received, the dozer blade push-out valve is controlled to be energized, and the dozer blade push-out flag and the dozer blade first section flag are generated; wherein, when the dozer blade push-out signal disappears, the dozer blade push-out valve is controlled to be de-energized.

[0122] S1062: When the length value of the pull rope length sensor reaches the first length value and the driving preparation completion flag is present, the bulldozer first section flag is reset and the bulldozer second section flag is generated.

[0123] S1063: When the length value of the pull rope length sensor is greater than or equal to the second length value, the control flapper valve is energized.

[0124] S1064: When the length value of the pull rope length sensor is greater than or equal to the third length value and the driving preparation completion flag is present, the dozer blade push-out valve loses power.

[0125] When the user presses the push button, the push valve is energized and generates the push first segment flag step2_3_1. When the push button is released, the push valve is de-energized.

[0126] When the length value of the pull rope length sensor reaches the first length value and the driving preparation completion flag step1_4 is present, the bulldozer first section flag step2_3_1 is reset and the bulldozer second section flag step2_3_2 is generated.

[0127] When the length value of the pull rope length sensor is greater than or equal to the second length value, the control flapper valve is energized, and otherwise the control flapper valve is de-energized.

[0128] When the length of the pull rope length sensor is greater than or equal to the third length value and the driving preparation completion flag step1_4 is present, the dozer blade push-out valve loses power. At this time, even if the user continues to press the dozer blade push-out button, the system will not respond.

[0129] As an implementation method, S108 includes:

[0130] S1081, when the dozer blade retraction signal is received and the driving preparation completion flag is present, the dozer blade retraction valve is controlled to be energized. When the dozer blade retraction signal disappears, the dozer blade extension valve is controlled to be de-energized.

[0131] S1082: When receiving a signal from the dozer blade retraction sensor, the dozer blade retraction valve is controlled to lose power.

[0132] When the user presses the dozer blade return button and the driving preparation completion flag (step 1_4) is on, the dozer blade retraction valve is energized. Releasing the dozer blade return button de-energizes the dozer blade retraction valve. If the dozer blade retraction sensor senses a signal, the dozer blade retraction valve de-energizes. This means that even if the dozer blade return button is pressed, the dozer blade retraction valve remains energized.

[0133] As an implementation method, S110 includes:

[0134] S1101, when the duration of the driving preparation signal is greater than the first threshold and there is a driving preparation completion flag, the loader lowering valve is controlled to be energized, and the fourth flag and the loader lowering action flag are generated, and the driving preparation completion flag is reset.

[0135] S1102, when the energized time of the filler lowering valve lasts for t9, or the filler has been lowered to the position and the proximity switch should reach the fifth threshold value, the filler lowering valve is controlled to lose power, the filler lowering action flag is reset, and the tailgate closing valve is controlled to be energized to generate the tailgate closing action flag; wherein, t9 is associated with the stroke length, extension and retraction speed and safety factor of the filler cylinder.

[0136] S1103, when the tailgate closing valve is energized for a duration of t10, the lock pin closing valve is controlled to be energized, the tailgate closing action flag is reset, and a lock pin closing flag is generated, wherein t10 is associated with the maximum length, extension speed, and safety factor of the tailgate cylinder.

[0137] S1104, when the lock pin closing valve is energized for a period of t11, the lock pin closing valve is controlled to lose power, the lock pin closing flag is reset, and the bucket lifting valve is controlled to be energized to generate a bucket lifting action flag; wherein t11 is associated with the maximum length, extension and retraction speed, and safety factor of the lock pin cylinder.

[0138] S1105, when the bucket lifting valve is energized for t12, or the bucket lifting and pressing position proximity switch senses a signal, the bucket pressing plate clamping valve is controlled to be energized, and a bucket pressing valve action flag is generated; wherein, t12 is associated with the bucket lifting cylinder's stroke length, extension and retraction speed, and safety factor.

[0139] S1106, when the barrel pressing plate clamping valve is energized for t13, the barrel pressing plate clamping valve is controlled to lose power and the barrel pressing valve action flag is reset; wherein t13 is associated with the maximum length, extension and retraction speed and safety factor of the barrel pressing cylinder.

[0140] S1107, when the bucket lifting valve is energized for t14, the bucket lifting valve is controlled to lose power, and the bucket lifting action flag and the fourth flag are reset; wherein t14 is associated with the maximum length, extension speed and safety factor of the bucket lifting cylinder.

[0141] Among them, when the user presses the driving preparation button for 2 seconds, the system will receive the driving preparation signal. At this time, if the driving preparation completion flag step1_4 exists, the system controls the filler lowering valve to be energized, and generates the fourth flag step4 and the filler lowering action flag step4_1, and resets the driving preparation completion flag step1_4.

[0142] If the loader lowering valve is energized for t9, or the loader lowering proximity switch reaches the fifth threshold, and the fourth flag, step4, and the loader lowering action flag, step4_1, are present, the loader lowering valve is de-energized, resetting the loader lowering action flag, step4_1. The tailgate closing valve is energized, generating the tailgate closing action flag, step4_2. t9 is related to the stroke length, extension and retraction speed, and safety factor of the loader cylinder.

[0143] When the tailgate closing valve is energized for a duration of t10, the lock pin closing valve is energized, the tailgate closing action flag is reset, and the lock pin closing flag step4_3 is generated. t10 is associated with the maximum length, extension speed, and safety factor of the tailgate cylinder.

[0144] When the lock pin closing valve is energized for a period of t11 and there is a fourth flag step4 and a fourth flag step4, the lock pin closing valve is controlled to lose power, the lock pin closing flag step4_3 is reset, and the bucket lifting valve is controlled to be energized to generate the bucket lifting action flag step4_4; ​​wherein t11 is associated with the maximum length, extension and retraction speed, and safety factor of the lock pin cylinder.

[0145] When the bucket lifting valve is energized for t12, or the bucket lifting and pressing position proximity switch senses a signal, and there is the fourth flag step4 and the bucket lifting action flag step4_4, the control barrel pressing plate clamping valve is energized and the barrel pressing valve action flag step4_4_1 is generated; among them, t12 is related to the bucket lifting cylinder's stroke length, extension and retraction speed, and safety factor.

[0146] When the pressing plate clamping valve is energized for a duration of t13, and the fourth flag step4 and the pressing valve action flag step4_4_1 are set, the pressing plate clamping valve is de-energized and the pressing valve action flag step4_4_1 is reset. t13 is associated with the maximum length, extension and retraction speed, and safety factor of the pressing cylinder.

[0147] When the bucket lifting valve is energized for a duration of t14 and there is the fourth flag step4 and the bucket pressing valve action flag step4_4, the bucket lifting valve is controlled to lose power, and the bucket lifting action flag step4_4 and the fourth flag step4 are reset; wherein t14 is associated with the maximum length, extension and retraction speed, and safety factor of the bucket lifting cylinder.

[0148] The manual mode control method provided by the present application can respond in real time based on the user pressing buttons during the control process of the dozer blade extension phase and the dozer blade retraction phase.

[0149] In summary, an embodiment of the present application provides a method for controlling the loading of a garbage truck, which obtains a mode selection instruction, wherein the mode selection instruction includes an automatic mode and a manual mode. When a unloading preparation signal is received, the method enters the unloading preparation stage and generates a first flag bit; when the unloading preparation is completed, the first flag bit is reset; when a shovel push-out signal is received, the method enters the shovel push-out stage and generates a second flag bit; when the shovel push-out is completed, the second flag bit is reset; wherein, when in automatic mode, the shovel push-out signal is a point control signal; when in manual mode, the shovel push-out signal is a continuous signal; when a shovel retraction signal is received, the method enters the shovel retraction stage and generates a third flag bit; when the shovel retraction is completed, the third flag bit is reset; wherein, when in automatic mode, the shovel retraction signal is a point control signal; when in manual mode, the shovel retraction signal is a continuous signal; when a driving preparation signal is received, the method enters the driving preparation stage and generates a fourth flag bit; when the driving preparation is completed, the fourth flag bit is reset to complete the loading control.

[0150] First, since the method provided in this application provides both automatic and manual modes, the degree of operational freedom is greater, making it easier for users to use in different scenarios. Second, a corresponding flag is generated in each step to ensure that the next action is executed only after the previous action is completed, thus avoiding problems such as collisions and interference caused by inadequate execution of the device's actions. Third, since there are only four stages in total and the overall buttons are smaller, user operations can be reduced, making operation more convenient.

[0151] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

[0152] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above and that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present application is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A method for controlling the loading of a garbage truck, characterized in that: The method comprises: Acquire a mode selection instruction, wherein the mode selection instruction includes an automatic mode and a manual mode; When the unloading preparation signal is received, the unloading preparation phase is entered and a first flag is generated; when the unloading preparation is completed, the first flag is reset; When a push shovel push signal is received, the push shovel push phase is entered and a second flag is generated; when the push shovel is pushed out, the second flag is reset; wherein, when in automatic mode, the push shovel push signal is a point control signal; when in manual mode, the push shovel push signal is a continuous signal; When a dozer blade retraction signal is received, the dozer blade retraction phase is entered and a third flag is generated; when the dozer blade retraction is completed, the third flag is reset; wherein, when in automatic mode, the dozer blade retraction signal is a point control signal; when in manual mode, the dozer blade retraction signal is a continuous signal; When the driving preparation signal is received, the driving preparation phase is entered and a fourth flag is generated; when the driving preparation is completed, the fourth flag is reset to complete the upper installation control.

2. The method for controlling the loading of a garbage truck according to claim 1, wherein: In the automatic mode, when receiving the unloading preparation signal, it enters the unloading preparation stage and generates the first flag bit; When the unloading preparation is completed, the step of resetting the first flag bit includes: When the duration of the unloading preparation signal is greater than the first threshold, a first flag is generated, and the barrel unloading valve is controlled to be energized, generating a barrel unloading flag; When the unloading valve is energized for a period of time t1 or the proximity switch for the bucket lifting and pressing position senses a signal, the unloading flag is reset and the release valve for the pressing plate is energized to generate a release flag. t1 is associated with the stroke length, extension and retraction speed, and safety factor of the bucket lifting cylinder. When the barrel pressing plate release valve is energized for a period of time t2, the barrel pressing plate release valve is controlled to be de-energized; wherein t2 is associated with the stroke length, extension speed, and safety factor of the barrel pressing cylinder; When the duration of the barrel loose flag reaches a second threshold, the lock pin opening valve is controlled to be energized, the barrel unloading valve is de-energized, and the barrel loose flag is reset; When the lock pin opening valve is energized for a period of time t3, the tailgate opening valve is energized and the lock pin opening valve is de-energized; wherein t3 is associated with the stroke length, extension speed, and safety factor of the lock pin cylinder; When the tailgate opening valve is energized for a period of time t4 and the tailgate is fully opened and the proximity switch senses a signal, a bulldozer unloading flag is generated, the tailgate opening valve is controlled to lose power, and the first flag is reset; wherein, t4 is associated with the stroke length, extension and retraction speed, and safety factor of the tailgate cylinder.

3. The method for controlling the loading of a garbage truck according to claim 1, wherein: In the automatic mode, when a push shovel push signal is received, the push shovel push phase is entered and a second flag is generated; After the push-out of the bulldozer is completed, the step of resetting the second flag bit includes: When the push shovel push signal is received and the tailgate is fully opened proximity switch senses the signal, the scraper opening valve is controlled to be energized and the second flag and the scraper action flag are generated; When the scraper opening valve is energized for a period of time t5 and the scraper is in full contact with the proximity switch and a signal is sensed, the loader lift valve is energized to generate a loader lift flag; the scraper opening valve is de-energized to reset the scraper action flag; t5 is associated with the stroke length, extension and retraction speed, and safety factor of the scraper cylinder; When the proximity switch of the loader is lifted to the position and senses a signal that lasts for the third threshold value and the proximity switch of the scraper is closed to the position and senses a signal, the loader lifting valve is controlled to be de-energized, the loader lifting flag is reset, and the dozer blade push-out valve is controlled to be energized, generating the dozer blade push-out flag and the dozer blade first section flag; When the length value of the pull rope length sensor reaches the set value, the second flag, the push shovel push-out flag and the push shovel first section flag are reset, and a push shovel unloading completion flag is generated.

4. The method for controlling the loading of a garbage truck according to claim 3, wherein: When the length value of the pull rope length sensor reaches a set value, the steps of resetting the second flag, the push shovel push-out flag, and the push shovel first section flag, and generating a push shovel unloading completion flag include: When the length value of the pull rope length sensor reaches a first length value, the first section flag of the push shovel is reset, and a second section flag of the push shovel is generated; When the length value of the pull rope length sensor is greater than or equal to the second length value, the flapper valve is controlled to be energized; When the length value of the pull rope length sensor is greater than or equal to the third length value, and the duration of the second section flag of the dozer blade reaches the fourth threshold; or the dozer blade push-out valve is energized for a duration of t8, the dozer blade push-out valve is controlled to lose power, the second flag, the dozer blade push-out flag and the dozer blade second section flag are reset, and a dozer blade unloading completion flag is generated; wherein, the first length value, the second length value and the third length value increase in sequence, and t8 is associated with the maximum length, telescopic speed and safety factor of the dozer blade cylinder.

5. The method for controlling the loading of a garbage truck according to claim 3, wherein: After the steps of controlling the loader lift valve to be energized and generating a loader lift flag; and controlling the scraper opening valve to be de-energized and resetting the scraper action flag, the method further includes: When the loader lifting valve is energized for a period of t7 and the proximity switch does not sense any signal when the loader is lifted to the designated position, the loader lifting valve is controlled to lose power, the second flag and the loader lifting flag are reset, and the loading control process is exited; wherein, t7 is associated with the maximum length, extension and retraction speed, and safety factor of the loading cylinder.

6. The method for controlling the loading of a garbage truck according to claim 1, wherein: In the automatic mode, when a dozer blade retraction signal is received, the dozer blade retraction phase is entered and a third flag is generated; When the dozer blade is retracted, the step of resetting the third flag bit includes: When a dozer blade retraction signal is received, the dozer blade retraction valve is controlled to be energized and a third flag is generated; When the length value of the pull rope length sensor is less than or equal to the first length value and the tailgate fully opened sensor senses a signal, the dozer blade retraction valve is controlled to be de-energized and the loader lowering valve is controlled to be energized; When the filler descending valve is energized for a period of t9, or the filler descends to the position where the proximity switch reaches the fifth threshold, the filler descending valve is de-energized and the third flag is reset; t9 is associated with the stroke length, telescopic speed and safety factor of the filler cylinder.

7. The method for controlling the upper part of a garbage truck according to claim 1, wherein: In the automatic mode, when a driving preparation signal is received, the driving preparation phase is entered and a fourth flag is generated; When the driving preparation is completed, the step of resetting the fourth flag bit includes: When the duration of the driving preparation signal is greater than the first threshold and the proximity switch of the filler is lowered to the position to receive a signal, the tailgate closing valve is controlled to be energized and a fourth flag and a tailgate closing action flag are generated; When the tailgate closing valve is energized for a period of time t10, the lock pin closing valve is controlled to be energized, the tailgate closing action flag is reset, and a lock pin closing flag is generated, wherein t10 is associated with the maximum length, extension speed, and safety factor of the tailgate cylinder; When the lock pin closing valve is energized for t11, the lock pin closing valve is de-energized, the lock pin closing flag is reset, and the bucket lifting valve is energized to generate the bucket lifting action flag. t11 is associated with the maximum length, extension and retraction speed, and safety factor of the lock pin cylinder. When the bucket lift valve is energized for t12 seconds, or the bucket lift and bucket pressure position proximity switch senses a signal, the bucket pressure plate clamping valve is energized and a bucket pressure valve actuation flag is generated. t12 is associated with the bucket lift cylinder's stroke length, extension and retraction speed, and safety factor. When the barrel pressing plate clamping valve is energized for t13, the barrel pressing plate clamping valve is de-energized and the barrel pressing valve action flag is reset; wherein t13 is associated with the maximum length, extension and retraction speed, and safety factor of the barrel pressing cylinder; When the bucket lifting valve is energized for a period of time lasting t14, the bucket lifting valve is controlled to lose power, and the bucket lifting action flag and the fourth flag are reset; wherein t14 is associated with the maximum length, telescopic speed, and safety factor of the bucket lifting cylinder.

8. The method for controlling the loading of a garbage truck according to claim 1, wherein: In manual mode, when receiving the unloading preparation signal, it enters the unloading preparation stage and generates the first flag bit; When the unloading preparation is completed, the step of resetting the first flag bit includes: When the duration of the unloading preparation signal is greater than the first threshold, a flag is generated, and the barrel unloading valve is controlled to be energized, generating a barrel unloading flag; When the unloading valve is energized for a period of time t1 or the proximity switch for the bucket lifting and pressing position senses a signal, the unloading flag is reset and the release valve for the pressing plate is energized to generate a release flag. t1 is associated with the stroke length, extension and retraction speed, and safety factor of the bucket lifting cylinder. When the barrel pressing plate release valve is energized for a period of time t2, the barrel pressing plate release valve is controlled to be de-energized; wherein t2 is associated with the stroke length, extension speed, and safety factor of the barrel pressing cylinder; When the duration of the barrel loose flag reaches a second threshold, the lock pin opening valve is controlled to be energized, the barrel unloading valve is de-energized, and the barrel loose flag is reset; When the lock pin opening valve is energized for a period of time t3, the tailgate opening valve is energized and the lock pin opening valve is de-energized; wherein t3 is associated with the stroke length, extension speed, and safety factor of the lock pin cylinder; When the tailgate opening valve is energized for a period of time t4 and the tailgate is fully opened and the proximity switch senses a signal, the tailgate opening valve is controlled to be de-energized and the scraper opening valve is controlled to be energized, generating a scraper action flag; When the scraper opening valve is energized for a period of time t5 and the scraper is in full contact, the proximity switch senses a signal; the loader lift valve is energized to generate a loader lift flag; and the scraper opening valve is de-energized to reset the scraper action flag; wherein t5 is associated with the stroke length, extension and retraction speed, and safety factor of the scraper cylinder; When the filler is lifted into position proximity switch senses a signal that lasts for the third threshold and the scraper is scraped into position proximity switch senses a signal, the filler lift valve is controlled to lose power, the filler lift flag is reset, and a driving preparation completion flag is generated.

9. The method for controlling the loading of a garbage truck according to claim 8, wherein: In the manual mode, when a push shovel push signal is received, the push shovel push phase is entered and a second flag is generated; After the push-out of the bulldozer is completed, the step of resetting the second flag bit includes: When a push-out signal is received, the push-out valve is controlled to be energized, generating a push-out flag and a push-out first section flag; wherein, when the push-out signal disappears, the push-out valve is controlled to be de-energized; When the length value of the pull rope length sensor reaches the first length value and the driving preparation completion flag is present, the first section flag of the bulldozer is reset and the second section flag of the bulldozer is generated; When the length value of the pull rope length sensor is greater than or equal to the second length value, the flapper valve is controlled to be energized; When the length value of the pull rope length sensor is greater than or equal to the third length value and the driving preparation completion flag position is present, the dozer blade push-out valve loses power.

10. The method for controlling the loading of a garbage truck according to claim 8, wherein: In the manual mode, when a dozer blade retraction signal is received, the dozer blade retraction phase is entered and a third flag is generated; When the dozer blade is retracted, the step of resetting the third flag bit includes: When a dozer blade retraction signal is received and a driving preparation completion flag is present, the dozer blade retraction valve is controlled to be energized, and when the dozer blade retraction signal disappears, the dozer blade push-out valve is controlled to be de-energized; When a signal from the dozer blade retraction in place sensor is received, the dozer blade retraction valve is controlled to lose power.

11. The method for controlling the loading of a garbage truck according to claim 8, wherein: In manual mode, when a driving preparation signal is received, the driving preparation phase is entered and a fourth flag is generated; When the driving preparation is completed, the step of resetting the fourth flag bit includes: When the duration of the driving preparation signal is greater than the first threshold and the driving preparation completion flag is present, the loader lowering valve is controlled to be energized, a fourth flag and a loader lowering action flag are generated, and the driving preparation completion flag is reset; When the loader lowering valve is energized for a period of time t9, or the signal from the proximity switch of the loader lowering device reaches a fifth threshold, the loader lowering valve is de-energized, the loader lowering action flag is reset, and the tailgate closing valve is energized to generate a tailgate closing action flag. t9 is associated with the stroke length, extension and retraction speed, and safety factor of the loader cylinder. When the tailgate closing valve is energized for a period of time t10, the lock pin closing valve is controlled to be energized, the tailgate closing action flag is reset, and a lock pin closing flag is generated, wherein t10 is associated with the maximum length, extension speed, and safety factor of the tailgate cylinder; When the lock pin closing valve is energized for t11, the lock pin closing valve is de-energized, the lock pin closing flag is reset, and the bucket lifting valve is energized to generate the bucket lifting action flag. t11 is associated with the maximum length, extension and retraction speed, and safety factor of the lock pin cylinder. When the bucket lift valve is energized for t12 seconds, or the bucket lift and bucket pressure position proximity switch senses a signal, the bucket pressure plate clamping valve is energized and a bucket pressure valve actuation flag is generated. t12 is associated with the bucket lift cylinder's stroke length, extension and retraction speed, and safety factor. When the barrel pressing plate clamping valve is energized for t13, the barrel pressing plate clamping valve is de-energized and the barrel pressing valve action flag is reset; wherein t13 is associated with the maximum length, extension and retraction speed, and safety factor of the barrel pressing cylinder; When the bucket lifting valve is energized for a period of time lasting t14, the bucket lifting valve is controlled to lose power, and the bucket lifting action flag and the fourth flag are reset; wherein t14 is associated with the maximum length, telescopic speed, and safety factor of the bucket lifting cylinder.

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