Intelligent collection device of garbage classification transfer vehicle and use method

Abstract

The invention discloses an intelligent collecting device of a garbage classification transfer vehicle and a using method, and belongs to the field of environment-friendly recycling. The docking cabin module comprises a pose compensation sub-module with three-direction translation and at least two-direction rotation compensation capabilities and an annular flexible sealing sub-module; isobaric fitting and negative pressure locking are carried out in sequence, sealing criteria are formed by linear displacement tolerance, angle tolerance, a negative pressure threshold value and retention time, meanwhile, majority judgment is carried out on negative pressure drop amplitude, pose deviation dispersion and load impact in a sliding time window not less than one second, and only when the two kinds of criteria are established at the same time, feeding is allowed, and sealing is carried out. And if any one of the components fails, a butt joint channel is closed within 0.5 second, bypass introduction is performed within 1 second, and negative pressure is relieved within 1 second, so that strong binding and abnormal rapid convergence of feeding and a sealing stable state are realized, peculiar smell and leachate are inhibited from escaping, mistaken release is reduced, and the operation rhythm is kept stable.

Description

Technical Field

[0001] This invention relates to the field of environmental protection and recycling technology, and more specifically, to an intelligent collection device and method of use for waste sorting and transfer vehicles. Background Technology

[0002] After the implementation of household waste sorting in urban and suburban areas, sorting and transportation vehicles have become key equipment in the solid waste pollution prevention and control chain. The industry technology has gradually evolved from mechanical seals, fixed compartments and manual experience to an integrated system of "closed docking, negative pressure control, vehicle identification, online monitoring and operation recording". Specifically, sealing rings or negative pressure adsorption are introduced at the docking point between the vehicle and the ground container to reduce odor diffusion; bag-level / bulk disposal identification and metering are added at the entrance to maintain the integrity of sorting; compaction and cold suppression / spraying are configured on the side of the compartment to increase the capacity and suppress odors; and location, image and operation logs are deployed on the compliance side to meet supervision and inspection. These improvements have enhanced the intelligence and environmental protection level of the equipment. However, under complex working conditions such as high-frequency stops, wind vents and slopes, road impacts and composition fluctuations, single-point optimization is still difficult to achieve stable compliance with multiple objectives such as sealing, sorting, compaction, water quality and evidence collection.

[0003] The common shortcomings of existing vehicles are mainly reflected in:

[0004] Firstly, the feeding and release methods rely heavily on "door positioning or a single negative pressure threshold," lacking a stability criterion that comprehensively evaluates positional deviation, negative pressure stability, and load impact within a time window. Under abnormal disturbances, it is easy to release the material incorrectly, resulting in instantaneous odor and leachate leakage.

[0005] Furthermore, the coverage control is mostly a simple emergency stop, lacking a deterministic sequence and time limit of "first closing the docking channel, then bypassing and introducing, and then releasing the negative pressure," which poses a risk of secondary leakage and oscillation. Secondly, the compartments are mostly set according to preset ratios or experience, lacking dynamic variable capacity compartments and off-center load-limited scheduling based on "identification results and remaining travel trends," which easily leads to mid-to-late stage compartment overflows or shortages of key categories and exacerbates round-trip and lateral off-center loads;

[0006] Third, compaction often uses a fixed force / stroke curve, without implementing trajectory selection and online degradation based on the differences between wet and dry materials. Wet waste is prone to bag breakage and spillage, while dry waste is not compacted sufficiently.

[0007] Meanwhile, leachate management mainly relies on passive collection and fixed-parameter cold suppression / spraying, lacking online water quality monitoring. The closed-loop linkage of reflux and re-spray, with the reflux as the dominant variable, leads to compliance fluctuations and high drug and energy consumption.

[0008] Fourth, the work records and material feeding status are not strongly linked, and there is a lack of an immutable mechanism guaranteed by a "signature chain", making it difficult to meet the requirements of traceability and auditing. Summary of the Invention

[0009] To address the problems mentioned in the background section, the present invention provides the following technical solution:

[0010] A smart collection device and method for using a waste sorting and transfer vehicle includes a docking compartment module, which is set at the docking position between the vehicle and the ground container. The docking compartment module includes a posture compensation submodule with three-way translation and at least two-way rotation compensation capabilities, an annular compliant sealing submodule, an equal pressure valve, a pressure relief valve and a negative pressure interface connected to the sealing submodule, and includes a misalignment sensing sensor for acquiring relative posture and contact force information and an opening and closing actuator for opening or closing the docking channel.

[0011] The entrance identification module is used to determine the material and contamination of incoming items at the bag or bulk level, and output the count and volume estimation results for each category;

[0012] The bypass diversion module has a closed bypass compartment, and the incoming material is introduced into the closed bypass compartment under control commands;

[0013] The variable volume compartment module includes partitions and partition locking components that can slide along the length or width of the vehicle, as well as load sensors, for changing the effective volume of each compartment during operation.

[0014] The online leachate treatment module includes a microfluidic separation unit, an online water quality monitoring unit, and a reflux execution unit;

[0015] The wet chamber cold inhibition and enzyme inhibition spray module includes a DC chiller and a spray device;

[0016] The main controller module communicates with the above modules and is configured as follows:

[0017] The docking chamber module is driven to perform isobaric bonding and negative pressure locking in sequence, and the sealing criterion is verified based on the linear displacement tolerance, angle tolerance, negative pressure threshold and holding time. Only when the sealing criterion is met is a material feeding signal issued and the opening and closing actuator is controlled to open the docking channel. When the sealing criterion is not met, the docking channel is kept closed and the bypass diversion module is instructed to introduce the incoming material into the closed bypass chamber.

[0018] When the feeding signal is valid, the system receives the count and volume estimation results of each category output by the inlet identification module, and calculates the target loading ratio by combining the measurement value of the load sensor with the growth rate estimation of the remaining stroke, and issues the partition position command to reconstruct the effective volume of each compartment.

[0019] The system receives the monitoring results from the online water quality monitoring unit. When at least one water quality indicator exceeds a preset threshold, it simultaneously triggers the return of leachate to the closed storage tank, increases the cooling output of the DC chiller, and reduces the spraying dosage or changes the spraying cycle of the spraying device until the water quality indicator returns to within the preset threshold and then resets to normal.

[0020] Furthermore, the main controller module limits the sealing criterion as follows:

[0021] The linear displacement tolerance is 10 to 50 mm, the angle tolerance is 1 to 3 degrees, the pressure differential locking threshold between the docking compartment and the atmospheric pressure is 5 to 20 kPa, and the negative pressure holding time is not less than 60 seconds.

[0022] The docking chamber module performs an isobaric bonding phase before establishing a pressure difference, and the isobaric phase lasts for 0.3 to 2 seconds.

[0023] The main controller module outputs a material feeding permission signal only when the sealing criterion is continuously met for at least 1 second, and instructs the bypass diversion module to close the bypass compartment and keep the docking channel closed within 0.5 seconds when the sealing criterion is not met.

[0024] Furthermore, during the period when the allowable feeding signal is valid, the variable volume hopper module recalculates every 5 to 15 minutes.

[0025] The main controller module calculates the target loading ratio based on the category counts and volume estimates output by the entrance identification module and the growth rate of the vehicle's remaining journey, generates partition position commands to adjust the effective volume of each compartment, and constrains the vehicle's lateral offset moment to not exceed 20% of the rated value, and reserves a remaining volume of not less than 15% of the predicted increment for compartments predicted to be the final target category.

[0026] Furthermore, during the period when the allowable feeding signal is valid, the online leachate treatment module continuously monitors the chemical oxygen demand and ammonia nitrogen.

[0027] When any indicator exceeds the preset threshold, the main controller module simultaneously performs the following actions within 3 seconds: returning leachate to the closed storage tank, increasing the refrigeration output of the DC refrigeration unit by 20% to 30%, and reducing the spraying dosage of the spraying device by 10% to 20% or extending the spraying cycle by 10% to 30%. After meeting the compliance criteria for 120 consecutive seconds, the module resets to normal.

[0028] Furthermore, during the effective period of the allowable feeding signal, the device also includes an adaptive compaction module, which includes a compaction actuator, a torque sensor, a displacement sensor, a moisture content estimation unit, and a pressure trajectory library;

[0029] The main controller module selects a target trajectory from the pressure trajectory library based on the material type output by the inlet identification module and the estimated moisture content. It performs multiple short-stroke low-speed compaction on wet waste with a single peak compaction force lower than 70% of the target peak compaction force of dry waste. It performs high-peak short-cycle compaction on dry waste and limits the leachate overflow rate to no more than 2%.

[0030] Furthermore, the device also includes an operation evidence collection and signature upload module. The operation evidence collection and signature upload module uses the allowed feeding signal as the evidence collection trigger condition to generate a record entry that corresponds to each feeding. The record entry includes at least a timestamp, geographical location information, entry identification result summary, sealing criterion status and compartment instruction summary, and is uploaded after being signed by a trusted time source and after de-identification processing.

[0031] The signature chain is used to verify that the record has not been tampered with.

[0032] Furthermore, the main controller module is configured with a stability criterion for allowing the feeding signal. This stability criterion is determined by at least two of the following conditions being met simultaneously within a sliding time window of not less than 1 second:

[0033] The negative pressure drop inside the docking compartment is no more than 1000 Pa per second, the standard deviation of the position and orientation deviation output by the misalignment sensing component is no more than 1 mm and 0.1 degrees, and the peak impact detected by the load sensor is no more than 10% of the rated pressure.

[0034] The main controller module generates a material feeding permission signal only when both the sealing criterion and the stability criterion are met simultaneously.

[0035] When any criterion fails, the main controller module performs overlay control in the following order:

[0036] The feeding permission signal is immediately revoked, the docking channel is closed within 0.5 seconds, the bypass diversion module is instructed to guide the incoming material into the closed bypass chamber within 1 second, the negative pressure lock is released and the isobaric state is restored within 1 second, and the feeding permission signal can only be regenerated after the stability criterion is restored and continuously established for no less than 120 seconds.

[0037] The method for using the intelligent collection device on waste sorting and transfer vehicles includes the following steps:

[0038] S1: The drive docking chamber module sequentially performs soft contact pre-alignment, isobaric bonding, and negative pressure locking; it verifies the sealing based on the sealing criteria composed of linear displacement tolerance, angle tolerance, negative pressure threshold, and holding time; it generates a material feeding signal and opens the docking channel only when the sealing criteria are continuously met for at least 1 second; if the sealing criteria are not met, it closes the docking channel and introduces the incoming material into the closed bypass chamber within no more than 0.5 seconds;

[0039] S2: During the valid period of the allowable feeding signal, the incoming material is judged by bag or bulk feeding material and contamination, and the count and volume estimation results of each category are output; incoming materials judged as contaminated or high-risk are bypassed and diverted to the closed bypass compartment.

[0040] S3: During the valid period of the allowable feeding signal, the target loading ratio is calculated by combining the inlet identification output and the growth rate of the vehicle's remaining journey with a recalculation cycle of 5 to 15 minutes, and the partition position command is issued to reconstruct the effective volume of each compartment; at the same time, the lateral offset moment of the vehicle is constrained not to exceed 20% of the rated value, and a remaining volume of not less than 15% of the predicted increment is reserved for the compartments predicted to be the final target category.

[0041] S4: During the valid period of the allowable feeding signal, select the target trajectory from the pressure trajectory library based on the material type and moisture content estimation results obtained from the inlet identification; perform multiple short-stroke low-speed compaction for wet waste, with the single peak compaction force being less than 70% of the target peak for dry waste; perform high-peak short-cycle compaction for dry waste; and limit the leachate overflow rate to no more than 2%.

[0042] S5: During the valid period of the allowable feeding signal, continuously monitor chemical oxygen demand and ammonia nitrogen; when any indicator exceeds the preset threshold, within no more than 3 seconds, simultaneously execute the following actions: return leachate to the closed storage tank, increase the refrigeration output of the DC refrigeration unit by 20% to 30%, and reduce the spraying dosage of the spraying device by 10% to 20% or extend the spraying cycle by 10% to 30%; and reset to normal after meeting the compliance criteria for 120 consecutive seconds.

[0043] S6: Generate a record entry that corresponds one-to-one with the current feeding based on the feeding permission signal as the evidence trigger condition. The record entry shall at least include a timestamp, geographic location information, entry identification result summary, sealing criterion status and compartment instruction summary; after being signed by a trusted time source and de-identified, it shall be uploaded.

[0044] S7: Within a sliding time window of not less than 1 second, the allowable feeding signal shall be maintained only when the negative pressure drop in the docking chamber is not greater than 1000 Pa / s, the standard deviation of the position deviation is not greater than 1 mm and 0.1°, and the peak value of the load impact is not greater than 10% of the rated pressure. When any stability condition or sealing criterion fails, the allowable feeding signal shall be revoked in sequence, the docking channel shall be closed within no more than 0.5 seconds, the bypass shall be instructed to divert the flow to the closed bypass chamber within no more than 1 second, the negative pressure shall be released and the isobaric pressure restored within no more than 1 second, and the allowable feeding signal shall be restored after the stability criterion is met continuously for no less than 120 seconds.

[0045] In summary, the present invention has the following beneficial effects:

[0046] By sequentially implementing isobaric bonding and negative pressure locking, and using linear displacement tolerance, angle tolerance, negative pressure threshold and holding time as sealing criteria, and simultaneously making majority judgments on negative pressure drop, position deviation dispersion and load impact within a sliding time window of no less than 1 second, material feeding is allowed only when both criteria are met. If any failure occurs, the docking channel is closed within 0.5 seconds, bypass is introduced within 1 second, and negative pressure is released within 1 second. This achieves strong binding between material feeding and the stable sealing state and rapid convergence of abnormalities, suppresses odor and leachate leakage, reduces accidental release and maintains stable operation rhythm.

[0047] By using a recalculation cycle of 5 to 15 minutes, combining the entrance identification output and the remaining travel trend to generate partition position instructions, and setting the lateral off-center load moment to not exceed 20% of the rated value, and reserving a remaining volume of not less than 15% of the predicted increment for the target category in the final stage, the warehouse capacity can be reconstructed and scheduled in advance according to demand, avoiding warehouse overload or shortage in the middle and later stages, reducing round trips and empty runs, and improving driving safety and capacity utilization efficiency.

[0048] By estimating the moisture content, differentiated compaction trajectories for wet and dry waste are selected (wet waste undergoes multiple short-stroke, low-speed compaction processes with a single peak value lower than 70% of the target peak value for dry waste, while dry waste undergoes high-peak, short-cycle compaction). A closed-loop control system is established to trigger leachate recirculation, increase cooling output, and adjust spray dosage or cycle when online water quality indicators exceed limits. This synergistically improves compaction quality and leachate compliance rate, suppresses bag breakage and overflow, while reducing chemical and energy consumption and improving hygiene and component durability. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a block diagram showing the module connection relationship of the intelligent collection device of the present invention;

[0051] Figure 2 This is a flowchart illustrating the operation and interlock timing of the intelligent collection device of the present invention.

[0052] Figure 3 This is a schematic diagram of the state machine of the main controller of the intelligent collection device of the present invention. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] Example:

[0055] The following is in conjunction with the appendix Figure 1-3 The present invention will be described in further detail below.

[0056] Please see Figure 1-3 This invention provides a technical solution: an intelligent collection device and method for using a waste sorting and transfer vehicle, such as... Figure 1-3 As shown, it includes a docking compartment module, which is set at the docking position between the vehicle and the ground container. The docking compartment module includes a posture compensation submodule with three-way translation and at least two-way rotation compensation capabilities, an annular compliant sealing submodule, an equal pressure valve and a pressure relief valve and a negative pressure interface connected to the sealing submodule, and includes a misalignment sensing sensor for acquiring relative posture and contact force information and an opening and closing actuator for opening or closing the docking channel.

[0057] The entrance identification module is used to determine the material and contamination of incoming items at the bag or bulk level, and output the count and volume estimation results for each category;

[0058] The bypass diversion module has a closed bypass compartment, and the incoming material is introduced into the closed bypass compartment under control commands;

[0059] The variable volume compartment module includes partitions and partition locking components that can slide along the length or width of the vehicle, as well as load sensors, for changing the effective volume of each compartment during operation.

[0060] The online leachate treatment module includes a microfluidic separation unit, an online water quality monitoring unit, and a reflux execution unit;

[0061] The wet chamber cold inhibition and enzyme inhibition spray module includes a DC chiller and a spray device;

[0062] The main controller module communicates with the above modules and is configured as follows:

[0063] The docking chamber module is driven to perform isobaric bonding and negative pressure locking in sequence, and the sealing criterion is verified based on the linear displacement tolerance, angle tolerance, negative pressure threshold and holding time. Only when the sealing criterion is met is a material feeding signal issued and the opening and closing actuator is controlled to open the docking channel. When the sealing criterion is not met, the docking channel is kept closed and the bypass diversion module is instructed to introduce the incoming material into the closed bypass chamber.

[0064] When the feeding signal is valid, the system receives the count and volume estimation results of each category output by the inlet identification module, and calculates the target loading ratio by combining the measurement value of the load sensor with the growth rate estimation of the remaining stroke, and issues the partition position command to reconstruct the effective volume of each compartment.

[0065] The system receives the monitoring results from the online water quality monitoring unit. When at least one water quality indicator exceeds a preset threshold, it simultaneously triggers the return of leachate to the closed storage tank, increases the cooling output of the DC chiller, and reduces the spraying dosage or changes the spraying cycle of the spraying device until the water quality indicator returns to within the preset threshold and then resets to normal.

[0066] In this embodiment: the test scenario selected one suburban mixed route and one urban dense route. Each route was equipped with a total of one thousand standard garbage bins and wet garbage bins, with a bin volume of one hundred and twenty liters. The average daily stop density was fifteen to twenty per kilometer.

[0067] The test period lasted for seven consecutive days. All vehicles and drivers underwent standardized training, and the oil quality, battery health, tire pressure, and vehicle cleaning procedures were kept consistent to minimize interference factors.

[0068] The comparison objects include four types of solutions: traditional vehicles use threshold compartmenting and conventional docking; improved vehicles use negative pressure sealing but no sealing criterion interlock; the interlocking diversion solution of this invention realizes the rigid interlocking of negative pressure locking after equal pressure and the allow feeding signal; the closed-loop complete version of this invention superimposes the above on the basis of variable volume compartment prediction reconstruction and leachate water quality exceeding the limit reverse linkage cold suppression and spraying.

[0069] A control group with the water quality linkage turned off was set up to verify the gain of the third closed loop.

[0070] The sensor configuration is as follows: pressure and temperature / humidity sensors are arranged inside the docking chamber; ammonia and hydrogen sulfide composite electrochemical probes are arranged on the outer edge of the barrel; a combination of near-infrared and visible light dual cameras is set at the feeding port; a six-point load sensor array is arranged under the floor of the carriage to calculate the lateral off-center load moment; and a microfluidic chip and online chemical oxygen demand and ammonia nitrogen probes are installed in the leachate circuit.

[0071] Key parameters should be implemented according to the recommendation of weight 2: linear displacement tolerance of 10 to 50 mm, angle tolerance of 1 to 3 degrees, negative pressure locking threshold of 5 to 20 kPa, holding time of not less than 60 seconds, and a material feeding signal can only be generated after the sealing criterion is continuously established for one second. If the sealing fails to meet the standard, the bypass will be closed within 0.5 seconds.

[0072] The operation process is as follows: the vehicle approaches the bin, performs soft contact pre-alignment, isobaric bonding and negative pressure locking, and starts feeding after the sealing criterion is met; the inlet identification outputs category counting and volume estimation, and triggers the variable volume bin module to recalculate the partition position every five to fifteen minutes, constrains the lateral off-center load moment to not exceed 20% of the rated value, and reserves a volume of not less than 15% of the predicted increment for the target category at the end.

[0073] Adaptive compaction selects the pressure trajectory based on the material and moisture content. For wet waste, multiple short-stroke low-speed compaction is used, while for dry waste, high-peak short-cycle compaction is used, limiting the leachate overflow rate to no more than 2%.

[0074] If any water quality monitoring indicator exceeds the limit, leachate recirculation, chiller power increase, and spray volume reduction or cycle extension will be implemented simultaneously within three seconds. After 120 consecutive seconds of compliance, the system will reset. The evidence collection module generates a record, signs it, and uploads it based on the permitted feeding signal.

[0075] All data are automatically collected and verified by an independent recording terminal. The indicators include the first-time docking success rate, odor peak, leakage volume, bag-level misclassification rate, number of round trips, lateral off-center load moment, operation cycle time, leachate compliance rate, reagent consumption, unit energy consumption, bypass response time, evidence completeness rate and complaint rate, etc. Specific experimental data are shown in the table below.

[0076] Comparison Test Table of Intelligent Collection Devices and Existing Technologies

[0077] Parameters / Test Subjects Traditional vehicle threshold compartmentation Improved vehicle negative pressure seal without interlock Interlocking splitting in this invention The complete closed-loop version of this invention In this invention, water quality linkage is turned off. Success rate of docking on the first attempt % 88 92 98 99 98 Odor peak ppm 8.5 6.2 3.1 2.5 3.6 Drip volume mL / station 22 12 3 1 4 Bag-level misclassification rate % 7.8 6.5 3.2 2.6 3.1 Number of round trips per day / day 14 13 11 10 11 % of the rated value for lateral eccentric load moment 35 28 18 14 17 Average cycle time s / bucket 24.5 23.8 24 24.3 24.1 Leachate compliance rate % 86 90 95 98 93 Enzyme inhibitor consumption mL / ton 480 460 410 350 500 Unit energy consumption kWh / ton 10.2 10.8 9.8 9.4 9.9 Bypass response time s 1.2 0.9 0.5 0.45 0.5 Completeness rate of evidence collection records % 60 70 92 97 93 Resident complaints / 1,000 stations 3.2 2.5 1.1 0.6 1.2

[0078] From the data above, we can see that the three interconnected closed loops lead to synergistic improvements across various indicators. First, let's examine the impact of the interlocking main line—the sealing criterion allowing material feeding—on inlet identification and environmental indicators. Compared to traditional vehicles, the bag-level misclassification rate of the interlocking diversion scheme decreased from 7.8% to 3.2%, a reduction of approximately 59%. Simultaneously, the odor peak decreased from 8.5% to 3.1%, and the leakage rate decreased from 22 ml per station to 3 ml per station. This simultaneous improvement in both indicators demonstrates that the interlocking not only reduces leakage but also improves identification quality by stabilizing the inlet air environment, thereby reducing misclassification and mixed feeding. This synergistic effect exceeds the common-sense expectation of simply adding a sealing ring. Although the improved vehicle possesses a negative pressure seal, due to the lack of a rigid interlocking signal allowing material feeding, the reduction in misclassification rate and odor peak is weaker than that of the interlocking diversion scheme, further confirming the necessity of the interlocking logic.

[0079] Secondly, let's examine the impact of the variable capacity bin driven by the identification output on operational metrics. The complete closed-loop version of this invention reduces the daily round trips from fourteen to ten, and the lateral offset torque as a percentage of the rated value from 35% to 14%, while maintaining a relatively stable average operating cycle time. Compared to the interlocked diversion scheme, the complete closed-loop version further reduces the number of round trips by one and the lateral offset torque by another four percentage points. This is mainly due to the predictive reconstruction of the partition position based on category counting, volume estimation, and the remaining travel growth rate, ensuring that the target category's volume margin is retained at the end, avoiding half-trip bin overflow and empty runs at the end.

[0080] The improvement here is not a single-point parameter tuning, but rather establishes a causal coupling between the identification output and the warehouse capacity configuration, resulting in a simultaneous improvement in both capacity and safety.

[0081] Thirdly, we examined the combined effect of reverse linkage cold suppression and spraying on leachate and chemical consumption in the case of water quality exceeding limits. The closed-loop complete version of leachate compliance rate reached 98%, which is 3 percentage points higher than the interlocked diversion scheme. At the same time, enzyme inhibitor consumption was reduced from 410 ml per ton to 350 ml, and unit energy consumption was reduced to 9.4 kWh per ton.

[0082] Compared with the control group that turned off the water quality linkage, the compliance rate was 5 percentage points higher and the chemical consumption was 30 percent lower, indicating that using water quality as the dominant variable and simultaneously implementing reverse coupling control of temperature control and spraying can suppress the oscillation phenomenon of "the more you spray, the more unstable it becomes".

[0083] The bypass response time remains on the order of 0.5 seconds in both configurations of this invention, further ensuring a rapid isolation path in case the seal fails to meet the standard.

[0084] In terms of evidence collection and compliance, the completeness rate of evidence collection records triggered by interlocks has increased from 60% for traditional vehicles to 97% for the closed-loop complete version, and the number of resident complaints has decreased from 3.2 per 1,000 stations to 0.6, indicating that the evidence chain is strongly bound to the sealed state, which helps to hold people accountable and improve service quality.

[0085] Based on the above data, it can be seen that the three closed loops of this invention are not simply functionally superimposed, but rather tightly couple the mechanical interface, compartment scheduling, and thermochemical control through three key signals: sealing criteria, identification output, and water quality exceeding limits. This results in unpredictable synergistic benefits: while maintaining the basic operating cycle time, it significantly reduces the error rate, odor peak, and leakage, while also reducing round trips and off-center loads, improving water quality compliance, and reducing chemical and energy consumption.

[0086] This collaborative improvement demonstrates the creativity and practical value of the technical solution described in claim 1 compared to existing technologies, and all values ​​can be replicated and verified through comparative experiments along the same route, thus possessing engineering verifiability.

[0087] like Figure 1-3As shown, the main controller module limits the sealing criterion as follows:

[0088] The linear displacement tolerance is 10 to 50 mm, the angle tolerance is 1 to 3 degrees, the pressure differential locking threshold between the docking compartment and the atmospheric pressure is 5 to 20 kPa, and the negative pressure holding time is not less than 60 seconds.

[0089] The docking chamber module performs an isobaric bonding phase before establishing a pressure difference, and the isobaric phase lasts for 0.3 to 2 seconds.

[0090] The main controller module outputs a material feeding permission signal only when the sealing criterion is continuously met for at least 1 second, and instructs the bypass diversion module to close the bypass compartment and keep the docking channel closed within 0.5 seconds when the sealing criterion is not met.

[0091] In this embodiment: the linear displacement tolerance is 10 to 50 mm because it covers the 95th percentile scenario of common barrel misalignment and road tilt in communities or urban areas. If the upper limit is made larger, such as ≥80 mm / ≥5°, ​​the stroke and stiffness requirements of the pose mechanism will increase sharply, and the weight, noise, cost and centering time will increase significantly; if it is smaller, the success rate of on-site docking will decrease.

[0092] Among them, the sealing criterion serves as the only prerequisite for allowing material feeding, ensuring that the inlet identification always operates under stable airflow and constant background, thereby reducing the sources of bag-level misclassification and mixed feeding.

[0093] Meanwhile, the transient bonding is effectively suppressed by the sequential control of isobaric and negative pressure, and the two indicators of odor and leakage decrease simultaneously.

[0094] On the operations side, the identification output and the remaining travel drive the predictive reconstruction of the variable capacity compartment. The volume margin of key categories is still retained at the end. The number of round trips and the lateral offset moment are reduced in sync, while the cycle time is basically unaffected.

[0095] Leachate is triggered by the excessive water quality as the main variable, triggering a three-pronged action of "recirculation, increased cooling power, and reduced or delayed spraying", avoiding the oscillation of "the more you spray, the more unstable it becomes", improving the compliance rate while reducing the consumption of chemicals and energy;

[0096] The overall parameters fall within the capability range of readily available pumps, valves, and automotive-grade controllers, making them manufacturable and maintainable. The certification process is linked to the interlock status, facilitating accountability and after-sales service.

[0097] Different regions and seasons can be slightly adjusted without departing from the ranges in the above embodiments:

[0098] In cold climates, the isobaric bonding time is shortened and the lower limit of differential pressure is appropriately increased to offset the effects of reduced gas viscosity and slower valve response at low temperatures; in mountainous and sloping road conditions, the angle tolerance is set near the upper limit, and the bypass switching time is slightly relaxed to absorb transient errors caused by road impacts.

[0099] When using a larger diameter docking chamber, the differential pressure threshold is increased proportionally according to the effective sealing area, and the pump power and noise are checked. If necessary, different "operating condition templates" are preset in the controller according to the route, which include a group of parameters such as tolerance, threshold and response timing. With one click, the docking success rate and environmental protection indicators can be maintained.

[0100] like Figure 1-3 As shown, during the period when the allowable feeding signal is valid, the variable volume silo module recalculates every 5 to 15 minutes.

[0101] The main controller module calculates the target loading ratio based on the category counts and volume estimates output by the entrance identification module and the growth rate of the vehicle's remaining journey, generates partition position instructions to adjust the effective volume of each compartment, and constrains the vehicle's lateral offset moment to not exceed 20% of the rated value, and reserves a remaining volume of not less than 15% of the predicted increment for compartments predicted to be the final target category.

[0102] In this embodiment, the variable capacity integrator module has a recalculation cycle of 5 to 15 minutes, mainly to balance the stability of data statistics and the traceability of route disturbances. If the cycle is shorter, it is easily affected by instantaneous fluctuations; if it exceeds the cycle, it is difficult to respond to sudden changes in site structure in a timely manner.

[0103] Specifically, when the feeding signal is valid, the main controller triggers a recalculation every 5–15 minutes; reads the entry identification results of the most recent N docking points (e.g., N=6) to obtain the rolling average of "bag count and volume estimation" for each category; and reads the vehicle-mounted load array and the liquid level of each compartment to obtain the current loaded volume of each category.

[0104] Smooth the "rolling average of the most recent N stops" (such as exponential weighted average or simple moving average) to obtain the growth trend of each category in the remaining trip; at the same time, load the route calendar (weekday / weekend / holiday) and the time period correction factor for the day to obtain the "remaining trip prediction volume";

[0105] Add the "current loaded volume" and the "predicted remaining travel volume" together, and obtain the target loading ratio according to the proportion of each category; if a certain category is marked as the "final target category", reserve a remaining volume of not less than 15% of the predicted increment for it;

[0106] Before calculating the position of the partition, check the lateral off-center load moment (calculated by the load sensor array); if it exceeds 20% of the rated value, move the partition towards the geometric center of the vehicle first until the off-center load returns to a safe range; the distance moved in this movement shall not exceed the upper limit of the mechanically permissible single stroke.

[0107] Under the premise of meeting the requirements of "reserved volume" and "off-center load ≤ 20% of rated value", the position of the partition is converted into a specific displacement (along the vehicle length or width direction) according to the target loading ratio; taking into account the locking hole position and limit switch, the position is rounded to the nearest lockable position; the displacement and speed commands are issued and locked after execution;

[0108] If the feeding signal fails during the movement of the baffle, or if the risk of leakage from the opening is detected, the movement should be stopped immediately and the baffle returned to the safe position. If the recalculation cycle is reached but the distance of the last two movements is less than the threshold (e.g., 20 mm), the movement should be skipped to reduce wear and noise.

[0109] Each recalculation and movement generates a record entry (time, target ratio, final position, off-center load moment, whether reserved, whether protection is triggered), which is signed and saved along with the work certification.

[0110] like Figure 1-3 As shown, during the period when the allowable feeding signal is valid, the leachate online treatment module continuously monitors the chemical oxygen demand and ammonia nitrogen.

[0111] When any indicator exceeds the preset threshold, the main controller module simultaneously performs the following linkage control within 3 seconds: return leachate to the closed storage tank, increase the refrigeration output of the DC refrigeration unit by 20% to 30%, and reduce the spraying dosage of the spraying device by 10% to 20% or extend the spraying cycle by 10% to 30%. After meeting the compliance criteria for 120 consecutive seconds, it resets to normal.

[0112] like Figure 1-3 As shown, during the effective period of the allowable feeding signal, the device also includes an adaptive compaction module, which includes a compaction actuator, a torque sensor, a displacement sensor, a moisture content estimation unit, and a pressure trajectory library.

[0113] The main controller module selects a target trajectory from the pressure trajectory library based on the material type output by the inlet identification module and the estimated moisture content. It performs multiple short-stroke low-speed compaction on wet waste, with the single peak compaction force being less than 70% of the target peak force of dry waste. It performs high-peak short-cycle compaction on dry waste and limits the leachate overflow rate to no more than 2%.

[0114] In this embodiment, the adaptive compaction module is arranged at the rear end of each compartment of the vehicle and forms a rigid connection with the compartment body.

[0115] The module includes an electro-hydraulic composite linear pressure actuator, a displacement sensor coaxial with the cylinder, a force / pressure sensor installed in series, a near-infrared reflective probe located near the feed port and the pressure head, and a guide channel and a small flow / conductivity integrated probe for leachate precursor monitoring.

[0116] The actuator has a rated peak thrust of no less than 60 kN, a stroke of approximately 400 mm, a maximum speed of no less than 120 mm / s, and is equipped with a proportional valve, an overflow valve, and mechanical limit switches. The sampling frequency of displacement and force signals is no less than 200 Hz, the sampling frequency of the leachate precursor probe is no less than 50 Hz, and the sampling frequency of the near-infrared module is no less than 10 Hz. All sensor signals are input to the main controller after low-pass filtering and outlier suppression.

[0117] The module communicates with the vehicle's main controller via the vehicle bus, and the pressure trajectory library is stored in local non-volatile memory, which can be updated online according to the maintenance strategy.

[0118] In terms of operation sequence, the main controller can only enable the adaptive compaction module to start working when the "allow feeding signal is valid" and the docking channel is in the closed state;

[0119] After feeding begins, the inlet identification module outputs material category information and provides image features required for moisture content estimation. The adaptive compaction module simultaneously collects the force-displacement response in the initial compaction stage (e.g., the first 50 mm), and fuses the two types of information to obtain the moisture content index, which is used as the basic criterion for trajectory selection.

[0120] When the material is determined to be wet waste with a high moisture content, the module calls multiple short-stroke, low-speed, low-peak trajectory schemes from the pressure trajectory library. The single peak pressure is limited to no more than 70% of the target peak of dry waste. Free water is gradually released through step-by-step squeezing and overflow is avoided.

[0121] When the material is dry waste or recyclables that are mainly crushed, the module selects a high-peak-rate, short-cycle trajectory to quickly form an accumulation and fill the gaps. The trajectory elements include at least the peak pressure, rise and return speeds, holding time, and number of reciprocations, all of which operate within the upper and lower limits specified at the factory.

[0122] To achieve adaptability to different batches of materials and operating conditions, the module continuously evaluates three types of triggering conditions during each trip;

[0123] First, if the force-displacement response of the early compaction section shows obvious "soft" characteristics, it indicates that the current peak value setting is too low or the structure is loose. Then, without exceeding the upper limit of the trajectory library, an additional cycle will be automatically added, and the peak value and holding time of the next cycle will be slightly increased.

[0124] Secondly, if the leachate precursor probe detects a sudden increase in conductivity or a rapid rise in flow rate, it is determined that the risk of overflow is approaching. The peak value and speed of the current and subsequent cycles are immediately reduced, and an additional short cycle is inserted to drain the leachate in stages until the precursor subsides.

[0125] Third, if the compaction volume shrinkage is insufficient to the preset threshold after several consecutive repetitions, it indicates that the compaction energy has not been fully transferred to the interior of the pile body. Small corrections to the peak value or holding time are allowed within the limits. All the above adaptive adjustments are subject to mechanical and hydraulic limits and must not exceed the allowable range of the actuator's rated thrust, stroke, and speed change rate at any time.

[0126] Safety and interlocking strategies are implemented throughout the entire operation. If the sealing criterion or stability criterion fails during the compaction process, or if any abnormal door / cover opening or bypass diversion action is detected, the module will immediately stop compaction, depressurize to zero, and remain locked in its current position.

[0127] When the online leachate monitoring system indicates that the water quality continues to exceed limits and has not yet recovered, the wet waste trajectory automatically downgrades to a gentler, multiple-short-stroke scheme to reduce overflow and spraying burden. To control leachate overflow within constraints, the module performs online statistics on the cumulative overflow volume. When the overflow rate approaches the 2% threshold, a sequence of "drainage-waiting-downgrade trajectory" is activated, and a prompt entry is generated in the recording system until the overflow rate falls back to the allowable range before resuming the normal trajectory.

[0128] The recording and traceability of the compaction process are consistent with the vehicle operation certification mechanism. After each compaction cycle, the system generates a record entry containing fields such as material type, moisture content index range, trajectory number, final peak value, number of repetitions, whether there are any warning signs and a downgrade is taken, final compaction ratio and overflow rate. The record entry is signed with a trusted time source and associated with the corresponding allowable material feeding signal number, which facilitates subsequent quality audit and maintenance analysis.

[0129] During the on-site operation and maintenance phase, fine-tuning of the trajectory database is permitted without altering the principles defining the claims. For example, after accumulating several hundred operations, the peak value and holding time can be corrected by ±10% based on statistical deviation to adapt to regional differences and seasonal variations.

[0130] The technical effects of this embodiment are reflected in three aspects. First, through the closed loop of "material identification, moisture content estimation, pressure trajectory selection and online fine-tuning", the fixed compaction curve is upgraded to a trajectory scheduling that is adaptive to the material state. The single peak limit and multiple short-stroke strategy of wet waste significantly reduce the risk of bag breakage and liquid spillage, while ensuring the compaction ratio.

[0131] Secondly, by detecting leachate precursors in real time and downgrading the trajectory, the risk of spillage can be controlled within a foreseeable range. Combined with water quality linkage, the addition of spray agents and energy consumption of the chiller can be reduced. Thirdly, through system-level interlocking with the "permit feeding signal" and bidirectional constraints with the status of doors / covers, bypasses, water quality, etc., compaction is ensured to operate only within the window of meeting sealing standards and stable operating conditions, thus maintaining the operating rhythm while ensuring environmental protection and safety.

[0132] The above structure, parameter range, and control logic are all implemented based on automotive-grade components and conventional controllers.

[0133] like Figure 1-3 As shown, the device also includes an operation evidence collection and signature upload module. The operation evidence collection and signature upload module uses the allowed feeding signal as the evidence collection trigger condition to generate a record entry that corresponds to each feeding. The record entry includes at least a timestamp, geographical location information, entry identification result summary, sealing criterion status and compartment instruction summary, and is uploaded after being signed by a trusted time source and after de-identification processing.

[0134] The signature chain is used to verify that the record has not been tampered with;

[0135] In this embodiment, the operation evidence collection and signature upload module is installed in the vehicle's electrical cabinet. It includes a trusted time source unit (dual-channel GNSS and network timing, with a built-in high-stability crystal oscillator as a holding clock), an automotive-grade communication unit (CAN and Ethernet, used for data acquisition with the main controller, entry identification, compartmentation, and sealing criteria), a trusted execution environment (TEE) and a security unit (SE, used for secure key storage and digital signatures), an append-only local storage medium (with write amplification equalization and power-loss protection), and a cellular communication module (4G / 5G, supporting breakpoint resumption). The module continuously monitors the "allow feeding signal" issued by the main controller, using its rising edge as the evidence collection trigger. At the moment of triggering, an evidence collection window is frozen (e.g., a sensor and control summary from several hundred milliseconds before the trigger to several seconds after the trigger), and a record entry corresponding to this feeding operation is generated. Record entries must include at least the following fields: timestamp (provided by a reliable time source, along with the time source type and synchronization error estimate); geographic location information (latitude and longitude and positioning accuracy); entry identification result summary (summary statistics of category count and volume estimation, including model / version identifier); sealing criterion status (whether the pose deviation is within the threshold, whether the negative pressure establishment reaches the threshold and the duration of maintenance, continuous establishment time, etc., Boolean / numerical bits); compartment instruction summary (whether the partition target position and off-center load constraint are satisfied in the current or most recent recalculation cycle).

[0136] It may also include extended fields such as unique equipment identifier, permitted feeding signal serial number, docking channel opening / closing status, and bypass diversion status;

[0137] If evidence-collecting images or short videos are configured locally, only their summary values ​​and watermark information are saved. The original images are desensitized and then saved or discarded by the host system according to the policy.

[0138] After an entry is generated, the module calculates the entry digest value within the TEE and writes the digest value of the previous valid record into the current entry, forming a "chained" structure. Then, it calls the security unit to digitally sign the current entry digest, recording the signature certificate chain and key identifier together. After completion, it writes the signature to the local forensics log area in an "append-only" manner. When communication is available, the module uploads the entry to the server via a protected channel.

[0139] Before uploading, the module performs desensitization processing: geographic location information is gridded or truncated according to preset precision; image data undergoes face / license plate masking or only uploads watermarked thumbnails and summaries; sensitive personal identifiers are not stored on the vehicle's hard drive, but are only temporarily cached on the host computer using access control; after receiving the data, the server performs two types of verification: first, it verifies the entry signature and certificate chain to confirm that the certificate has not expired and the signature matches the summary; second, it performs chain verification on the "previous summary value" in the entry to ensure that the entire chain is continuous, unbroken, and has not been inserted or deleted. If the network is temporarily unavailable, the module places the entry in the "pending upload" queue and saves it locally in a circular redundancy manner; when the queue reaches the capacity threshold or the signature fails, it reports its health status to the main controller, which can decide whether to temporarily stop new evidence collection triggering or run with a degraded strategy until the health status is restored.

[0140] To ensure the traceability and non-repudiation of evidence, the module performs a self-check on the time source and signature status after each trigger: when the time synchronization is in an "unsynchronized" or "drift exceeds the threshold" state, the entry is marked with a "time untrustworthy" flag and a monotonically increasing local counter value is forcibly attached; when the security unit is unavailable or the signature fails, the entry is marked with a "pending signature" status and enters a read-only cache, which is prohibited from being modified by any application. After the security unit is restored, the entry is re-signed according to the original digest, ensuring the consistency of "digest first, signature later" for the same entry. To reduce privacy risks and bandwidth consumption, images and audio are only uploaded with the entry when anomalies occur (such as continuous failure of sealing criteria, bypass switching failure, or association with resident complaint numbers). Under normal circumstances, only their digest values ​​and time watermark matching information are retained; the upper-level terminal can trace the generation time, location, device, and control status of the original evidence based on the entry chain and server-side auditing strategy.

[0141] like Figure 1-3 As shown, the main controller module is configured with a stability criterion for the feeding signal. This stability criterion is determined by at least two of the following conditions being met simultaneously within a sliding time window of not less than 1 second:

[0142] The negative pressure drop inside the docking compartment is no more than 1000 Pa per second, the standard deviation of the position and orientation deviation output by the misalignment sensing component is no more than 1 mm and 0.1 degrees, and the peak impact detected by the load sensor is no more than 10% of the rated pressure.

[0143] The main controller module generates a material feeding permission signal only when both the sealing criterion and the stability criterion are met simultaneously.

[0144] When any criterion fails, the main controller module performs overlay control in the following order:

[0145] Immediately cancel the allow feeding signal, close the docking channel within 0.5 seconds, instruct the bypass diversion module to guide the incoming material into the closed bypass chamber within 1 second, release the negative pressure lock and restore the isobaric state within 1 second, and only after the stability criterion is restored and continuously established for no less than 120 seconds can the allow feeding signal be regenerated.

[0146] In this embodiment, a stability assessment task is set in the vehicle main controller as an interlocking condition parallel to the sealing criterion.

[0147] The raw signals used include: the output of the docking compartment pressure sensor (used to calculate the rate of change of negative pressure over time), the pose data output of the misalignment sensing component (used to calculate the degree of fluctuation in position and angle), and the output of the load sensor array (used to identify instantaneous impact peaks). After being timestamped, the three data streams are processed within the same sliding time window, with a window length of no less than 1 second. Before processing, automotive-grade second-order low-pass filtering and spike suppression are applied to each signal to reduce glitches and short-term disturbances.

[0148] The stability criterion is determined by majority vote within this time window: at least two of the following three conditions must be met simultaneously: the negative pressure drop inside the docking compartment is no greater than 1000 Pa / s; the standard deviation of the attitude deviation is no greater than 1 mm and 0.1 degrees, respectively; and the peak impact detected by the load sensor is no greater than 10% of the rated pressure.

[0149] The main controller generates or maintains a "feeding permission signal" only when both the stability criterion and the sealing criterion are met simultaneously and maintained continuously for at least 1 second; if either criterion fails within the time window, it is considered unstable, and the "feeding permission signal" is not generated or is immediately revoked. To reduce jitter, the "establishment / failure" toggling of the judgment must be maintained continuously for a set duration before execution.

[0150] When either the stability criterion or the sealing criterion fails, the main controller executes the coverage control in a fixed sequence: immediately cancels the allow feeding signal; drives the opening and closing actuator to close the docking channel and obtains closure confirmation within 0.5 seconds; and instructs the bypass diversion module to guide the incoming material into the closed bypass compartment within 1 second.

[0151] Within 1 second, the negative pressure lock is released and the isobaric state is restored via pneumatic control. Throughout the entire coverage process, the door / cover opening and closing status, bypass execution position, and pneumatic valve position are interlocked and verified. If any step is not confirmed within the time limit, the conservative state of "safe closure - bypass introduction - isobaric pressure maintenance" is maintained until the restoration conditions are met.

[0152] The reset adopts a time delay strategy: the allowable feeding signal can only be regenerated when the stability criterion and the sealing criterion are simultaneously restored within a continuous window of 120 seconds.

[0153] To avoid "on-off-on" oscillations, coverage control must remain active for at least 3 seconds once triggered, with an interval of at least 10 seconds between two coverage actions. If a sensor self-test fails or data times out (e.g., outdated timestamps), it will be treated as "not meeting the requirements" for that path. If two or more paths fail, coverage control will be forcibly activated and maintenance will be reported. To ensure compliance and traceability, each trigger and deactivation of coverage control will be linked with the operation verification and signature upload module to generate a signed record entry. The record must include at least the trigger reason, the range values ​​of the three judgment quantities, the start and end times of each step, and the reset start time, and will be included in the signature chain for subsequent verification and auditing.

[0154] This embodiment ensures operational safety and reduces erroneous releases and shutdowns under abnormal disturbances by using a release logic based on "majority decision within a time window + confluence with sealing criteria" and a deterministic coverage sequence and reset window. At the same time, it provides a verifiable chain of evidence for operation and maintenance and liability determination.

[0155] The method for using the intelligent collection device on waste sorting and transfer vehicles includes the following steps:

[0156] S1: The drive docking chamber module sequentially performs soft contact pre-alignment, isobaric bonding, and negative pressure locking; it verifies the sealing based on the sealing criteria composed of linear displacement tolerance, angle tolerance, negative pressure threshold, and holding time; it generates a material feeding signal and opens the docking channel only when the sealing criteria are continuously met for at least 1 second; if the sealing criteria are not met, it closes the docking channel and introduces the incoming material into the closed bypass chamber within no more than 0.5 seconds;

[0157] S2: During the valid period of the allowable feeding signal, the incoming material is judged by bag or bulk feeding material and contamination, and the count and volume estimation results of each category are output; incoming materials judged as contaminated or high-risk are bypassed and diverted to the closed bypass compartment.

[0158] S3: During the valid period of the allowable feeding signal, the target loading ratio is calculated by combining the inlet identification output and the growth rate of the vehicle's remaining journey with a recalculation cycle of 5 to 15 minutes, and the partition position command is issued to reconstruct the effective volume of each compartment; at the same time, the lateral offset moment of the vehicle is constrained not to exceed 20% of the rated value, and a remaining volume of not less than 15% of the predicted increment is reserved for the compartments predicted to be the final target category.

[0159] S4: During the valid period of the allowable feeding signal, select the target trajectory from the pressure trajectory library based on the material type and moisture content estimation results obtained from the inlet identification; perform multiple short-stroke low-speed compaction for wet waste, with the single peak compaction force being less than 70% of the target peak for dry waste; perform high-peak short-cycle compaction for dry waste; and limit the leachate overflow rate to no more than 2%.

[0160] S5: During the valid period of the allowable feeding signal, continuously monitor chemical oxygen demand and ammonia nitrogen; when any indicator exceeds the preset threshold, within no more than 3 seconds, simultaneously execute the following actions: return leachate to the closed storage tank, increase the refrigeration output of the DC refrigeration unit by 20% to 30%, and reduce the spraying dosage of the spraying device by 10% to 20% or extend the spraying cycle by 10% to 30%; and reset to normal after meeting the compliance criteria for 120 consecutive seconds.

[0161] S6: Generate a record entry that corresponds one-to-one with the current feeding based on the feeding permission signal as the evidence trigger condition. The record entry shall at least include a timestamp, geographic location information, entry identification result summary, sealing criterion status and compartment instruction summary; after being signed by a trusted time source and de-identified, it shall be uploaded.

[0162] S7: Within a sliding time window of not less than 1 second, the allowable feeding signal shall be maintained only when the negative pressure drop in the docking chamber is not greater than 1000 Pa / s, the standard deviation of the position deviation is not greater than 1 mm and 0.1°, and the peak value of the load impact is not greater than 10% of the rated pressure. When any stability condition or sealing criterion fails, the allowable feeding signal shall be revoked in sequence, the docking channel shall be closed within no more than 0.5 seconds, the bypass shall be instructed to divert the flow to the closed bypass chamber within no more than 1 second, the negative pressure shall be released and the isobaric pressure restored within no more than 1 second, and the allowable feeding signal shall be restored after the stability criterion is met continuously for no less than 120 seconds.

[0163] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0164] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the present invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed.

Claims

1. An intelligent collection device for a waste sorting and transfer vehicle, characterized in that, include: The docking compartment module is located at the docking position between the vehicle and the ground container. The docking compartment module includes a posture compensation submodule with three-way translation and at least two-way rotation compensation capabilities, an annular compliant sealing submodule, an equal pressure valve and a pressure relief valve and a negative pressure interface connected to the sealing submodule, and includes a misalignment sensing sensor for acquiring relative posture and contact force information and an opening and closing actuator for opening or closing the docking channel. The entrance identification module is used to determine the material and contamination of incoming items at the bag or bulk level, and output the count and volume estimation results for each category; The bypass diversion module has a closed bypass compartment, and the incoming material is introduced into the closed bypass compartment under control commands; The variable volume compartment module includes partitions and partition locking components that can slide along the length or width of the vehicle, as well as load sensors, for changing the effective volume of each compartment during operation. The online leachate treatment module includes a microfluidic separation unit, an online water quality monitoring unit, and a reflux execution unit; The wet chamber cold inhibition and enzyme inhibition spray module includes a DC chiller and a spray device; The main controller module communicates with the above modules and is configured as follows: The docking chamber module is driven to perform isobaric bonding and negative pressure locking in sequence, and the sealing criterion is verified based on the linear displacement tolerance, angle tolerance, negative pressure threshold and holding time. Only when the sealing criterion is met is a material feeding signal issued and the opening and closing actuator is controlled to open the docking channel. When the sealing criterion is not met, the docking channel is kept closed and the bypass diversion module is instructed to introduce the incoming material into the closed bypass chamber. When the feeding signal is valid, the system receives the count and volume estimation results of each category output by the inlet identification module, and calculates the target loading ratio by combining the measurement value of the load sensor with the growth rate estimation of the remaining stroke, and issues the partition position command to reconstruct the effective volume of each compartment. The system receives the monitoring results from the online water quality monitoring unit. When at least one water quality indicator exceeds a preset threshold, it simultaneously triggers the return of leachate to the closed storage tank, increases the cooling output of the DC chiller, and reduces the spraying dosage or changes the spraying cycle of the spraying device until the water quality indicator returns to within the preset threshold and then resets to normal.

2. The intelligent collection device for waste sorting and transfer vehicles according to claim 1, characterized in that, The main controller module limits the sealing criteria as follows: The linear displacement tolerance is 10 to 50 mm, the angle tolerance is 1 to 3 degrees, the pressure differential locking threshold between the docking compartment and the atmospheric pressure is 5 to 20 kPa, and the negative pressure holding time is not less than 60 seconds. The docking chamber module performs an isobaric bonding phase before establishing a pressure difference, and the isobaric phase lasts for 0.3 to 2 seconds. The main controller module outputs a material feeding permission signal only when the sealing criterion is continuously met for at least 1 second, and instructs the bypass diversion module to close the bypass compartment and keep the docking channel closed within 0.5 seconds when the sealing criterion is not met.

3. The intelligent collection device for waste sorting and transfer vehicles according to claim 1, characterized in that, During the period when the allowable feeding signal is valid, the variable volume silo module recalculates every 5 to 15 minutes. The main controller module calculates the target loading ratio based on the category counts and volume estimates output by the entrance identification module and the growth rate of the vehicle's remaining journey, generates partition position commands to adjust the effective volume of each compartment, and constrains the vehicle's lateral offset moment to not exceed 20% of the rated value, and reserves a remaining volume of not less than 15% of the predicted increment for compartments predicted to be the final target category.

4. The intelligent collection device for waste sorting and transfer vehicles according to claim 1, characterized in that, During the period when the allowable feeding signal is valid, the online leachate treatment module continuously monitors the chemical oxygen demand and ammonia nitrogen. When any indicator exceeds the preset threshold, the main controller module simultaneously performs the following actions within 3 seconds: returning leachate to the closed storage tank, increasing the refrigeration output of the DC refrigeration unit by 20% to 30%, and reducing the spraying dosage of the spraying device by 10% to 20% or extending the spraying cycle by 10% to 30%. After meeting the compliance criteria for 120 consecutive seconds, the module resets to normal.

5. The intelligent collection device for waste sorting and transfer vehicles according to claim 1, characterized in that, During the effective period of the allowable feeding signal, the device also includes an adaptive compaction module, which includes a compaction actuator, a torque sensor, a displacement sensor, a moisture content estimation unit, and a pressure trajectory library. The main controller module selects a target trajectory from the pressure trajectory library based on the material type output by the inlet identification module and the estimated moisture content. It performs multiple short-stroke low-speed compaction on wet waste with a single peak compaction force lower than 70% of the target peak compaction force of dry waste. It performs high-peak short-cycle compaction on dry waste and limits the leachate overflow rate to no more than 2%.

6. The intelligent collection device for waste sorting and transfer vehicles according to claim 1, characterized in that, The main controller module is configured with a stability criterion for the feeding signal. This stability criterion is determined by at least two of the following conditions being met simultaneously within a sliding time window of not less than 1 second: The negative pressure drop inside the docking compartment is no more than 1000 Pa per second, the standard deviation of the position and orientation deviation output by the misalignment sensing component is no more than 1 mm and 0.1 degrees, and the peak impact detected by the load sensor is no more than 10% of the rated pressure. The main controller module generates a material feeding permission signal only when both the sealing criterion and the stability criterion are met simultaneously. When any criterion fails, the main controller module performs overlay control in the following order: The feeding permission signal is immediately revoked, the docking channel is closed within 0.5 seconds, the bypass diversion module is instructed to guide the incoming material into the closed bypass chamber within 1 second, the negative pressure lock is released and the isobaric state is restored within 1 second, and the feeding permission signal can only be regenerated after the stability criterion is restored and continuously established for no less than 120 seconds.

7. A method of using the intelligent collection device for waste sorting and transfer vehicles according to claims 1-6, characterized in that, Includes the following steps: S1: The drive docking chamber module sequentially performs soft contact pre-alignment, isobaric bonding, and negative pressure locking; it verifies the sealing based on the sealing criteria composed of linear displacement tolerance, angle tolerance, negative pressure threshold, and holding time; it generates a material feeding signal and opens the docking channel only when the sealing criteria are continuously met for at least 1 second; if the sealing criteria are not met, it closes the docking channel and introduces the incoming material into the closed bypass chamber within no more than 0.5 seconds; S2: During the valid period of the allowable feeding signal, the material and contamination of the incoming material are determined at the bag or bulk feeding level, and the count and volume estimation results of each category are output. Incoming materials deemed contaminated or high-risk are diverted to a closed bypass compartment via a bypass route. S3: During the valid period of the allowable feeding signal, the target loading ratio is calculated by combining the inlet identification output and the growth rate of the vehicle's remaining journey with a recalculation cycle of 5 to 15 minutes, and the partition position command is issued to reconstruct the effective volume of each compartment; at the same time, the lateral offset moment of the vehicle is constrained not to exceed 20% of the rated value, and a remaining volume of not less than 15% of the predicted increment is reserved for the compartments predicted to be the final target category. S4: During the valid period of the feeding signal, select the target trajectory from the pressure trajectory library based on the material type and moisture content estimation results obtained from the inlet identification; For wet waste, multiple short-stroke, low-speed compaction processes are implemented, with the peak compaction force of each process being less than 70% of the target peak compaction force for dry waste; for dry waste, high-peak compaction with short cycles is implemented; and the leachate overflow rate is limited to no more than 2%. S5: During the valid period of the allowable feeding signal, continuously monitor chemical oxygen demand and ammonia nitrogen; when any indicator exceeds the preset threshold, within no more than 3 seconds, simultaneously execute the following actions: return leachate to the closed storage tank, increase the refrigeration output of the DC refrigeration unit by 20% to 30%, and reduce the spraying dosage of the spraying device by 10% to 20% or extend the spraying cycle by 10% to 30%; and reset to normal after meeting the compliance criteria for 120 consecutive seconds. S6: Generate a record entry that corresponds one-to-one with the current feeding based on the feeding permission signal as the evidence triggering condition. The record entry shall at least include a timestamp, geographic location information, entry identification result summary, sealing criterion status and compartment instruction summary. After being signed by a trusted time source and then de-identified, it is uploaded. S7: Within a sliding time window of not less than 1 second, the allowable feeding signal shall be maintained only when the negative pressure drop in the docking chamber is not greater than 1000 Pa / s, the standard deviation of the position deviation is not greater than 1 mm and 0.1°, and the peak value of the load impact is not greater than 10% of the rated pressure. When any stability condition or sealing criterion fails, the allowable feeding signal shall be revoked in sequence, the docking channel shall be closed within no more than 0.5 seconds, the bypass shall be instructed to divert the flow to the closed bypass chamber within no more than 1 second, the negative pressure shall be released and the isobaric pressure restored within no more than 1 second, and the allowable feeding signal shall be restored after the stability criterion is met continuously for no less than 120 seconds.

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