Linkage control method and system for scraper and pail mechanism of garbage disposal environmental sanitation equipment

Abstract

The invention relates to the technical field of linkage control, in particular to a linkage control method and system for a scraper blade and a pail mechanism of garbage disposal environmental sanitation equipment, and the method comprises the following steps: obtaining a tail end displacement and acceleration sequence, extracting a peak value and an impact period marking time period, positioning a path behavior boundary, and judging whether path advancing time is overlapped or not; obtaining a path conflict state result, adjusting a linkage rhythm sequence, constructing execution window configuration content, collecting a track trend vector comparison direction, verifying whether a track is synchronous or not, and obtaining a rhythm synchronization state result. According to the method, in the action coordination control process, precise recognition of the key behavior boundary is achieved by combining the displacement of the movable fulcrum and the acceleration change trend, and the timeliness and precision of path conflict recognition are improved by introducing a path propulsion rate and time overlapping comparison mode; and dynamic rhythm self-adaptive adjustment, conflict avoidance and execution consistency verification in structure linkage operation are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of linkage control, in particular to a linkage control method and system for a garbage disposal sanitation equipment scraper and a bucket mechanism. BACKGROUND

[0002] The technical field of linkage control relates to a control method for the coordinated action between multiple mechanical components, mainly studies how to realize the synchronous or sequential action of two or more equipment components in a specific operation process through mechanical structures, electrical systems or hydraulic systems, etc., to ensure operation continuity and operation accuracy. This technology is widely used in engineering machinery, agricultural equipment, logistics conveying equipment and urban sanitation equipment, etc. The key research objects include control structure design, action timing coordination, power transmission mechanism, signal triggering method and execution device cooperation, etc., to systematically realize the linkage control requirements between multiple functional units of the equipment. Among them, the linkage control method of the traditional garbage disposal sanitation equipment scraper and the bucket mechanism refers to setting the action coordination relationship between the bucket mechanism and the scraper mechanism during the operation process to complete the cooperative operation of garbage collection and pressure feeding in the sanitation operation process for the lifting and dumping of garbage containers and the pushing and arranging of garbage in the vehicle-mounted box. The traditional method uses hydraulic drive to control the lifting and turning of the bucket arm, and cooperates with the scraper device installed in the vehicle compartment to push or compact the garbage. The linkage relationship between the actions is realized through mechanical link structure or electrical sequential control method.

[0003] The existing technology usually uses mechanical link or electrical sequential control to realize action coordination in the linkage control process of the bucket and the scraper. It lacks real-time analysis of the actual trajectory response characteristics in the action process, which leads to the inability to identify and adjust the action rhythm in time when the equipment is under dynamic load change or the running path interferes with each other, resulting in path conflict, action delay or execution deviation, etc. For example, if the scraper does not complete the path yielding operation during the lifting of the garbage container, physical interference is easy to occur, affecting the operation continuity and equipment safety. The control method lacks action coordination ability in complex working conditions, lacks trajectory linkage rhythm correction and tolerance judgment mechanism, and is difficult to meet the actual needs of efficient cooperative operation. SUMMARY

[0004] In order to solve the technical problems existing in the prior art, the linkage control method of the garbage disposal sanitation equipment scraper and the bucket mechanism provided by the embodiments of the present application includes the following steps: S1: Obtain the continuous displacement trajectory sequence, acceleration change sequence and reverse impact occurrence interval time of the end active fulcrum of the bucket mechanism, mark the time period, select the section of structural behavior change, and obtain the positioning result of the boundary section of the bucket path behavior; S2: based on the bucket path behavior boundary section positioning result, call the garbage disposal sanitation equipment scraper structure real-time trajectory planning about to enter the sliding rail section time node interval, judge the overlap of the two path sections on the time axis, obtain the linkage path conflict state judgment result; S3: according to the linkage path conflict state judgment result, obtain the scraper sliding rail section path promotion sequence, judge the order of real-time node position and conflict section first node position, delay the order of scraper node by a beat segment, obtain the linkage action rhythm adjustment sequence under the path compression condition; S4: call the linkage action rhythm adjustment sequence under the path compression condition, obtain the driving release pressure interval and action displacement interval range configured under the corresponding rhythm segment of the bucket and scraper action, combine and contrast the two interval values, obtain the linkage path rhythm segment execution control structure set.

[0005] As a further scheme of the application, the bucket path behavior boundary section positioning result includes activity fulcrum impact interval trend characteristics, behavior boundary time sequence mark, structure behavior change section index, peak response time point index, path boundary identification label, the linkage path conflict state judgment result includes time axis overlap section index, overlap time duration evaluation value, path conflict existence label, path segment conflict intensity level, conflict path segment number matching table, the linkage action rhythm adjustment sequence under the path compression condition includes node time sequence position judgment mark, beat segment adjustment direction, action synchronization priority identification, rhythm segment time calibration value, action delay response strategy, the linkage path rhythm segment execution control structure set includes driving release pressure configuration set, action displacement range mapping set, rhythm segment execution window table, window order configuration index, execution control rhythm segment grouping cluster.

[0006] As a further scheme of the application, the specific steps of S1 are: S101: obtain the continuous displacement trajectory sequence of the end activity fulcrum of the bucket mechanism, the acceleration change sequence and the reverse impact occurrence interval time, extract the local maximum value point and the local minimum value point in the acceleration change sequence, and record the corresponding time index position, calculate the impact interval time sequence according to the time interval and amplitude change trend between adjacent maximum value points, and compare it with the preset impact interval convergence judgment threshold, select the acceleration section with interval convergence characteristics, and obtain the impact interval convergence section index set; S102: call the impact interval convergence section index set, divide the time window according to the corresponding acceleration change sequence, cluster and divide the fluctuation curve in the window according to the change range and fluctuation period of the acceleration value in the window, extract the window section with regular continuous fluctuation behavior, record the time range boundary index, construct the corresponding relationship between continuous behavior section and impact characteristics, and generate a pair of continuous fluctuation section boundary indexes. S103: Retrieving the trajectory curve segment in the time period in the displacement trajectory sequence according to the continuous wave section boundary index, marking the position index where the action path in the section suddenly changes in combination with the change trend of the trajectory curve, performing boundary positioning index aggregation operation on the marked trajectory segment, and generating the bucket path behavior boundary section positioning result.

[0007] As a further scheme of the present application, the specific steps of S2 are: S201: Calling the bucket path behavior boundary section positioning result, obtaining the sliding rail segment time node interval about to enter in the real-time trajectory planning of the garbage disposal sanitation equipment scraper structure, scanning the start and end indexes of the sliding rail segment advancing time period, synchronizing the advancing time window in each index interval, archiving the time information of the advancing section, and generating the sliding rail section time interval index sequence; S202: According to the sliding rail section time interval index sequence, extracting the path advancing position sequence in the same time period in the corresponding scraper structure advancing path data, constructing a time advancing rate sequence using the path displacement increment of the adjacent two time points and the corresponding time increment, calculating the average rate value of the sliding rail advancing section and recording the index position, and generating the sliding rail section path advancing rate mapping set; S203: Calling the sliding rail section path advancing rate mapping set, comparing the start and end index ranges of the path section on the time axis, extracting the time index interval of the overlapping section by setting the overlap judgment condition of the sliding rail path section advancing start and end time and the bucket path section boundary time index, threshold checking the time length and path advancing rate, and if the overlapping section time length exceeds the linkage path conflict time limit threshold, marking it as a conflict state section, and obtaining the linkage path conflict state judgment result.

[0008] As a further scheme of the present application, the specific steps of S3 are: S301: Calling the linkage path conflict state judgment result, obtaining the scraper sliding rail section path advancing sequence, extracting the node time in the advancing sequence, recording the corresponding displacement state and time index, reading the first node time index of the conflict section in the conflict state result, constructing the double-index mapping relationship between the node time and the path state, and generating the scraper path node time index mapping set; S302: According to the scraper path node time index mapping set, retrieving the real-time node time index position in the real-time running state, and comparing the index with the first node time index of the conflict section, if the real-time time index is less than the conflict section start index, constructing a bucket action sequence forward shift logic mark, otherwise constructing a scraper action delay mark, recording the node action sequence change instruction, and generating the action tempo change mark sequence. S303: calling the action beat change mark sequence, mapping the beat adjustment instruction to the real-time bucket path and squeegee path corresponding time axis position, uniformly translating the action section time, when the bucket action is moved forward, adjusting the start and end time index forward according to the set beat section length, when the squeegee action is delayed, sequentially delaying the node sequence time index backward by the beat section length, and obtaining the linkage action rhythm adjustment sequence under the path compression condition.

[0009] As a further scheme of the present application, the specific steps of S4 are: S401: calling the linkage action rhythm adjustment sequence under the path compression condition, retrieving the rhythm section sequence index corresponding to the bucket and squeegee action nodes, obtaining the associated driving release pressure interval value and action displacement interval range value in the rhythm section, mapping and combining the two types of interval values according to the rhythm section sequence index, and generating a rhythm section action driving configuration correspondence set; S402: according to the rhythm section action driving configuration correspondence set, parameter aggregating the pressure interval and displacement interval in the rhythm section, binding the aggregated interval parameters to the rhythm section index, constructing the execution window configuration content of the rhythm section, and rearranging the execution window content of all rhythm sections according to the index sequence to generate a rhythm section execution window mapping sequence; S403: calling the rhythm section execution window mapping sequence, clustering the rhythm section windows according to the action type label, archiving the rhythm section windows belonging to the bucket path and squeegee path respectively, and constructing a double-path linkage control structure, organizing the rhythm section execution windows according to the classification order, and obtaining a linkage path rhythm section execution control structure set.

[0010] As a further scheme of the present application, the driving release pressure interval value mapped and combined in the rhythm section action driving configuration correspondence set is a continuous interval not less than a preset minimum release threshold and not more than the peak driving release capability value in the rhythm section; The action displacement interval range value in the rhythm section action driving configuration correspondence set is a parameter range with the displacement amount corresponding to the bucket and squeegee action nodes as the starting point and not exceeding the upper limit of the physical displacement of the rhythm section; In the rhythm section execution window mapping sequence, the execution window configuration content of the rhythm section is established based on the synchronous arrangement of the driving release pressure interval value and the action displacement interval range value at the index corresponding position; In the double-path linkage control structure, the rhythm section windows of the bucket path and the squeegee path are synchronously organized under the same rhythm section sequence index through the index mapping relationship, realizing the consistent correspondence of the rhythm section execution order and the path action type label.

[0011] As a further scheme of the present application, the method further comprises the S5 step: S5: according to the linkage path rhythm section execution control structure set, the change trend vector of the action trajectory of the bucket and the scraper mechanism end is collected in real time, the path execution trajectory sequence is established, the trajectory direction is compared with the planned direction in the original rhythm section window, whether the trajectory deviation is within the standard tolerance range is judged, if the direction of the continuous section is consistent and there is no tolerance trajectory point beyond, it is marked as rhythm synchronization state, and the rhythm compression execution synchronization verification result is obtained; The rhythm compression execution synchronization verification result includes trajectory direction deviation identification, tolerance trajectory synchronization rate, continuous section synchronization marker state, trajectory synchronization verification score and synchronization judgment label.

[0012] As a further scheme of the application, the specific steps of S5 are: S501: call the linkage path rhythm section execution control structure set, collect the action trajectory change trend vector of the bucket mechanism and the scraper mechanism end in real time, and compose the direction vector sequence of the path section according to the time sequence, read the planned direction vector configured in the rhythm section window, perform real-time trajectory direction and planned direction mapping, and generate a trajectory direction comparison mapping sequence; S502: according to the trajectory direction comparison mapping sequence, the included angle of the trajectory direction vector and the planned direction vector in the rhythm section window is calculated, and compared with the preset trajectory direction tolerance threshold, the trajectory point index position beyond the tolerance range is extracted, if the direction vector in the real-time rhythm section is within the tolerance range, and the adjacent direction included angle changes continuously, the rhythm section is marked as synchronization state, and a trajectory deviation tolerance check marker sequence is generated; S503: call the trajectory deviation tolerance check marker sequence, count the synchronization marker state of the rhythm section, judge whether the continuous rhythm section is in the synchronization state label, if all the markers are in the synchronization state, set the path section as a compression rhythm synchronization section in the control structure, and obtain the rhythm compression execution synchronization verification result.

[0013] The linkage control system of the garbage disposal sanitation equipment scraper and the bucket mechanism comprises: The bucket trajectory recognition module obtains the continuous displacement trajectory sequence, the acceleration change sequence and the reverse impact appearance interval time of the active fulcrum at the end of the bucket mechanism, filters the continuous acceleration fluctuation time period, calculates the interval change value between adjacent impact peak values in the continuous section, judges whether the interval change value is convergent, if it is convergent, the starting time point is obtained as the action boundary starting point, and the bucket path behavior boundary section positioning result is generated; The path overlap judgment module calls the bucket path behavior boundary section positioning result, obtains the pushing time period sequence in the scraper structure slide rail path, compares whether the start and end time period and the time interval of the scraper slide rail pushing section exist intersection, and generates the linkage path conflict state judgment result; The rhythm adjustment programming module obtains a path pushing sequence corresponding to a time node in the scraper path pushing sequence according to the linkage path conflict state determination result, compares the node time with the first node time of the conflict section in a numerical manner, and generates a linkage action rhythm adjustment sequence under path compression conditions; The rhythm segment window construction module calls the linkage action rhythm adjustment sequence under path compression conditions, extracts the driving release pressure interval value and the action displacement interval value in the corresponding rhythm segment, performs clustering and classification operation on the rhythm segment window according to the action type label by sequentially arranging the matching table of the rhythm segment, and obtains a linkage path rhythm segment execution control structure set; The trajectory synchronization verification module collects real-time action trajectory vectors of the bucket and the scraper structure end according to the linkage path rhythm segment execution control structure set, constructs two groups of trajectory direction change sequences, compares the trajectory direction with the corresponding planned direction in the rhythm segment point by point, counts the number of trajectory points that exceed the trajectory direction tolerance, and generates a rhythm compression execution synchronization verification result.

[0014] Compared with the prior art, the advantages and positive effects of the present application are as follows: In the present application, by combining the activity fulcrum displacement and acceleration change trend in the action coordination control process, the key behavior boundary is accurately identified, the path pushing rate and time overlap comparison method is introduced to improve the timeliness and accuracy of path conflict recognition, when the conflict state occurs, the action sequence can be compressed and adjusted according to the rhythm, and the corresponding driving release pressure and displacement window content are matched to form a rhythm control structure with synchronous response capability, and the trajectory deviation tolerance interval is judged by cooperating with real-time trajectory trend vector analysis, which effectively ensures that the linkage action still maintains a stable and coordinated pushing state under path compression state, realizes dynamic rhythm self-adaptive adjustment, conflict avoidance and execution consistency verification in structure linkage operation. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0016] Figure 1 The step flowchart of the present application is shown in the figure; Figure 2 The S1 refinement schematic diagram of the present application is shown in the figure; Figure 3 The S2 refinement schematic diagram of the present application is shown in the figure; Figure 4 The S3 refinement schematic diagram of the present application is shown in the figure; Figure 5S4 is a refinement schematic diagram of the present application; Figure 6 S5 is a refinement schematic diagram of the present application; Figure 7 A system module diagram of the present application. DETAILED DESCRIPTION

[0017] The technical solutions in the present application will be described below with reference to the drawings.

[0018] In the embodiments of the present application, the words such as "example", "for example" are used to represent as an example, illustration or description. Any embodiment or design scheme described as "example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the word "example" is intended to present the concept in a specific manner. In addition, in the embodiments of the present application, the meaning expressed by "and / or" can be both, or can be one of the two.

[0019] In the embodiments of the present application, "image" and "picture" can be used interchangeably at times, and it should be pointed out that the meanings expressed are consistent when the distinction is not emphasized. "Of", "corresponding" and "corresponding" can be used interchangeably at times, and it should be pointed out that the meanings expressed are consistent when the distinction is not emphasized.

[0020] In the embodiments of the present application, sometimes the subscript such as W1 can be written in the form of non-subscript such as W1, and the meanings expressed are consistent when the distinction is not emphasized.

[0021] To make the technical problems, technical solutions and advantages to be solved by the present application more clear, the following will be described in detail with reference to the drawings and specific embodiments.

[0022] Please refer to Figure 1 The embodiments of the present application provide a linkage control method for a garbage disposal sanitation equipment scraper and a bucket mechanism, comprising the following steps: S1: acquiring a continuous displacement trajectory sequence, an acceleration change sequence and a reverse impact occurrence interval time of a terminal movable support point of the bucket mechanism, extracting a time point corresponding to a peak acceleration and a cycle section of the reverse impact, performing time section labeling, screening a section of structural behavior change, if the impact interval in the continuous fluctuation section shows a convergence trend, defining the motion boundary starting section, and obtaining a bucket path behavior boundary section positioning result; S2: Based on the bucket path behavior boundary section positioning result, the time node interval of the entering slide rail section in the real-time trajectory planning of the garbage disposal sanitation equipment scraper structure is called to obtain the real-time path pushing rate of the scraper structure, the overlap on the time axis of the two path sections is judged, whether there is an overlapping area and the duration of the overlapping area between the start and end time of the bucket section and the pushing section of the scraper slide rail section are compared, if there is an overlapping section and the overlapping time length exceeds the standard limit value, it is determined that there is a path conflict state, and the linkage path conflict state judgment result is obtained; S3: According to the linkage path conflict state judgment result, the scraper slide rail section path pushing sequence is obtained, the real-time node position and the first node position of the conflict section are judged in sequence, if the real-time node time is less than the first time node of the conflict section, the bucket action sequence is translated forward by a beat section, otherwise the scraper node sequence is delayed by a beat section, and the linkage action rhythm adjustment sequence under the path compression condition is obtained; S4: The linkage action rhythm adjustment sequence under the path compression condition is called to obtain the driving release pressure interval and the action displacement interval range configured under the corresponding rhythm section of the bucket and the scraper action, the two interval values are compared, the execution window configuration content of the rhythm section is constructed, the rhythm section window is arranged in sequence and classified, and the linkage path rhythm section execution control structure set is obtained. S5: According to the linkage path rhythm section execution control structure set, the action trajectory change trend vector of the end of the bucket and the scraper mechanism is collected in real time, the path execution trajectory sequence is established, and the trajectory direction is compared with the planned direction in the original rhythm section window. It is judged whether the trajectory deviation is within the standard tolerance range, if the direction of the continuous section is consistent and there is no trajectory point exceeding the tolerance, it is marked as rhythm synchronization state, and the rhythm compression execution synchronization verification result is obtained. The bucket path behavior boundary section positioning result includes activity fulcrum impact interval trend characteristics, behavior boundary time sequence mark, structure behavior change section index, peak response time point index, path boundary identification label, linkage path conflict state judgment result includes time axis overlapping section index, overlapping time duration evaluation value, path conflict existence label, path section conflict intensity level, conflict path section number matching table, linkage action rhythm adjustment sequence under path compression condition includes node time sequence position judgment mark, beat section adjustment direction, action synchronization priority mark, rhythm section time calibration value, action delay response strategy, linkage path rhythm section execution control structure set includes driving release pressure configuration set, action displacement range mapping set, rhythm section execution window table, window sequence configuration index, execution control rhythm section grouping cluster, rhythm compression execution synchronization verification result includes trajectory direction deviation mark, tolerance inner trajectory synchronization rate, continuous section synchronization mark state, trajectory synchronization verification score, synchronization judgment label.

[0023] Please refer to Figure 2 , the specific steps of S1 are: S101: Obtain the continuous displacement trajectory sequence, acceleration change sequence and reverse impact occurrence interval time of the movable support point at the end of the bucket mechanism, extract the local maximum points and local minimum points in the acceleration change sequence, and record the corresponding time index positions, calculate the interval time sequence of the impact according to the time interval and amplitude change trend between adjacent maximum points, and compare it with the preset impact interval convergence judgment threshold, screen the acceleration sections with interval convergence characteristics, and obtain the impact interval convergence section index set; A high-sensitivity acceleration sensor and a displacement sensor need to be installed at the end of the device structure. The sensor position needs to cover the key action area of the movable support point, and the motion process of the structure in the working state is recorded continuously through the data acquisition module. During the collection process, a uniform sampling period can be set, such as collecting 1000 times per second, to ensure data integrity and avoid missing sudden behaviors. Through analysis of the acceleration sequence, the local maximum points and local minimum points identified need to be combined with data smoothing techniques such as the moving average method to eliminate high-frequency noise interference. In the processed data sequence, the time intervals of adjacent extreme points are compared one by one. The time index difference between two consecutive maximum points is taken as the interval time of an impact, and a complete impact interval sequence is constructed. The interval sequence needs to be compared with the preset impact interval convergence threshold. The time period with small continuous interval change and stable trend is selected as the acceleration segment with interval convergence characteristics. The process needs to traverse the entire acceleration sequence, count the time periods that meet the convergence judgment conditions, and record the start and end time indexes of the time periods one by one to obtain the impact interval convergence section index set.

[0024] S102: Call the impact interval convergence section index set, divide the corresponding acceleration change sequence into time windows, cluster and divide the fluctuation curve in the window according to the change range and fluctuation period of the acceleration value in the window, extract the window section with regular continuous fluctuation behavior, record the time range boundary index, construct the corresponding relationship between the continuous behavior section and the impact characteristics, and generate the continuous fluctuation section boundary index pair. The acceleration change sequence data needs to be windowed, and the entire data segment is divided into multiple mutually continuous analysis units by using a fixed time length sliding window. In each window, the overall change range of the acceleration value is counted, that is, the difference between the maximum and minimum values is calculated, and the periodic fluctuation change of the acceleration value is counted. If the acceleration change in a window presents stable and regular fluctuation, and the fluctuation amplitude exceeds the preset range, and the periodic change is not large, the window is preliminarily divided into a candidate segment with continuous fluctuation characteristics. The candidate window is divided by the method of cluster analysis, and the window segments with similar fluctuation characteristics are classified and arranged. The window segment with typical continuous fluctuation behavior characteristics is screened out. On this basis, the starting and ending time indexes of the window segment are recorded to form a complete time boundary index pair, which is used for trajectory extraction analysis and processing. The process needs to comprehensively analyze the fluctuation behavior in each window to ensure that the extracted fluctuation segment truly reflects the continuous response behavior of the bucket mechanism under repeated impact, and the divided time segment has continuity in time sequence, and the continuous fluctuation segment boundary index pair is generated.

[0025] S103: According to the continuous fluctuation segment boundary index pair, the trajectory curve segment in the time segment is retrieved in the displacement trajectory sequence, and the position index of the action path mutation in the segment is marked in combination with the change trend of the trajectory curve. The boundary positioning index aggregation operation is performed on the marked trajectory segment to generate the bucket path behavior boundary segment positioning result. The corresponding trajectory curve segment is retrieved in the whole displacement trajectory sequence. By reading the displacement change data in the time segment, the motion path trend of the bucket mechanism under continuous impact can be obtained. For each trajectory segment, the displacement change trend with time needs to be analyzed. By comparing the increasing and decreasing directions and the change rates of the displacement values at adjacent time points, the mutation behavior points in the displacement curve are found. By judging the position where the displacement continuously increases or decreases and then reverses, and the change amplitude is large enough, it is indicated that the bucket action path changes obviously. After identifying such mutation points, multiple mutation points in the adjacent time segment need to be merged. The time range boundary of the merged mutation point set is positioned as the behavior boundary segment where the bucket path action changes dramatically. The boundary information of each marked trajectory segment is integrated to form a complete boundary segment list, and the bucket path behavior boundary segment positioning result is generated.

[0026] Please refer to Figure 3 , and the specific steps of S2 are as follows: S201: Call the bucket path behavior boundary segment positioning result to obtain the time node interval of the sliding rail segment about to enter in the real-time trajectory planning of the garbage disposal sanitation equipment scraper structure. The start and end indexes of the sliding rail segment are scanned, and the index of the pushing time window in each index interval is synchronized. The time information of the pushing segment is archived to generate the sliding rail segment time interval index sequence. Need to combine the operation logic of the scraper structure in the environmental sanitation equipment, analyze the slide rail section that will enter in the future short time, make a time section prediction on the slide rail advancing process, obtain the current time index of the scraper according to the scheduling plan, combine the boundary time interval of the bucket action, retrieve the slide rail section that will enter in the slide rail advancing plan, in the slide rail section, the time point index of the start and end of the advancing action is determined as the start and end boundaries of the advancing time section, each advancing time section is scanned, the advancing state change at each time is recorded, and the time is aligned with the positioning time window of the bucket path behavior, so that the advancing time window and the bucket behavior section have a synchronous index relationship, each time window is archived and numbered according to the time index, the advancing time section information is ensured not to be lost, and the slide rail section time section index sequence is generated.

[0027] S202: According to the slide rail section time section index sequence, the path advancing position sequence in the same time section is extracted from the corresponding scraper structure advancing path data, the path displacement increment and the corresponding time increment of the adjacent two time points are used to construct the time advancing speed sequence, the average speed value of the slide rail advancing section is calculated and the index position is recorded, and the slide rail section path advancing speed mapping set is generated; The path advancing position information corresponding to the time section can be extracted from the advancing path data of the scraper structure, the space coordinate value of the scraper advancing position at each time point is recorded one by one by traversing the time index in each slide rail section, and the path displacement increment between any two adjacent time points and the time increment are differentiated to construct the instantaneous speed sequence in the slide rail advancing process. For each slide rail advancing section, the speed data points contained are counted and averaged to calculate the average advancing speed of the scraper in the time. The average speed value corresponding to each time index range in the whole advancing sequence is recorded, that is, the average speed value corresponding to each time index range in the whole advancing sequence. The speed value can reflect the running stability and rhythm characteristics of the scraper in the time section. The whole speed mapping set can be used for reference when judging whether the advancing rhythm is abnormal. At the same time, it can also assist in dynamically adjusting the advancing rhythm to adapt to the rhythm change of the bucket path. The implementation of the process needs to ensure that the time stamp and time section index of the advancing path data are strictly consistent to avoid speed calculation deviation or time mismatch. The slide rail section path advancing speed mapping set is generated.

[0028] S203: Call the slide rail section path advancing speed mapping set, compare the start and end index ranges of the path section on the time axis, set the overlap judgment condition of the start and end time of the slide rail path section and the boundary time index of the bucket path section, extract the time index interval of the overlapping section, and perform threshold checking on the time length and path advancing speed. If the overlapping section time length exceeds the linkage path conflict time limit threshold, it is marked as a conflict state section, and the linkage path conflict state judgment result is obtained. The start and end time indexes of the slide rail advancing section are compared with the time indexes of the bucket path boundary section to determine whether there is an overlapping area in time. If the start time point of the slide rail advancing section is less than the end time of a certain bucket boundary section, and the end time of the slide rail section is greater than the start time of the bucket section, it is determined that the two time sections intersect. The time index of the overlapping interval is extracted as the representation of the intersection index section. For the overlapping section, the time length is counted and combined with the corresponding average advancing speed information to perform a threshold judgment operation. After setting the linkage path conflict time limit threshold, if the overlapping section time length exceeds the limit value, it can be marked as a state section with path conflict. The marking information will be used as the output result of the conflict determination. The judgment process needs to traverse the path combination situation to ensure that each path intersection situation occurring is identified without omission to complete the whole process of linkage path conflict state recognition and obtain the linkage path conflict state determination result.

[0029] Please refer to Figure 4 The specific steps of S3 are as follows: S301: Call the linkage path conflict state determination result, obtain the scraper slide rail section path advancing sequence, extract the node time in the advancing sequence, and record the corresponding displacement state and time index. At the same time, the first node time index of the conflict section is read from the conflict state result to build a double-index mapping relationship between the node time and the path state, and generate a scraper path node time index mapping set. From the scraper slide rail section path advancing sequence, extract the key node time information. By scanning the time nodes in the advancing process, the advancing displacement value and the time index corresponding to each node are recorded one by one. In the recording process, the time index and the path state in the actual advancing sequence need to be updated synchronously. The node information needs to be kept in order. A one-to-one correspondence between the time index and the path displacement state is established. On this basis, the conflict state of the section marked is checked. The first node time index of each conflict section is read from the conflict state result, and the index is used as the key time point to identify the conflict start position. Combined with the advancing path state collected before, a double-index mapping structure containing the corresponding relationship among “node time-displacement state-time index” is constructed to ensure that each key node has a corresponding item in the time dimension and the path dimension as the basic information source for action sequence adjustment and beat control. In the actual processing process, it is necessary to ensure that the advancing path node is recorded accurately and without error to prevent beat adjustment deviation caused by index disorder. A scraper path node time index mapping set is generated.

[0030] S302: According to the scraper path node time index mapping set, the real-time node time index position is retrieved in the real-time running state, and the index is compared with the conflict section first node time index. If the real-time time index is less than the conflict section starting index, a bucket action sequence forward movement logic flag is constructed, otherwise a scraper action delay flag is constructed, the node action sequence change instruction is recorded, and the action tempo change flag sequence is generated; In the real-time running state, the scraper advancing node index at the time point needs to be retrieved, and the time index information in the mapping set is compared to find the position of the current running state. The real-time time index is compared with the starting node index of each conflict section in the conflict state result to determine whether it has approached or entered the conflict section. For any conflict section, if the real-time time index is still less than the first node time index of the section, the current behavior priority order is marked as bucket action forward movement. Otherwise, if the real-time time index is equal to or exceeds the starting time of the conflict section, a scraper action delay logic flag needs to be constructed. Through judgment, the intelligent adjustment of the action execution sequence in the future short time can be realized, and the conflict of two path behaviors on the same time axis section is avoided. For each sequence adjustment result, the corresponding node position and adjustment flag need to be recorded to generate the action tempo change flag sequence.

[0031] S303: Call the action tempo change flag sequence, map the tempo adjustment instruction to the real-time bucket path and scraper path corresponding time axis position, and uniformly translate the action section time. When the bucket action is moved forward, adjust the start and end time indexes forward by the set tempo section length. When the scraper action is delayed, the node sequence time index is sequentially delayed by the tempo section length. Get the linkage action rhythm adjustment sequence under the path compression condition; Each tempo adjustment instruction in the action tempo change flag sequence needs to be mapped to the time axis of the real-time running bucket path and scraper path. The specific operation is as follows: for each action section involved in the flag, find the corresponding start and end position on the time index axis, and decide the translation direction of the tempo according to the adjustment type. When the flag is "bucket action forward movement", move the start and end time indexes of the action section forward by the preset tempo section length to advance the execution of the time section as a whole. When the flag is "scraper action delay", sequentially delay the corresponding path section on the time axis by a tempo section length. The tempo section length can be determined by the maximum response period or the minimum delay amount that can be tolerated under the current running state. In each adjustment operation, the new time index range needs to be recorded and the original path section time setting needs to be overwritten to ensure the integrity and continuity of the rhythm rearrangement of the linkage path under the conflict condition. Through the unified update of the time indexes after multiple adjustments, the linkage action rhythm adjustment sequence under the path compression condition is obtained.

[0032] Please refer to Figure 5, the specific steps of S4 are: S401: calling the linkage action rhythm adjustment sequence under path compression conditions, retrieving the rhythm segment sequence index corresponding to the action node of the bucket and the scraper, obtaining the associated driving release pressure interval value and action displacement interval range value in the rhythm segment, mapping and combining the two types of interval values according to the rhythm segment sequence index, and generating a rhythm segment action driving configuration comparison set; The rhythm segment sequence index involved needs to be retrieved and processed to locate the node positions of the bucket action and the scraper action in each rhythm segment. After successful positioning, the driving release pressure interval value corresponding to the rhythm segment node is read. The pressure value is derived from the real-time feedback of the hydraulic or pneumatic sensor on the working state. At the same time, the displacement interval range value corresponding to the action completion in the same rhythm segment is obtained. The displacement value reflects the degree of structural movement involved in the action. Based on the acquisition of the two types of interval parameters, one-to-one mapping and combination are performed according to the sequence index of the rhythm segment to form the "pressure interval-displacement interval" paired data items corresponding to each rhythm segment, ensuring that the required driving release intensity and corresponding structural displacement range can be quickly found in any rhythm segment during path execution. A unified driving parameter configuration basis is provided during execution to effectively support parameter reference and scheduling control of rhythm segment execution state, and a rhythm segment action driving configuration comparison set is generated.

[0033] S402: According to the rhythm segment action driving configuration comparison set, the pressure interval and displacement interval in the rhythm segment are parameter aggregated, the aggregated interval parameters are bound to the rhythm segment index, the execution window configuration content of the rhythm segment is constructed, and the execution window content of all rhythm segments is rearranged according to the index order to generate a rhythm segment execution window mapping sequence; The pressure interval and displacement interval included in the rhythm segment need to be parameter aggregated. Specifically, if there are multiple driving pressure values or multiple displacement values in the same rhythm segment, statistical methods such as mean, maximum, minimum, or median are used for merging to form a unified interval parameter group. The aggregated parameter group needs to be bound to the index number of the corresponding rhythm segment to become the execution parameter configuration content of the rhythm segment. After completing the aggregation parameter binding of all rhythm segments, the rhythm segments need to be rearranged according to the index order to ensure that the organization structure of the execution window is rigorous and conforms to the time advancement logic, which can be directly used as a basis for path linkage execution, so that the bucket and the scraper have independent, identifiable, and unified format parameter windows in their respective rhythm segments, providing accurate data support for the scheduler and path controller, avoiding parameter call confusion in multi-segment task processing, and generating a rhythm segment execution window mapping sequence.

[0034] S403: Call the rhythm segment execution window mapping sequence, cluster and classify the rhythm segment windows according to the action type label, archive the rhythm segment windows belonging to the bucket path and the scraper path respectively, and construct a double-path linkage control structure, organize the rhythm segment execution windows in the order of classification, and obtain a linkage path rhythm segment execution control structure set; The clustering and classification operation of the rhythm segment windows based on the action type label needs to determine whether the action corresponding to each rhythm segment belongs to the bucket path or the scraper path. The rhythm segment windows marked as the bucket path can be classified into one category according to the path source information marked in the early stage, and the rhythm segment windows belonging to the scraper path can be independently sorted and archived to form another category of structure. In this way, a double-path linkage control structure is constructed. The rhythm segment execution windows under each path in the structure have a clear hierarchical relationship, and can be called in parallel or dispatched in sequence. According to the path running needs, the execution instructions of each rhythm segment can be flexibly allocated. In the organization process, the contents of the rhythm segment execution windows are sorted and integrated according to the classification results, and are respectively listed in the rhythm segment execution control structure set of the bucket path and the scraper path, ensuring that the two paths can maintain independent execution logic in linkage control, and can quickly adjust the rhythm under the condition of intersection or conflict, having good timing adaptability and execution structure flexibility, and obtaining a linkage path rhythm segment execution control structure set.

[0035] Please refer to Figure 6 , the specific steps of S5 are: S501: Call the linkage path rhythm segment execution control structure set, real-time collect the action trajectory trend vector of the end of the bucket mechanism and the scraper mechanism, and compose the direction vector sequence of the path segment according to the time sequence, read the planned direction vector configured in the rhythm segment window, and perform real-time trajectory direction and planned direction mapping to generate a trajectory direction comparison mapping sequence; Real-time acquisition of the action trajectory data of the end of the bucket mechanism and the scraper mechanism, sampling of the position change of the end effector at a fixed time interval during device operation, construction of the trajectory trend vector at the current time through the space displacement between two points, and arrangement of the trend vector collected at each time in sequence to form a complete path segment direction vector sequence, which reflects the overall motion direction trend of the action execution path. Meanwhile, in each rhythm segment execution window, the planned direction vector, i.e., the standard direction information planned in advance, is read. In the path control process, the real-time collected direction vector and the planned direction in the rhythm segment are mapped one by one to establish a matching relationship between each real-time direction and the corresponding planned direction, determine whether the current actual path running state deviates from the planned path, and have the characteristics of synchronous arrangement according to the time sequence, which can track the path change trend continuously and generate a trajectory direction comparison mapping sequence.

[0036] S502: According to the trajectory direction contrast mapping sequence, the angle between the trajectory direction vector and the planned direction vector in the rhythm segment window is calculated, and compared with the preset trajectory direction tolerance threshold, the trajectory point index position exceeding the tolerance range is extracted, if the real-time rhythm segment direction vector is within the tolerance range, and the adjacent direction angle change is continuous, the rhythm segment is marked as synchronous state, and the trajectory deviation tolerance check mark sequence is generated; The angle between the real-time trajectory direction vector and the planned direction vector in each pair of mapping needs to be calculated, the angle reflects the deviation between the actual execution path and the planned path, for each group of direction vectors, the angle value is calculated one by one, and compared with the preset trajectory direction tolerance threshold, the tolerance threshold is set according to the allowable deviation angle of the structure action, if the angle exceeds the threshold, it means that the trajectory deviates beyond the tolerance range, at this time, the index position of the direction vector in the sequence is recorded as an abnormal trajectory point mark, if the real-time direction vector in the whole rhythm segment is within the tolerance threshold, and the angle change between adjacent directions remains continuous and without mutation, it is considered that the action path in the rhythm segment and the planned path maintain good consistency, the rhythm segment is marked as synchronous state, and the state mark is recorded, and the trajectory deviation tolerance check mark sequence is generated.

[0037] S503: Call the trajectory deviation tolerance check mark sequence, count the synchronization mark state of the rhythm segment, and judge whether the continuous rhythm segment is in the synchronization state label, if all the marks are in the synchronization state, set the path section as the compression rhythm synchronization section in the control structure, and get the rhythm compression execution synchronization verification result; The synchronization mark state in the rhythm segment needs to be counted and judged for continuity, the mark content is scanned rhythm by rhythm, and it is analyzed whether there are multiple continuous rhythm segments marked as synchronization state, if it is detected that a continuous rhythm window is in the synchronization state, it is explained that the trajectory execution and the planned direction of the bucket path and the scraper path in this time period are highly consistent, and the path section can be set as the compression rhythm synchronization section according to this, that is, the stable section which can be compressed rhythm linkage is marked in the path control structure, and the mark will be used as the key execution basis for controlling the high efficiency action mode, through applying the more compact rhythm scheduling strategy in the continuous synchronization state section, the rhythm compression running logic is realized, and the rhythm compression execution synchronization verification result is generated.

[0038] Please refer to Figure 7 , the linkage control system of the garbage disposal sanitation equipment scraper and bucket mechanism, comprising: The bucket track recognition module obtains a continuous displacement track sequence, an acceleration change sequence and a reverse impact occurrence interval time of a movable support point at the end of the bucket mechanism, screens a continuous acceleration fluctuation time period, and calculates an interval change value between adjacent impact peak values in the continuous section, judges whether the interval change value shows a convergence trend, and if the convergence is met, obtains a starting time point as a motion boundary starting point to generate a bucket path behavior boundary section positioning result; The path overlap determination module calls the bucket path behavior boundary section positioning result, obtains a pushing time period sequence in the scraper structure slide rail path, compares whether the start and end time periods intersect with the time interval of the scraper slide rail pushing section, and generates a linkage path conflict state determination result; The rhythm adjustment arrangement module obtains a path pushing sequence corresponding to the path pushing sequence of the nodes according to the linkage path conflict state determination result, compares the node time with the first node time of the conflict section, and generates a linkage action rhythm adjustment sequence under path compression conditions; The rhythm section window construction module calls the linkage action rhythm adjustment sequence under path compression conditions, extracts the driving release pressure interval value and the action displacement interval value in the corresponding rhythm section, arranges the matching table of the rhythm section in sequence, performs clustering and classification operation on the rhythm section window according to the action type label, and obtains a linkage path rhythm section execution control structure set; The trajectory synchronization verification module collects real-time action trajectory vectors at the end of the bucket and the scraper structure according to the linkage path rhythm section execution control structure set, constructs two groups of trajectory direction change sequences, and compares whether the trajectory directions in the points are the same as the corresponding planned directions in the rhythm section, counts whether there are trajectory point numbers exceeding the trajectory direction tolerance, and generates a rhythm compression execution synchronization verification result.

[0039] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for the linkage control of the scraper and bucket lifting mechanism of waste disposal sanitation equipment, characterized in that, Includes the following steps: S1: Obtain the continuous displacement trajectory sequence, acceleration change sequence, and reverse impact interval of the end active fulcrum of the bucket lifting mechanism, mark the time period, filter the segments of structural behavior change, and obtain the positioning results of the boundary segment of the bucket lifting path behavior. S2: Based on the positioning result of the boundary section of the bucket lifting path behavior, call the time node interval of the slide rail segment that is about to be entered in the real-time trajectory planning of the scraper structure of the garbage disposal sanitation equipment, perform the overlap judgment of the two path segments on the time axis, and obtain the linkage path conflict state judgment result. S3: Based on the determination result of the linkage path conflict state, obtain the path advancement sequence of the scraper slide rail section, determine the order of the real-time node position and the first node position of the conflict section, and postpone the scraper node sequence to the next beat segment to obtain the linkage action rhythm adjustment sequence under path compression. S4: Call the linkage action rhythm adjustment sequence under the path compression condition, obtain the drive release pressure range and action displacement range configured under the corresponding rhythm segment of the bucket lifting and scraper action, combine and compare the two range values ​​to obtain the linkage path rhythm segment execution control structure set.

2. The linkage control method for the scraper and bucket lifting mechanism of the waste disposal sanitation equipment according to claim 1, characterized in that, The location results of the bucket-lifting path behavior boundary segment include the trend characteristics of the impact interval of the active fulcrum, the timing mark of the behavior boundary, the index of the structural behavior change segment, the index of the peak response time point, and the path boundary identification label. The results of the linkage path conflict status determination include the index of the overlapping segment on the time axis, the evaluation value of the duration of the overlap time, the label of the existence of the path conflict, the level of the conflict intensity of the path segment, and the matching table of the conflict path segment number. The linkage action rhythm adjustment sequence under the path compression condition includes the node time sequence judgment mark, the beat segment adjustment direction, the action synchronization priority identifier, the rhythm segment time calibration value, and the action delay response strategy. The linkage path rhythm segment execution control structure set includes the drive release pressure configuration set, the action displacement range mapping set, the rhythm segment execution window table, the window order configuration index, and the execution control rhythm segment grouping cluster.

3. The linkage control method for the scraper and bucket lifting mechanism of the waste disposal sanitation equipment according to claim 1, characterized in that, The specific steps of S1 are as follows: S101: Obtain the continuous displacement trajectory sequence, acceleration change sequence, and reverse impact interval of the end movable fulcrum of the bucket lifting mechanism; extract the local maxima and local minima in the acceleration change sequence and record the corresponding time index positions; calculate the impact interval time sequence based on the time interval and amplitude change trend between adjacent maxima; compare it with the preset impact interval convergence judgment threshold; filter the acceleration segments with interval convergence characteristics; and obtain the impact interval convergence segment index set. S102: Call the impact interval convergence segment index set, divide the corresponding acceleration change sequence into time windows, cluster the fluctuation curves in the window according to the range of acceleration value changes and fluctuation period in the window, extract the window segments with regular continuous fluctuation behavior, record the time range boundary index, construct the correspondence between continuous behavior segments and impact characteristics, and generate continuous fluctuation segment boundary index pairs. S103: Based on the continuous fluctuation segment boundary index pair, retrieve the trajectory curve segment within the time period in the displacement trajectory sequence, and combine the changing trend of the trajectory curve to mark the location index of the sudden change in the action path within the segment. Perform boundary positioning index aggregation operation on the marked trajectory segment to generate the bucket lifting path behavior boundary segment positioning result.

4. The linkage control method for the scraper and bucket lifting mechanism of the waste disposal sanitation equipment according to claim 3, characterized in that, The specific steps of S2 are as follows: S201: Call the location result of the boundary section of the bucket lifting path behavior, obtain the time node interval of the slide rail section that will be entered in the real-time trajectory planning of the scraper structure of the garbage disposal sanitation equipment, scan the start and end index of the slide rail section advancement time period, and synchronize the advancement time window in each index interval, complete the archiving of the time information of the advancement section, and generate the slide rail section time interval index sequence. S202: Based on the time segment index sequence of the slide rail section, extract the path advancement position sequence within the same time period from the corresponding scraper structure advancement path data, construct the time advancement rate sequence using the path displacement increment of two adjacent time points and the corresponding time increment, calculate the average rate value of the slide rail advancement section and record the index position, and generate a slide rail section path advancement rate mapping set. S203: Call the sliding track segment path advancement rate mapping set, compare the start and end index range of the path segment on the time axis, and extract the time index interval of the overlapping segment by setting the overlap judgment condition between the start and end time of the sliding track path segment advancement and the boundary time index of the bucket lifting path segment. Perform threshold verification on the time length and path advancement rate. If the time length of the overlapping segment exceeds the linkage path conflict time limit threshold, it is marked as a conflict state segment, and the linkage path conflict state judgment result is obtained.

5. The linkage control method for the scraper and bucket lifting mechanism of the waste disposal sanitation equipment according to claim 4, characterized in that, The specific steps for S3 are as follows: S301: Call the linkage path conflict state determination result, obtain the scraper slide rail segment path advancement sequence, extract the node time in the advancement sequence, and record the corresponding displacement state and time index. At the same time, read the first node time index of the conflict section in the conflict state result, construct the dual index mapping relationship between node time and path state, and generate the scraper path node time index mapping set. S302: Based on the scraper path node time index mapping set, retrieve the real-time node time index position in the real-time running state, and compare the index with the time index of the first node of the conflict section. If the real-time time index is less than the starting index of the conflict section, construct a logic flag for moving the bucket lifting action sequence forward; otherwise, construct a scraper action delay flag, record the node action sequence change instruction, and generate an action beat change flag sequence. S303: Call the action beat change marker sequence, map the beat adjustment command to the corresponding time axis position of the real-time bucket lifting path and scraper path, perform unified translation calculation on the action segment time, when the bucket lifting action moves forward, adjust the start and end time index forward according to the set beat segment length, when the scraper action is delayed, extend the node sequence time index backward by the beat segment length, and obtain the linkage action rhythm adjustment sequence under path compression conditions.

6. The linkage control method for the scraper and bucket lifting mechanism of the waste disposal sanitation equipment according to claim 5, characterized in that, The specific steps of S4 are as follows: S401: Call the linkage action rhythm adjustment sequence under the path compression condition, retrieve the rhythm segment sequence index corresponding to the bucket lifting and scraper action nodes, obtain the drive release pressure interval value and action displacement interval range value associated within the rhythm segment, map and combine the two types of interval values ​​according to the rhythm segment sequence index, and generate a rhythm segment action drive configuration reference set. S402: Based on the rhythm segment action drive configuration reference set, aggregate the parameters of the pressure interval and displacement interval within the rhythm segment, bind the aggregated interval parameters to the rhythm segment index, construct the execution window configuration content of the rhythm segment, and rearrange all rhythm segment execution window contents according to the index order to generate a rhythm segment execution window mapping sequence. S403: Invoke the rhythm segment execution window mapping sequence, perform clustering and classification operations on the rhythm segment windows according to the action type label, archive the rhythm segment windows belonging to the bucket lifting path and the scraper path respectively, construct a dual-path linkage control structure, organize the rhythm segment execution windows according to the classification order, and obtain the linkage path rhythm segment execution control structure set.

7. The linkage control method for the scraper and bucket lifting mechanism of the waste disposal sanitation equipment according to claim 6, characterized in that, The driving release pressure range value mapped in the rhythm segment action drive configuration reference set is a continuous range that is not less than the preset minimum release threshold and does not exceed the peak driving release capability value within the rhythm segment. The range of motion displacement intervals in the rhythm segment motion drive configuration reference set is a parameter range that starts from the displacement of the corresponding bucket lifting and scraper motion nodes and does not exceed the upper limit of the physical allowable displacement of the rhythm segment. In the rhythm segment execution window mapping sequence, the execution window configuration of the rhythm segment is established based on the synchronous arrangement of the drive release pressure interval value and the motion displacement interval range value at the corresponding index positions; In the dual-path linkage control structure, the rhythm segment windows of the bucket lifting path and the scraper path are synchronously organized under the same rhythm segment sequence index through an index mapping relationship, so as to achieve a consistent correspondence between the rhythm segment execution order and the path action type label.

8. The linkage control method for the scraper and bucket lifting mechanism of the waste disposal sanitation equipment according to claim 1, characterized in that, The method further includes step S5: S5: Based on the control structure set of the linkage path rhythm segment, collect the trend vector of the end action trajectory change of the bucket lifting and scraper mechanism in real time, establish the path execution trajectory sequence, and compare the trajectory direction with the planned direction in the original rhythm segment window to determine whether the trajectory deviation is within the standard tolerance range. If the direction of the continuous segments is consistent and there are no trajectory points exceeding the tolerance, it is marked as a rhythm synchronization state, and the rhythm compression execution synchronization verification result is obtained. The rhythm compression execution synchronization verification results include trajectory direction deviation identifier, trajectory synchronization rate within tolerance, continuous segment synchronization mark status, trajectory synchronization verification score, and synchronization judgment label.

9. The linkage control method for the scraper and bucket lifting mechanism of the waste disposal sanitation equipment according to claim 8, characterized in that, The specific steps of S5 are as follows: S501: Call the linkage path rhythm segment execution control structure set, collect the motion trajectory change trend vector of the bucket lifting mechanism and scraper mechanism end in real time, and form the direction vector sequence of the path segment according to the time sequence. Read the planned direction vector configured in the rhythm segment window, perform the corresponding mapping between the real-time trajectory direction and the planned direction, and generate the trajectory direction comparison mapping sequence. S502: Based on the trajectory direction comparison mapping sequence, calculate the angle between the trajectory direction vector and the planned direction vector within the rhythm segment window, and compare it with the preset trajectory direction tolerance threshold. Extract the index position of the trajectory point that exceeds the tolerance range. If the direction vectors within the real-time rhythm segment are all within the tolerance range and the angle between adjacent directions changes continuously, then the rhythm segment is marked as a synchronization state, and a trajectory deviation tolerance verification mark sequence is generated. S503: Call the trajectory deviation tolerance verification mark sequence, count the synchronization mark status of the rhythm segment, determine whether all the continuous rhythm segments are in the synchronization state, if all the marks are in the synchronization state, then set the path segment as the compression rhythm synchronization segment in the control structure, and obtain the rhythm compression execution synchronization verification result.

10. A linkage control system for the scraper and bucket lifting mechanism of waste disposal sanitation equipment, characterized in that, The system is used to implement the linkage control method of the scraper and bucket lifting mechanism of the waste disposal sanitation equipment according to any one of claims 1-9, the system comprising: The bucket lifting trajectory recognition module obtains the continuous displacement trajectory sequence, acceleration change sequence, and reverse impact interval of the end active fulcrum of the bucket lifting mechanism. It filters the continuous acceleration fluctuation time period and calculates the interval change value between adjacent impact peaks in the continuous segment. It judges whether the interval change value shows a convergence trend. If the convergence is satisfied, the starting time point is obtained as the starting point of the action boundary and the bucket lifting path behavior boundary segment positioning result is generated. The path overlap determination module calls the positioning result of the boundary section of the bucket lifting path behavior, obtains the advancement time period sequence in the scraper structure slide rail path, compares whether the start and end time periods overlap with the time interval of the scraper slide rail advancement section, and generates the linkage path conflict status determination result. The rhythm adjustment and arrangement module obtains the path advancement sequence corresponding to the time nodes in the scraper path advancement sequence based on the determination result of the linkage path conflict state, compares the node time with the first node time of the conflict section, and generates a linkage action rhythm adjustment sequence under path compression conditions. The rhythm segment window construction module calls the linkage action rhythm adjustment sequence under the path compression condition, extracts the drive release pressure interval value and action displacement interval value in the corresponding beat segment, and performs clustering and classification operations on the rhythm segment window according to the action type label by sequentially arranging the beat segment matching table to obtain the linkage path rhythm segment execution control structure set. The trajectory synchronization verification module executes the control structure set according to the linkage path rhythm segment, collects the real-time motion trajectory vectors of the bucket lifting and scraper structure ends, constructs two sets of trajectory direction change sequences, and compares point by point whether the trajectory direction is the same as the corresponding planned direction within the beat segment, counts whether there are trajectory points that exceed the trajectory direction tolerance, and generates rhythm compression execution synchronization verification results.

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