Strong position verification of the scraper slide hybrid control method and related equipment

Abstract

This invention provides a hybrid control method, apparatus, and system for scraper and slide plates with strong position verification, comprising: acquiring operating parameters of the scraper and slide plate during operation, the operating parameters including position information, pressure information, and time information; determining a reversing judgment condition corresponding to the current action stage based on the position information, pressure information, and time information; performing matching processing on the reversing judgment condition according to a preset priority to obtain a reversing control result; and outputting a corresponding control signal according to the reversing control result to control the scraper and slide plate to perform corresponding action switching. By using position information, pressure information, and time information together for reversing judgment and combining them with preset priority for matching processing, the accuracy and stability of scraper and slide plate action switching can be improved, reducing the problems of erroneous reversing, premature reversing, or delayed reversing caused by a single judgment condition, and improving the control adaptability and operational reliability of the equipment under different operating conditions.

Description

Technical Field

[0001] This invention relates to the field of intelligent control, and in particular to a hybrid control method, device, system, electronic device and storage medium for a scraper slide with strong position verification. Background Technology

[0002] Compactor trucks typically include scrapers and sliding plates as working mechanisms to perform functions such as waste pushing, compressing, and transferring. During the cyclical movement of the scrapers and sliding plates, the hydraulic actuators need to be controlled to reverse direction based on the actual operating state of the mechanisms, so that the scrapers and sliding plates complete the corresponding action switching according to the preset action sequence. Therefore, how to accurately control the scrapers and sliding plates at different stages of action is an important technical aspect of the compactor truck control system.

[0003] In existing technologies, the switching of scraper and slide plate movements typically employs a single type of judgment method for reversing control. For example, it might rely solely on position sensor readings or parameters such as hydraulic pressure changes and running time to determine whether to reverse. In practical applications, this method is easily affected by factors such as changes in waste load, hydraulic fluctuations, mechanical wear, and complex operating conditions, leading to inaccurate reversing judgments. This can result in problems such as premature reversing, delayed reversing, incomplete movements, or malfunctions, affecting the coordinated operation of the scraper and slide plate and the overall reliability of the machine.

[0004] To address the aforementioned problems, this application proposes a hybrid control method for scraper and slide plates with strong position verification. By acquiring the position, pressure, and time information of the scraper and slide plate during operation, and combining this information with the current action stage to determine the corresponding reversal judgment condition, the method performs matching processing according to a preset priority to obtain the reversal control result. This results in the output of a corresponding control signal, controlling the scraper and slide plate to perform the corresponding action switching. This solves the problems of insufficient adaptability of single judgment conditions, low accuracy of reversal control, and poor operational stability under complex working conditions in existing technologies. Summary of the Invention

[0005] This invention provides a hybrid control method for scraper slides with strong position verification, in order to solve the problem that existing scraper slide control methods cannot analyze the pressure change characteristics in the early stage of operation, identify the current load condition, and dynamically adjust the hydraulic control parameters accordingly in real time during operation.

[0006] In a first aspect, embodiments of the present invention provide a hybrid control method for a scraper slide with strong position verification, the method comprising the following steps:

[0007] The operating parameters of the scraper and slide plate during the working process are obtained, including position information, pressure information and time information;

[0008] Based on the location information, pressure information, and time information, determine the reversal judgment condition corresponding to the current action stage;

[0009] The commutation determination conditions are matched according to a preset priority to obtain the commutation control result;

[0010] Based on the reversing control result, a corresponding control signal is output to control the scraper and slide plate to perform corresponding action switching.

[0011] Optionally, acquiring the operating parameters of the scraper and slide plate during operation includes:

[0012] Position sensors are placed at the position where the skateboard has reached its upward trajectory to obtain the position information corresponding to the skateboard's upward trajectory.

[0013] Pressure information during the reversing process of each hydraulic valve group is obtained by pressure sensors arranged on each hydraulic valve group corresponding to the scraper.

[0014] The timing starts when the action is initiated and is recorded when the corresponding reversal trigger condition or action switch is detected, so as to obtain the time information corresponding to the current action stage.

[0015] Optionally, determining the reversal judgment condition corresponding to the current action stage based on the location information, pressure information, and time information includes:

[0016] When the current action phase is the skateboard going up phase, it is determined whether the skateboard has reached the preset up position based on the position information. When the preset up position is reached, the corresponding position reversal judgment condition is determined, and it is determined whether the preset bottoming time has been reached based on the time information. When the preset bottoming time is reached, the corresponding first time reversal judgment condition is determined.

[0017] When the current action stage is the scraper opening stage, the slide plate descending stage, or the scraper closing stage, it is determined whether the preset reversing pressure has been reached based on the pressure information. When the preset reversing pressure is reached, the corresponding pressure reversing judgment condition is determined, and it is determined whether the preset reversing time has been reached based on the time information. When the preset reversing time is reached, the corresponding second time reversing judgment condition is determined.

[0018] Optionally, the step of matching the commutation determination conditions according to a preset priority to obtain the commutation control result includes:

[0019] Determine the influence parameters of each of the commutation determination conditions on the commutation control result, and determine the matching priority corresponding to each of the commutation determination conditions based on the influence parameters;

[0020] According to the matching priority corresponding to each of the commutation determination conditions, each of the commutation determination conditions is determined in sequence. When any commutation determination condition is satisfied, the commutation control result corresponding to that commutation determination condition is determined.

[0021] Optionally, the step of outputting a corresponding control signal based on the reversing control result to control the scraper and slide plate to perform corresponding action switching includes:

[0022] Based on the reversing control result corresponding to the current action phase, output the control signal corresponding to the next target action phase;

[0023] The scraper and slide plate are controlled to switch from the current action stage to the next target action stage according to the control signal.

[0024] Optionally, before outputting a corresponding control signal based on the reversing control result to control the scraper and slide plate to perform corresponding action switching, the method further includes:

[0025] The scraper and slide plate are controlled to perform learning operations according to preset actions to record the running time of the scraper and slide plate in each action stage;

[0026] Based on the runtime of each action stage, set the self-learning time for each action stage.

[0027] Based on the self-learning time corresponding to each action stage, corresponding time reversal judgment conditions are generated to perform reversal judgment in the corresponding action stage.

[0028] Secondly, embodiments of the present invention also provide a strong position-checking scraper slide mixing control device, the strong position-checking scraper slide mixing control device comprising:

[0029] The first acquisition module is used to acquire the operating parameters of the scraper and the slide plate during the working process. The operating parameters include position information, pressure information and time information.

[0030] The first determining module is used to determine the reversal judgment condition corresponding to the current action stage based on the position information, pressure information and time information;

[0031] The first matching module is used to match the commutation determination conditions according to a preset priority to obtain the commutation control result;

[0032] The first output module is used to output a corresponding control signal based on the reversing control result, and control the scraper and the slide to perform corresponding action switching.

[0033] Thirdly, embodiments of the present invention provide a strong position verification scraper mixing control system, the strong position verification scraper mixing control system comprising: a strong position verification scraper mixing control device, a server, and an intelligent hydraulic compaction device.

[0034] Fourthly, embodiments of the present invention provide an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps in the strong position verification scraper hybrid control method provided in embodiments of the present invention.

[0035] Fifthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, it implements the steps in the strong position verification sliding plate hybrid control method provided in the embodiments of the present invention.

[0036] In this embodiment of the invention, the operating parameters of the scraper and slide plate during operation are acquired, including position information, pressure information, and time information. Based on the position information, pressure information, and time information, the reversing judgment condition corresponding to the current action stage is determined. The reversing judgment condition is matched according to a preset priority to obtain a reversing control result. A corresponding control signal is output according to the reversing control result to control the scraper and slide plate to perform corresponding action switching. By using position information, pressure information, and time information together for reversing judgment and combining them with a preset priority for matching, the accuracy and stability of scraper and slide plate action switching can be improved, reducing problems such as erroneous reversing, premature reversing, or delayed reversing caused by a single judgment condition, and improving the control adaptability and operational reliability of the equipment under different operating conditions. Attached Figure Description

[0037] 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.

[0038] Figure 1 This is a system architecture diagram of a hybrid control system for a scraper slide with strong position verification provided in an embodiment of the present invention;

[0039] Figure 2 This is a system architecture diagram of another strong position verification-based hybrid control system for a scraper slide provided in an embodiment of the present invention;

[0040] Figure 3This is a flowchart of a hybrid control method for a scraper slide with strong position verification provided in an embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram of a self-learning hydraulic control process provided in an embodiment of the present invention;

[0042] Figure 5 This is a schematic diagram of another strong position verification scraper mixing control device provided in an embodiment of the present invention;

[0043] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0044] 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.

[0045] like Figure 1 As shown, Figure 1 This is an architectural diagram of a scraper-slide hybrid control system 100 with strong position verification provided in an embodiment of the present invention. The strong position verification scraper-slide hybrid control system includes: a strong position verification scraper-slide hybrid control device 500, a server 101, and a hydraulic actuator 102. The strong position verification scraper-slide hybrid control device 500 further includes a first acquisition module for acquiring operating parameters of the scraper and slide during operation; a first determination module for determining the reversing judgment condition corresponding to the current action stage based on position information, pressure information, and time information; a first matching module for matching the reversing judgment condition according to a preset priority to obtain a reversing control result; and a first output module for outputting a corresponding control signal based on the reversing control result to control the scraper and slide to perform corresponding action switching.

[0046] Specifically, the aforementioned operating parameters include a set of data such as position information, pressure information, and time information, which can be used to characterize the operating status of the scraper and slide plate during the current working process. This data can be composed of position signals collected by the position sensor, pressure values ​​collected by the pressure sensor, and stage time data obtained by the controller timing, used to support subsequent reversal determination and action switching control. This can be understood as the state data acquired in real time and used for reversal decisions during the scraper and slide plate's movement by the aforementioned strong position verification hybrid scraper and slide plate control system.

[0047] The aforementioned position information refers to status information indicating whether the skateboard has reached a preset position. This information is primarily acquired by a position sensor located at the loading device's scraping skateboard's upward positioning position. This sensor reflects whether the skateboard has reached its preset upward position and inputs the corresponding position signal to the controller. For example, when the skateboard reaches the preset upward position, the position sensor outputs a positioning signal. The controller uses this signal to identify that the skateboard has met the upward position requirements and provides a basis for subsequent reversing processing.

[0048] The aforementioned pressure information refers to data characterizing the hydraulic load state of the scraper and slide plate during the reversing process. This data can be collected by pressure sensors mounted on the multi-way valve, specifically reflecting the instantaneous pressure values ​​of each valve group during reversal, and input to the controller. It reflects the force situation at the current stage of the action and can be used as a basis for determining whether the corresponding reversing conditions have been met during the scraper opening, slide plate descent, and scraper closing stages. For example, if the hydraulic pressure reaches a preset reversing pressure during a certain stage of the action, the controller can use this pressure level as the basis for the corresponding reversing determination.

[0049] The aforementioned time information refers to data related to the runtime of each action phase of the scraper and slide plate. This data can be obtained by the controller in the aforementioned strong position-verification scraper-slide plate hybrid control system, which starts timing after responding to the action start signal and records the timing results when the corresponding reversal trigger condition is met or an action switch occurs. It should be noted that in this embodiment, the slide plate's upward phase corresponds to "position signal acquisition / action timing," while the scraper opening, slide plate downward phase, and scraper closing phases correspond to "pressure signal acquisition / action timing." That is, the time information corresponds one-to-one with the specific action phase. This time information can be used to determine whether the current action has reached the preset reversal time, and it can also be used to generate a fallback reversal time later.

[0050] The aforementioned current action phase refers to the current execution phase of the scraper and slide plate within a complete work cycle. The scraper and slide plate switch between operations segment by segment according to a preset action sequence. The current action phase can include the slide plate ascending phase, the scraper opening phase, the slide plate descending phase, and the scraper closing phase. For example, after the controller outputs the slide plate ascending control signal, the current action phase can be identified as the slide plate ascending phase; after the slide plate ascends and generates the corresponding reversing control result, the current action phase can be updated to the scraper opening phase.

[0051] The aforementioned reversal judgment conditions refer to a set of conditions used to determine whether the current action phase meets the action switching requirements. Different action phases correspond to different operating states, and the reversal judgment conditions can also be different. For example, during the skateboard's upward phase, the reversal judgment conditions may include position reversal judgment conditions and first-time reversal judgment conditions; during the scraper opening phase, the skateboard descending phase, and the scraper closing phase, the reversal judgment conditions may include pressure reversal judgment conditions and second-time reversal judgment conditions.

[0052] The aforementioned preset priorities refer to the order in which different reversal judgment conditions are pre-set, used to determine the sequential processing relationship of each reversal judgment condition in the reversal decision. It should be noted that these preset priorities are not arbitrarily arranged, but rather set based on the applicability of different judgment conditions to the action switching judgment. For example, during the skateboard's upward phase, the position-in-place condition more directly indicates whether the skateboard has reached the correct position and can correspond to a higher priority; during the board opening phase, skateboard downward phase, and board closing phase, the pressure-reaching condition and the time-reaching condition can be used as subsequent judgment conditions; when none of the above conditions are met, the fallback time condition can be used as a lower priority condition for judgment. In this way, the preset priorities can limit the order in which each reversal judgment condition is invoked, allowing the reversal judgment to proceed step-by-step according to predetermined rules.

[0053] The aforementioned reversing control result can refer to the control conclusion obtained after completing the matching processing of the reversing judgment conditions. This conclusion indicates whether to switch actions in the current action phase and to which next action phase to switch to, and is directly used to drive the output of subsequent control signals. For example, when the position reversing judgment condition of the skateboard's upward phase is met, the reversing control result can be "switching from skateboard upward to scraper opening"; when the pressure reversing judgment condition of the scraper opening phase is met, the reversing control result can be "switching from scraper opening to skateboard downward"; when the corresponding reversing judgment conditions of the skateboard downward phase or the scraper closing phase are met, reversing control results corresponding to the next target action phase can also be formed respectively.

[0054] The aforementioned control signal can refer to the control command generated by the aforementioned strong position verification scraper plate hybrid control system based on the reversing control result, and used to drive the hydraulic actuator. It can act on the output signal of the hydraulic valve group, hydraulic cylinder or corresponding actuator to indicate that the scraper and slide plate enter the corresponding target action state.

[0055] For example, when the reversing control result indicates that the current action should switch from the upward phase of the slide to the opening phase of the scraper, the aforementioned control signal can be a valve control command for driving the scraper to open; when the reversing control result indicates that the current action should switch from the opening phase of the scraper to the downward phase of the slide, the aforementioned control signal can be a valve control command for driving the slide to descend. Therefore, the control signal can be understood as the control carrier that transforms the reversing judgment result into the actual execution action.

[0056] In one possible embodiment, such as Figure 2 The system architecture diagram of another type of hybrid control system with strong position verification for scraper slides is shown below. This system can further include a pressure sensor, a position sensor, a controller, hydraulic valves / actuators, and hydraulic cylinders / working mechanisms. The controller internally includes a data storage module, a pressure reversal module, a self-learning time reversal module, and a slide upward hard verification module. The pressure sensor is connected to the controller to provide pressure signals to the pressure reversal module; the position sensor is also connected to the controller to provide photoelectric signals to the slide upward hard verification module; an external command input terminal is connected to the controller to provide control commands. The data storage module is connected to the pressure reversal module, the self-learning time reversal module, and the slide upward hard verification module to provide parameter data and store operating data. The pressure reversal module outputs pressure reversal determination results based on the pressure signal; the self-learning time reversal module outputs time reversal determination results based on time information; and the slide upward hard verification module outputs position reversal determination results based on the photoelectric signal. The controller receives the judgment results output by each module and performs matching processing. After generating the reversing control result, it outputs the corresponding control signal to the hydraulic valve / actuator. The hydraulic valve / actuator then controls the hydraulic cylinder / working mechanism to drive the scraper and slide plate to perform corresponding action switching.

[0057] like Figure 3 As shown, Figure 3 This is a flowchart of a hybrid control method for a scraper slide with strong position verification provided by an embodiment of the present invention. The hybrid control method for a scraper slide with strong position verification includes the following steps:

[0058] 301. Obtain the operating parameters of the scraper and slide plate during the working process.

[0059] In this embodiment of the invention, the above-mentioned strong position verification scraper slide hybrid control method can be applied to a strong position verification scraper slide hybrid control system. The strong position verification scraper slide hybrid control system has functions such as hydraulic control data processing, hydraulic control data transmission and reception, and hydraulic control data memory storage. It can be built based on a server or server cluster. The server or server cluster can be an electronic device with hydraulic control data processing capabilities.

[0060] In one possible embodiment, after the above-mentioned strong position verification scraper hybrid control system enters the working mode, the controller responds to the external control command, drives the scraper to enter the upward process, and simultaneously acquires the upward positioning signal of the scraper output by the position sensor and the corresponding action timing result; when the action stage switches to scraper opening, scraper descending or scraper closing, the controller further acquires the pressure information output by the pressure sensor and continuously records the time information corresponding to the stage.

[0061] Through the above-described methods and steps, the aforementioned hybrid control system for scraper and slide plates with strong position verification can form a set of operating parameters covering different action stages within the same action cycle, and use this as the input basis for determining subsequent reversing conditions. Position state, force state, and stage duration can form a corresponding relationship in the controller, allowing reversing control to move beyond single-position triggering or fixed-time triggering. Instead, it can be judged based on the actual operating conditions of the current action stage, which improves the feasibility and stability of scraper and slide plate action switching and provides a data foundation for subsequent priority matching processing.

[0062] 302. Based on position information, pressure information, and time information, determine the reversal judgment conditions corresponding to the current action stage.

[0063] In this embodiment of the invention, the aforementioned current action stage can refer to the current execution stage of the scraper and slide plate in a complete work cycle. The scraper and slide plate switch between operations segment by segment according to a preset action sequence. The current action stage can include the slide plate ascending stage, the scraper opening stage, the slide plate descending stage, and the scraper closing stage. For example, after the controller outputs the slide plate ascending control signal, the current action stage can be identified as the slide plate ascending stage; after the slide plate ascends and generates the corresponding reversing control result, the current action stage can be updated to the scraper opening stage.

[0064] The aforementioned reversal judgment conditions refer to a set of conditions used to determine whether the current action phase meets the action switching requirements. Different action phases correspond to different operating states, and the reversal judgment conditions can also be different. For example, during the skateboard's upward phase, the reversal judgment conditions may include position reversal judgment conditions and first-time reversal judgment conditions; during the scraper opening phase, the skateboard descending phase, and the scraper closing phase, the reversal judgment conditions may include pressure reversal judgment conditions and second-time reversal judgment conditions.

[0065] In one possible embodiment, when the above-mentioned strong position verification sliding plate hybrid control system determines that the current action stage is the upward stage of the sliding plate, it can determine whether the sliding plate has reached the preset upward position based on the position information, and determine whether the duration of the stage has reached the preset bottoming time based on the time information, so as to determine the position reversal judgment condition and the first time reversal judgment condition.

[0066] When determining whether the current action phase is the scraper opening phase, the slide plate descending phase, or the scraper closing phase, the system determines whether the pressure of the corresponding hydraulic valve group has reached the preset reversing pressure based on pressure information, and whether the duration of this phase has reached the preset reversing time based on time information, thus determining the pressure reversing judgment condition and the second time reversing judgment condition. The aforementioned strong position verification scraper-slide hybrid control system uses the determined reversing judgment conditions as the basis for subsequent priority matching processing to generate the reversing control result corresponding to the current action phase.

[0067] Through the above-described methods and steps, the aforementioned strong position-verification scraper hybrid control system can determine corresponding reversing judgment conditions for different action stages. During the upward movement of the scraper, the judgment is primarily based on position status; during the scraper opening, downward movement, and scraper closing stages, the judgment is primarily based on a combination of pressure status and stage time. This ensures that the reversing judgment conditions match the operational characteristics of the action stages, providing a foundation for generating subsequent reversing control results.

[0068] 303. Match the commutation judgment conditions according to the preset priority to obtain the commutation control result.

[0069] In this embodiment of the invention, the aforementioned preset priority refers to a pre-defined order of judgment for different reversal judgment conditions, used to determine the sequential processing relationship of each reversal judgment condition in the reversal decision. It should be noted that the aforementioned preset priority is not arbitrarily arranged, but rather set based on the applicability of different judgment conditions to the action switching judgment. For example, during the skateboard's upward phase, the position-in-place condition more directly indicates whether the skateboard has reached the correct position and can correspond to a higher priority; during the blade opening phase, the skateboard descending phase, and the blade closing phase, the pressure-reaching condition and the time-reaching condition can be used as subsequent judgment conditions; when none of the above conditions are met, the fallback time condition can be used as a lower priority condition for judgment. In this way, the preset priority can limit the order in which each reversal judgment condition is invoked, allowing the reversal judgment to proceed step-by-step according to predetermined rules.

[0070] In this embodiment, the aforementioned strong position verification-based scraper hybrid control system can compare and judge the reversing judgment conditions corresponding to the current action stage item by item according to a preset priority order. Specifically, it can check whether each reversing judgment condition is met in a pre-set order. For example, in the upward phase of the scraper, the controller can first determine whether the position reversing judgment condition is met; if it is met, the corresponding reversing control result is directly determined; if it is not met, it continues to judge whether the first time reversing judgment condition is met. In the scraper opening phase, the scraper downward phase, and the scraper closing phase, the pressure reversing judgment condition and the second time reversing judgment condition can be judged sequentially. When any condition is met, the condition judgment of the current stage ends and the corresponding reversing control processing begins.

[0071] The aforementioned reversing control result can refer to the control conclusion obtained after completing the matching processing of the reversing judgment conditions. This conclusion indicates whether to switch actions in the current action phase and to which next action phase to switch to, and is directly used to drive the output of subsequent control signals. For example, when the position reversing judgment condition of the skateboard's upward phase is met, the reversing control result can be "switching from skateboard upward to scraper opening"; when the pressure reversing judgment condition of the scraper opening phase is met, the reversing control result can be "switching from scraper opening to skateboard downward"; when the corresponding reversing judgment conditions of the skateboard downward phase or the scraper closing phase are met, reversing control results corresponding to the next target action phase can also be formed respectively.

[0072] In one possible embodiment, when the current action phase is the upward movement phase of the skateboard, the above-mentioned strong position verification skateboard hybrid control system first determines whether the position reversal determination condition is met; when the position reversal determination condition is met, it directly determines the reversal control result corresponding to the upward movement phase of the skateboard and stops further determining the remaining reversal determination conditions for that phase; when the position reversal determination condition is not met, the above-mentioned strong position verification skateboard hybrid control system continues to determine whether the first-time reversal determination condition is met, and determines the corresponding reversal control result when it is met.

[0073] The aforementioned strong position-verification scraper hybrid control system, when the current action phase is the scraper opening phase, the scraper descending phase, or the scraper closing phase, sequentially matches the pressure reversal judgment condition and the second time reversal judgment condition according to the corresponding preset priority order. When any one of the reversal judgment conditions is met, the aforementioned strong position-verification scraper hybrid control system determines the reversal control result corresponding to that reversal judgment condition and ends the judgment processing of the current action phase. The aforementioned strong position-verification scraper hybrid control system can output the determined reversal control result to the control logic module for subsequent generation of control signals corresponding to the next target action phase.

[0074] Through the above-described methods and steps, the aforementioned strong position verification-based sliding plate hybrid control system enables commutation judgment conditions to participate in the judgment in a preset order. Judgments that meet the conditions can directly form the commutation control result, while judgments that do not meet the conditions will not affect the subsequent invocation of lower priority conditions. This maintains a clear sequential relationship in the commutation judgment process of different action stages, reduces processing confusion when multiple judgment conditions participate simultaneously, and establishes a clearer correspondence between the commutation control result and the operating state of the current action stage.

[0075] 304. Output the corresponding control signal based on the reversing control result to control the scraper and slide to perform corresponding action switching.

[0076] In this embodiment of the invention, the control signal may refer to the control command generated by the above-mentioned strong position verification scraper plate hybrid control system according to the reversing control result and used to drive the hydraulic actuator to move. It can act on the output signal of the hydraulic valve group, hydraulic cylinder or corresponding execution unit to indicate that the scraper and the slide plate enter the corresponding target action state.

[0077] For example, when the reversing control result indicates that the current action should switch from the upward phase of the slide to the opening phase of the scraper, the aforementioned control signal can be a valve control command for driving the scraper to open; when the reversing control result indicates that the current action should switch from the opening phase of the scraper to the downward phase of the slide, the aforementioned control signal can be a valve control command for driving the slide to descend. Therefore, the control signal can be understood as the control carrier that transforms the reversing judgment result into the actual execution action.

[0078] The aforementioned action switching refers to the process by which the scraper and slide plate transition from the current action stage to the next target action stage based on control signals. Action switching does not simply stop the current action, but rather, after the current action meets the reversal conditions, it ends the current action control and starts the execution control corresponding to the next target action stage.

[0079] For example, after the skateboard completes the upward motion, the action transition can be represented by the skateboard moving upward to the blade opening; after the blade opens, the action transition can be represented by the blade opening to the skateboard moving downward; after the skateboard moves downward, the action transition can be represented by the skateboard moving downward to the blade closing; after the blade closes, the action transition can be represented by the blade closing to the skateboard moving upward in the next cycle, so that the blade and the skateboard run continuously according to the preset action sequence.

[0080] In one possible embodiment, the aforementioned strong position-checking scraper hybrid control system, upon indicating that the current stage should end according to the reversing control result, inputs the correspondence between the current action stage and the next target action stage into the control logic and outputs a control signal for driving the corresponding hydraulic valve group to reverse. When the reversing control result is "switching from scraper upward to scraper opening," the aforementioned strong position-checking scraper hybrid control system outputs a control signal to control the scraper opening, causing the scraper to enter the opening action state from the waiting state; when the reversing control result is "switching from scraper opening to scraper downward," it outputs a control signal to control the scraper downward, causing the scraper to enter the downward action state; when the reversing control result is "switching from scraper downward to scraper closing," it outputs a control signal to control the scraper closing, causing the scraper to enter the closing action state; and when the reversing control result is "switching from scraper closing to scraper upward," it outputs a control signal to control the scraper upward, causing the system to enter the next action cycle. The aforementioned strong position verification-based hybrid control system for the scraper slide synchronously updates the current action stage identifier after outputting the corresponding control signal, ensuring that the current action stage is consistent with the already executed target action stage, thereby providing a stage basis for obtaining the next round of operating parameters and determining the reversal judgment conditions.

[0081] Through the above methods and steps, the above-mentioned strong position verification scraper-slide hybrid control system can directly convert the reversing control result into an executable control signal and drive the scraper and slide to switch sequentially between each action stage, so that the reversing judgment process and the action execution process are connected, and the action conversion of the scraper and slide is carried out continuously according to the preset process, reducing the disconnect between the reversing judgment result and the actual execution action.

[0082] In this embodiment of the invention, the operating parameters of the scraper and slide plate during operation are acquired, including position information, pressure information, and time information. Based on the position information, pressure information, and time information, the reversing judgment condition corresponding to the current action stage is determined. The reversing judgment condition is matched according to a preset priority to obtain the reversing control result. Based on the reversing control result, a corresponding control signal is output to control the scraper and slide plate to perform the corresponding action switching. By using position information, pressure information, and time information together for reversing judgment and combining them with a preset priority for matching, the accuracy and stability of the scraper and slide plate action switching can be improved, reducing the problems of erroneous reversing, premature reversing, or delayed reversing caused by a single judgment condition, and improving the control adaptability and operational reliability of the equipment under different operating conditions.

[0083] Optionally, in the step of obtaining the operating parameters of the scraper and slide plate during the working process, the position information corresponding to the upward movement of the slide plate can be obtained by a position sensor arranged at the upward position of the slide plate; the pressure information of each hydraulic valve group during the reversing process can be obtained by a pressure sensor arranged on each hydraulic valve group corresponding to the scraper; timing is started when the action start signal is received, and the timing result is recorded when the corresponding reversing trigger condition or action switch is detected, so as to obtain the time information corresponding to the current action stage.

[0084] In this embodiment of the invention, the aforementioned upward positioning position can refer to the target positioning position corresponding to the skateboard after it has moved along a preset upward trajectory. This position is typically set as the detection position when the skateboard completes its upward movement, used to determine whether the skateboard has reached the preset upward endpoint. For example, a position sensor can be installed at the mounting position corresponding to the upward endpoint of the skateboard. When the skateboard reaches this position, the position sensor outputs the corresponding positioning signal.

[0085] The aforementioned action initiation signal can refer to a control signal used to trigger the scraper or skateboard to enter the current action phase. This signal can be generated by the controller based on external instructions, or it can be a start signal for the next phase generated after the completion of the previous action phase. For example, after the skateboard's upward phase ends, the controller can generate an action initiation signal corresponding to the scraper opening, so that the scraper enters the opening action phase.

[0086] In one possible embodiment, the aforementioned strong position-verification scraper hybrid control system, when the scraper enters the upward phase, responds to the action start signal corresponding to the upward movement of the scraper and begins timing, and calls the position sensor arranged at the upward position of the scraper to collect the position signal. When the scraper continues to move upward and enters the preset upward position area, the position sensor outputs the corresponding position signal. The aforementioned strong position-verification scraper hybrid control system determines this position signal as the position information corresponding to the upward position of the scraper and records the timing result for this stage. Similarly, when the scraper opens, the scraper descends, and the scraper closes, the aforementioned strong position-verification scraper hybrid control system responds to the corresponding action start signal and begins timing, and calls the pressure sensor arranged on each hydraulic valve group corresponding to the scraper to collect the pressure signal.

[0087] As the corresponding hydraulic valve group performs the reversing action, the pressure sensor outputs the pressure value in real time during the reversing process. The aforementioned strong position verification scraper hybrid control system determines the pressure value as the pressure information corresponding to the current action stage. When the corresponding reversing trigger condition is detected to be met, or when the current action stage is detected to switch to the next action stage, the timing result of the current stage is recorded, and the timing result is determined as the time information corresponding to the current action stage.

[0088] Through the above methods and steps, the aforementioned strong position verification scraper hybrid control system can store the position information and time information obtained during the upward movement of the scraper, and store the pressure information and time information obtained during the scraper opening, downward movement, and scraper closing stages. This allows different action stages to generate parameter data that matches their operating states. During the upward movement of the scraper, position information representing the position being in place and time information representing the duration of operation can be obtained. During the other action stages, pressure information representing the hydraulic reversal state and time information representing the duration of the stage can be obtained. This provides a corresponding data basis for subsequently determining the reversal judgment conditions corresponding to the current action stage.

[0089] Optionally, the step of determining the reversal judgment condition corresponding to the current action stage based on position information, pressure information, and time information further includes, when the current action stage is the skateboard's upward phase, determining whether the skateboard has reached a preset upward position based on position information; when the preset upward position is reached, determining the corresponding position reversal judgment condition; and determining whether a preset catch-up time has been reached based on time information; when the preset catch-up time is reached, determining the corresponding first time reversal judgment condition. When the current action stage is the scraper opening phase, the skateboard descending phase, or the scraper closing phase, determining whether a preset reversal pressure has been reached based on pressure information; when the preset reversal pressure is reached, determining the corresponding pressure reversal judgment condition; and determining whether a preset reversal time has been reached based on time information; when the preset reversal time is reached, determining the corresponding second time reversal judgment condition.

[0090] In this embodiment of the invention, the aforementioned preset upward position corresponds to the target position that the skateboard should reach at the end of its upward movement. This preset position reference can serve as a criterion for determining whether the skateboard has completed its upward phase. It can be set in the detection area near the skateboard's upward endpoint and corresponds to the installation position of the position sensor. When the skateboard enters this detection area, the position sensor outputs a position signal. The aforementioned strong position verification skateboard hybrid control system can then determine that the current skateboard state has reached the preset upward position, thus making a judgment based on a clear positional state rather than relying solely on empirical time estimation.

[0091] The aforementioned position reversal determination condition is a position-based condition used to trigger the reversal judgment during the skateboard's upward movement. It can be a correspondence between the skateboard's current position and a preset upward position. In other words, the aforementioned strong position verification-based skateboard hybrid control system does not simply receive a position sensor signal and immediately reverse direction. Instead, it compares the position signal output by the position sensor with the preset upward position, and only after confirming that the skateboard has reached the target position is the position reversal determination condition deemed met. This determination condition has a direct characterizing effect during the skateboard's upward movement, reflecting whether the skateboard has truly completed its upward movement.

[0092] The aforementioned preset fallback time can be understood as the upper time limit parameter corresponding to the skateboard's upward phase. It limits the maximum duration allowed for the skateboard's upward phase when a position arrival signal is not received, providing a supplementary time judgment boundary when position judgment is not triggered. Specifically, it can be set according to the standard running time of the skateboard's upward phase, the self-learning time, or a pre-calibrated phase duration. For example, when the skateboard's upward duration under normal load conditions is a certain baseline value, a corresponding fallback time can be set based on this baseline value to prevent the skateboard from remaining in the upward phase for an extended period without switching.

[0093] The aforementioned first-time reversal judgment condition corresponds to the time-based reversal criterion in the skateboard's upward phase. This can be understood as the skateboard's upward phase having reached a preset safety margin. In other words, if the position reversal judgment condition is not met initially, the aforementioned strong position verification-based skateboard hybrid control system continues to determine whether the skateboard's upward phase exceeds the allowable duration based on time information. Once the preset safety margin is reached, the first-time reversal judgment condition is formed. Thus, in addition to the primary judgment criterion of position attainment, the skateboard's upward phase also has a supplementary judgment criterion in the time dimension to ensure that this phase has an end condition.

[0094] The aforementioned preset reversing pressures are pressure judgment thresholds used in the scraper opening, slide descent, and scraper closing stages. They describe the pressure level of the hydraulic system when it reaches the expected force state in the corresponding action stage, and different action stages can correspond to different preset reversing pressures. For example, in the scraper opening stage, the pressure change during the hydraulic valve group reversal process can reflect the scraper's movement and propulsion; in the slide descent and scraper closing stages, the pressure change in the corresponding hydraulic circuit can also reflect whether the current action has reached the expected state. Therefore, the aforementioned strong position verification scraper-slide hybrid control system can set corresponding preset reversing pressures for each action stage as a comparison benchmark for subsequent pressure judgments.

[0095] The aforementioned pressure reversal judgment condition is not simply the result of pressure acquisition, but rather a staged judgment result formed after comparing pressure information with thresholds. After receiving the real-time pressure value acquired by the pressure sensor, the aforementioned strong position verification scraper hybrid control system compares it with the preset reversal pressure corresponding to the current action stage. When the pressure value reaches or exceeds the threshold, it indicates that the current action stage has reached the corresponding hydraulic state requirement. At this point, the pressure reversal judgment condition can be considered valid. This condition can be used for the scraper opening stage, the scraper descending stage, and the scraper closing stage, providing a reversal judgment basis based on hydraulic state for these stages.

[0096] The aforementioned preset reversal time is a pre-set duration parameter for the blade opening phase, the skateboard descent phase, or the blade closing phase. Its function is to provide a time-based judgment benchmark for these phases. Unlike the preset catch-up time in the skateboard's upward phase, the preset reversal time focuses more on serving as a normal time judgment basis for the corresponding action phase. This time can be set based on the experienced running time of each action phase, or based on the self-learning time obtained from previous learning runs. When a certain action phase continues to run until the preset reversal time, it indicates that the corresponding time judgment requirement for that phase has been met.

[0097] The aforementioned second time-based reversal judgment condition can be determined by comparing the time of the scraper opening phase, the slide plate descending phase, or the scraper closing phase. The aforementioned strong position-verification scraper-slide hybrid control system times the duration of the current action phase and compares the timing result with the preset reversal time corresponding to that phase; when the timing result reaches the preset reversal time, the second time-based reversal judgment condition is determined to be met. Thus, each of the aforementioned action phases, in addition to having a reversal basis based on pressure state, also has a reversal basis based on time information, ensuring that the reversal judgment for the corresponding phase is not limited to a single pressure condition.

[0098] In one possible embodiment, after identifying the current action phase as the skateboard's upward movement phase, the aforementioned strong position verification-based skateboard hybrid control system retrieves the corresponding position and time information for that phase. The system compares the position signal output by the position sensor with a preset upward position. When the position sensor's trigger state indicates that the skateboard has entered the detection area corresponding to the preset upward position, the system determines that the position reversal judgment condition is met. If the skateboard does not first meet the position requirement during the upward movement, the system continues to time the duration of that phase and compares the timing result with a preset fallback time. When the timing result reaches the preset fallback time, the system determines that the first-time reversal judgment condition is met.

[0099] The aforementioned strong position-verification scraper hybrid control system, after identifying whether the current action phase is the scraper opening phase, the scraper descending phase, or the scraper closing phase, retrieves the corresponding pressure and time information for that phase. The system compares the pressure value collected by the pressure sensor with the preset reversing pressure corresponding to the current action phase. When the pressure value reaches the preset reversing pressure, the pressure reversing judgment condition is determined to be met. If the pressure value does not reach the preset reversing pressure, the system continues to time the duration of the current action phase and compares the timing result with the preset reversing time corresponding to that phase. When the timing result reaches the preset reversing time, the second time reversing judgment condition is determined to be met. Subsequently, the system uses the position reversing judgment condition and the first time reversing judgment condition formed during the scraper ascending phase, as well as the pressure reversing judgment condition and the second time reversing judgment condition formed during the remaining action phases, as input conditions for subsequent priority matching processing.

[0100] Through the above methods and steps, the upward phase of the skateboard can form corresponding judgment criteria based on the position and phase duration. The opening phase, downward phase of the skateboard, and closing phase of the skateboard can form corresponding judgment criteria based on the hydraulic state and running time. This allows different types of reversing judgment conditions to correspond to different action phases, which is beneficial for adapting subsequent reversing control to the actual operating characteristics of each phase.

[0101] Optionally, in the step of matching the commutation judgment conditions according to the preset priority to obtain the commutation control result, the method further includes determining the influence parameters of each commutation judgment condition on the commutation control result, and determining the matching priority corresponding to each commutation judgment condition based on the influence parameters; judging each commutation judgment condition in sequence according to the matching priority corresponding to each commutation judgment condition, and determining the commutation control result corresponding to any commutation judgment condition when any commutation judgment condition is satisfied.

[0102] In this embodiment of the invention, the above-mentioned influence parameters can be used to characterize the degree of influence of each commutation judgment condition on the commutation control result of the current action stage. Generally, they can be determined by combining the directness of the representation of the current action state, the stability of the judgment, and the characteristics of the applicable stage of the corresponding commutation judgment condition.

[0103] Specifically, the more directly a reversal judgment condition reflects whether the current action stage has met the switching requirements, the higher its corresponding influence parameter can be set; conversely, the more a reversal judgment condition leans towards supplementary or fallback judgments, the lower its corresponding influence parameter can be set. For example, in the upward phase of the skateboard, the position reversal judgment condition directly corresponds to whether the skateboard has reached the preset upward position, and its representation of the reversal control result is more direct, thus it can correspond to a higher influence parameter. The first-time reversal judgment condition is mainly used to provide supplementary judgment when the position arrival signal has not been obtained first, and its influence parameter can be lower than that of the position reversal judgment condition. For the scraper opening stage, the skateboard descending stage, and the scraper closing stage, the pressure reversal judgment condition can reflect whether the hydraulic state has reached the expected force level, and the second-time reversal judgment condition can reflect whether the current action stage has reached the corresponding stage duration requirement. Both can also have their influence parameters set separately according to the control requirements of the current stage.

[0104] The aforementioned matching priority can be the order in which the various reversal judgment conditions are processed during the matching process, and can be determined based on the influence parameters corresponding to each reversal judgment condition. Reversal judgment conditions with higher influence parameters have higher matching priority; reversal judgment conditions with lower influence parameters have lower matching priority. This ensures that reversal judgment conditions that have a more direct impact on the reversal control result participate in the judgment first, while supplementary or fallback reversal judgment conditions participate in the judgment later. For example, during the skateboard's upward phase, if the influence parameter corresponding to the position reversal judgment condition is higher than that of the first-time reversal judgment condition, then the position reversal judgment condition has a higher matching priority than the first-time reversal judgment condition; in other action phases, if the influence parameter corresponding to the pressure reversal judgment condition is higher than that of the second-time reversal judgment condition, then the pressure reversal judgment condition has a higher matching priority than the second-time reversal judgment condition.

[0105] In this embodiment, the aforementioned strong position verification sliding plate hybrid control system can sequentially determine whether the commutation judgment conditions corresponding to the current action stage are met according to the matching priority order. Specifically, the judgments can be executed in a predetermined order. When a certain commutation judgment condition is met, the commutation control result corresponding to that commutation judgment condition can be determined, and the subsequent condition judgments for the current action stage can be terminated.

[0106] In one possible embodiment, the aforementioned strong position-verification scraper hybrid control system can use the directness, stage adaptability, and supplementary nature of each reversal judgment condition in representing the current action stage state as the basis for determining the influence parameters. Specifically, if a certain reversal judgment condition can directly reflect whether the current action stage has met the action switching requirements, then a higher influence parameter is assigned to that reversal judgment condition; if a certain reversal judgment condition is mainly used to provide supplementary judgment when the aforementioned conditions are not met, then a lower influence parameter is assigned to that reversal judgment condition. For example, in the upward phase of the scraper, the aforementioned strong position-verification scraper hybrid control system can determine the position reversal judgment condition as a condition that directly reflects whether the upward movement of the scraper has reached the correct position, and assign it a higher influence parameter; the first time reversal judgment condition is determined as a supplementary time judgment condition, and assigned a lower influence parameter than the position reversal judgment condition. For the scraper opening phase, the scraper descending phase, and the scraper closing phase, the aforementioned strong position-verification scraper hybrid control system can assign corresponding influence parameters to the pressure reversal judgment condition and the second time reversal judgment condition respectively, and determine the magnitude relationship between the two according to the stage control requirements.

[0107] After determining the influencing parameters corresponding to each reversal judgment condition, the aforementioned strong position verification scraper hybrid control system determines the matching priority of each reversal judgment condition based on the influencing parameters. Specifically, the matching priority can be determined by sorting the influencing parameters according to their magnitude; the larger the influencing parameter, the higher the matching priority; the smaller the influencing parameter, the lower the matching priority. Thus, during the upward phase of the scraper, if the influencing parameter corresponding to the position reversal judgment condition is greater than the influencing parameter corresponding to the first-time reversal judgment condition, then the matching priority of the position reversal judgment condition is higher than that of the first-time reversal judgment condition. During the scraper opening phase, the scraper descending phase, and the scraper closing phase, if the influencing parameter corresponding to the pressure reversal judgment condition is greater than the influencing parameter corresponding to the second-time reversal judgment condition, then the matching priority of the pressure reversal judgment condition is higher than that of the second-time reversal judgment condition.

[0108] After determining the matching priority, the aforementioned strong position verification slipper hybrid control system sequentially determines the commutation judgment conditions corresponding to the current action stage according to the matching priority of each commutation judgment condition. The system first calls the commutation judgment condition with the highest matching priority and determines whether it is satisfied. If the condition is satisfied, it determines the commutation control result corresponding to that condition. If the condition is not satisfied, it continues to call the next matching priority commutation judgment condition for judgment. When any commutation judgment condition is satisfied, the system outputs the commutation control result corresponding to that condition without further processing of lower priority commutation judgment conditions.

[0109] Through the above methods and steps, the aforementioned strong position verification sliding plate hybrid control system can prioritize different commutation judgment conditions based on the degree of influence of each commutation judgment condition on the commutation control result, and complete condition matching and result determination in priority order. This allows commutation judgment conditions that more directly represent the current action stage to participate in control judgment first, and allows supplementary judgment conditions to participate in processing as subsequent judgment basis, thus giving the generation process of commutation control result a clear sequential relationship.

[0110] Optionally, in the step of outputting a corresponding control signal based on the reversing control result and controlling the scraper and slide to perform corresponding action switching, the method further includes outputting a control signal corresponding to the next target action stage based on the reversing control result corresponding to the current action stage; and controlling the scraper and slide to switch from the current action stage to the next target action stage according to the control signal.

[0111] In this embodiment of the invention, the aforementioned strong position-verification scraper hybrid control system, upon determining that the current action phase is the upward movement phase of the scraper and that the reversing control result indicates the end of the upward movement phase, determines the scraper opening phase as the next target action phase and outputs a control signal corresponding to the scraper opening phase; upon determining that the current action phase is the scraper opening phase and that the reversing control result indicates the end of the scraper opening phase, determines that the downward movement phase of the scraper is the next target action phase and outputs a control signal corresponding to the downward movement phase; upon determining that the current action phase is the downward movement phase and that the reversing control result indicates the end of the downward movement phase, determines that the scraper closing phase is the next target action phase and outputs a control signal corresponding to the scraper closing phase; upon determining that the current action phase is the scraper closing phase and that the reversing control result indicates the end of the scraper closing phase, determines that the upward movement phase of the scraper is the next target action phase and outputs a control signal corresponding to the upward movement phase, thus entering the next action cycle.

[0112] After outputting a control signal corresponding to the next target action stage, the aforementioned strong position verification scraper-slide hybrid control system controls the scraper and slide to switch from the current action stage to the next target action stage based on the control signal. Specifically, the aforementioned strong position verification scraper-slide hybrid control system can send the control signal to the hydraulic valve / actuator, causing the hydraulic valve / actuator to perform the corresponding hydraulic reversing operation according to the control signal, and drive the hydraulic cylinder / working mechanism to move, thereby driving the scraper and slide to enter the action state corresponding to the next target action stage. At the same time, the aforementioned strong position verification scraper-slide hybrid control system can also update the current action stage identifier, so that the updated current action stage corresponds to the actual next target action stage, so as to continue to perform subsequent operation parameter acquisition, reversing judgment condition determination, and priority matching processing.

[0113] Through the above-described methods and steps, the aforementioned strong position-verification scraper-slide hybrid control system can establish a correspondence between the reversing control result and the next target action stage, and convert this correspondence into an executable control signal, enabling the scraper and slide to complete stage switching according to a preset action sequence. This ensures a continuous connection between the reversing result and the action execution, guaranteeing the sequential operation of the scraper and slide between each action stage.

[0114] Optionally, before outputting the corresponding control signal based on the reversing control result and controlling the scraper and slide to perform the corresponding action switching, the steps further include controlling the scraper and slide to perform learning operation according to the preset action to record the running time of the scraper and slide in each action stage; setting the self-learning time corresponding to each action stage based on the running time corresponding to each action stage; and generating the corresponding time reversing judgment condition based on the self-learning time corresponding to each action stage, so as to perform reversing judgment in the corresponding action stage.

[0115] In embodiments of the present invention, it can be achieved through, as follows: Figure 4 The self-learning hydraulic control process diagram shown is used for illustration. The self-learning time refers to the duration parameter of each action stage completed by the aforementioned strong position verification scraper-slide hybrid control system through learning operation records, under the preset action flow. This self-learning time corresponds to the reference runtime of each action stage in the learning operation state. Taking the slide upward stage as an example, the aforementioned strong position verification scraper-slide hybrid control system starts timing when the slide begins to move upward and ends timing when the position signal corresponding to the slide's upward position is detected. The obtained stage duration can be used as the self-learning time for the slide upward stage. For the scraper opening stage, slide downward stage, and scraper closing stage, the aforementioned strong position verification scraper-slide hybrid control system can start timing when the corresponding action begins and end timing when the pressure signal meets the reversing requirements. The obtained stage duration can be used as the self-learning time for the corresponding action stage. It can be understood that the aforementioned self-learning time can be understood as a learning-type time parameter corresponding to each action stage, used to reflect the reference duration of each stage under normal learning operation.

[0116] After the aforementioned strong position-verification scraper-slide hybrid control system is started and enters the working mode, it controls the scraper and slide to sequentially perform the following actions according to the preset action flow: slide upward movement, scraper opening, slide downward movement, and scraper closing. At the start of the upward movement phase, action timing is initiated, and position signals are simultaneously acquired. Once the position signal corresponding to the slide's upward movement is detected, the timing for this phase ends, and the running time of the upward movement phase is recorded. Subsequently, the aforementioned strong position-verification scraper-slide hybrid control system controls the scraper to enter the opening phase. At the start of the scraper opening phase, action timing is initiated, and pressure signals are simultaneously acquired. When the pressure signal meets the corresponding reversal requirement, the timing for this phase ends, and the running time of the scraper opening phase is recorded. Afterward, the aforementioned strong position-verification scraper-slide hybrid control system controls the slide to enter the downward movement phase. At the start of the downward movement phase, action timing is initiated. When the pressure signal meets the corresponding reversal requirement, the timing for this phase ends, and the running time of the downward movement phase is recorded. Subsequently, the aforementioned strong position verification scraper mixing control system controls the scraper to enter the scraping stage. At the start of the scraping stage, the action timing is started, and when the pressure signal is detected to meet the corresponding reversing requirements, the timing of this stage ends and the running time of the scraping stage is recorded.

[0117] The aforementioned strong position-verification hybrid control system for scraper skateboards sets self-learning times for the skateboard's upward movement, scraper opening, downward movement, and scraper closing phases based on the recorded duration of each action stage during the learning process. This ensures that each action stage can establish a time reference corresponding to its action characteristics. Furthermore, the system generates corresponding time reversal judgment conditions based on the self-learning times for each action stage, which then participate in reversal judgment during subsequent formal operation. For the scraper opening, downward movement, and closing phases, the system uses the self-learning time of the corresponding action stage as the time reference for the second time reversal judgment condition. When the timing result of the current stage reaches this self-learning time, the corresponding time reversal judgment condition is determined to be valid. For the upward movement phase, the system can also generate a preset fallback time based on the self-learning time of this phase, for example, setting the preset fallback time to twice the self-learning time. When the duration of the upward movement phase reaches this preset fallback time, a first time reversal judgment condition is formed. Figure 4 As shown, during the skateboard's upward phase, the blade opening phase, the skateboard's downward phase, and the blade closing phase, if the current position signal or pressure signal does not trigger a reversal first, the next action cycle will begin when the action timing reaches twice the self-learning time.

[0118] In one possible embodiment, the aforementioned strong position verification-based scraper hybrid control system can first perform one or more rounds of learning operation to acquire stage duration data for each action phase and store this stage duration data in the data storage module. During subsequent formal operation, the aforementioned strong position verification-based scraper hybrid control system prioritizes acquiring position signals for reversal judgment during the upward phase of the scraper; if no upward positioning signal is detected, it continues to perform time judgment based on the fallback time generated by the self-learning time corresponding to that phase. For the scraper opening phase, the scraper descending phase, and the scraper closing phase, the aforementioned strong position verification-based scraper hybrid control system can simultaneously acquire pressure signals and perform action timing based on the self-learning time of the corresponding phase. If the pressure condition is not met first, it determines whether to form the corresponding time reversal judgment condition based on whether the timing result reaches the self-learning time.

[0119] Through the above-described methods and steps, the aforementioned strong position verification-based scraper-slide hybrid control system can establish time references for each action stage based on the actual duration of the scraper and slide during learning operation, and generate corresponding time reversal judgment conditions accordingly. In this way, the time reversal judgment no longer relies on a single fixed empirical value, but corresponds to the actual running time of each stage: slide upward movement, scraper opening, slide downward movement, and scraper closing. This helps to make the time judgment more closely match the operating state of each action stage, and also provides corresponding time judgment criteria when the position is not triggered or the pressure is not satisfied first.

[0120] like Figure 5 As shown, this embodiment of the invention also provides a strong position verification scraper plate mixing control device 500, which includes:

[0121] The first acquisition module 501 is used to acquire the operating parameters of the scraper and the slide plate during the working process. The operating parameters include position information, pressure information and time information.

[0122] The first determining module 502 is used to determine the reversal judgment condition corresponding to the current action stage based on the position information, pressure information and time information.

[0123] The first matching module 503 is used to match the commutation determination conditions according to a preset priority to obtain the commutation control result;

[0124] The first output module 504 is used to output a corresponding control signal according to the reversing control result, and control the scraper and the slide to perform corresponding action switching.

[0125] Optionally, the first acquisition module 501 mentioned above includes:

[0126] The first acquisition submodule is used to acquire the position information corresponding to the skateboard's upward movement position by using a position sensor placed at the skateboard's upward movement position.

[0127] The second acquisition submodule is used to acquire pressure information of each hydraulic valve group during the reversing process by means of pressure sensors arranged on each hydraulic valve group corresponding to the scraper.

[0128] The third acquisition submodule is used to start timing when responding to the action start signal, and to record the timing result when the corresponding reversal trigger condition or action switch is detected, so as to obtain the time information corresponding to the current action stage.

[0129] Optionally, the first determining module 502 mentioned above includes:

[0130] The first determining submodule is used to determine whether the skateboard has reached the preset upward position based on the position information when the current action stage is the skateboard upward stage. When the preset upward position is reached, the corresponding position reversal judgment condition is determined, and the preset bottom-out time is determined based on the time information. When the preset bottom-out time is reached, the corresponding first time reversal judgment condition is determined.

[0131] The second determining submodule is used to determine whether a preset reversing pressure has been reached based on the pressure information when the current action stage is the scraper opening stage, the slide plate descending stage, or the scraper closing stage. When the preset reversing pressure is reached, the corresponding pressure reversing judgment condition is determined, and the preset reversing time is determined based on the time information. When the preset reversing time is reached, the corresponding second time reversing judgment condition is determined.

[0132] Optionally, the first matching module 503 mentioned above includes:

[0133] The first matching submodule is used to determine the influence parameters of each of the commutation determination conditions on the commutation control result, and to determine the matching priority corresponding to each of the commutation determination conditions based on the influence parameters.

[0134] The second matching submodule is used to sequentially determine each of the commutation determination conditions according to the matching priority corresponding to each of the commutation determination conditions, and determine the commutation control result corresponding to the commutation determination condition when any commutation determination condition is satisfied.

[0135] Optionally, the first output module 504 mentioned above includes:

[0136] The first output submodule is used to output the control signal corresponding to the next target action stage based on the commutation control result corresponding to the current action stage.

[0137] The second output submodule is used to control the scraper and slide plate to switch from the current action stage to the next target action stage according to the control signal.

[0138] Optionally, the above-mentioned device further includes:

[0139] The first learning module is used to control the scraper and the skateboard to perform learning operations according to preset actions in order to record the running time of the scraper and the skateboard in each action stage;

[0140] The second learning module is used to set the self-learning time for each action stage according to the runtime of each action stage.

[0141] The third learning module is used to generate corresponding time reversal judgment conditions based on the self-learning time corresponding to each action stage, so as to make reversal judgment in the corresponding action stage.

[0142] like Figure 6 As shown, this embodiment of the invention also provides an electronic device 600, including a processor, which can execute any of the above-mentioned strong position verification scraper hybrid control methods.

[0143] Specifically, it includes a processor 601 and a memory 602, as well as a computer program stored in the memory 602 and capable of running on the processor 601, which performs a strong position-checking scraper hybrid control method, wherein:

[0144] The processor 601 executes the calculator program for the strong position-checked scraper slide hybrid control method stored in memory 602, and performs the following steps:

[0145] The operating parameters of the scraper and slide plate during the working process are obtained, including position information, pressure information and time information;

[0146] Based on the location information, pressure information, and time information, determine the reversal judgment condition corresponding to the current action stage;

[0147] The commutation determination conditions are matched according to a preset priority to obtain the commutation control result;

[0148] Based on the reversing control result, a corresponding control signal is output to control the scraper and slide plate to perform corresponding action switching.

[0149] Optionally, the processor 601 performs the acquisition of operating parameters of the scraper and slide plate during operation, including:

[0150] Position sensors are placed at the position where the skateboard has reached its upward trajectory to obtain the position information corresponding to the skateboard's upward trajectory.

[0151] Pressure information during the reversing process of each hydraulic valve group is obtained by pressure sensors arranged on each hydraulic valve group corresponding to the scraper.

[0152] The timing starts when the action is initiated and is recorded when the corresponding reversal trigger condition or action switch is detected, so as to obtain the time information corresponding to the current action stage.

[0153] Optionally, the processor 601 executes the determination of the reversal judgment condition corresponding to the current action stage based on the position information, pressure information, and time information, including:

[0154] When the current action phase is the skateboard going up phase, it is determined whether the skateboard has reached the preset up position based on the position information. When the preset up position is reached, the corresponding position reversal judgment condition is determined, and it is determined whether the preset bottoming time has been reached based on the time information. When the preset bottoming time is reached, the corresponding first time reversal judgment condition is determined.

[0155] When the current action stage is the scraper opening stage, the slide plate descending stage, or the scraper closing stage, it is determined whether the preset reversing pressure has been reached based on the pressure information. When the preset reversing pressure is reached, the corresponding pressure reversing judgment condition is determined, and it is determined whether the preset reversing time has been reached based on the time information. When the preset reversing time is reached, the corresponding second time reversing judgment condition is determined.

[0156] Optionally, the processor 601 performs the matching process of the commutation determination conditions according to a preset priority to obtain the commutation control result, including:

[0157] Determine the influence parameters of each of the commutation determination conditions on the commutation control result, and determine the matching priority corresponding to each of the commutation determination conditions based on the influence parameters;

[0158] According to the matching priority corresponding to each of the commutation determination conditions, each of the commutation determination conditions is determined in sequence. When any commutation determination condition is satisfied, the commutation control result corresponding to that commutation determination condition is determined.

[0159] Optionally, the processor 601 executes the step of outputting a corresponding control signal based on the commutation control result to control the scraper and slide plate to perform corresponding action switching, including:

[0160] Based on the reversing control result corresponding to the current action phase, output the control signal corresponding to the next target action phase;

[0161] The scraper and slide plate are controlled to switch from the current action stage to the next target action stage according to the control signal.

[0162] Optionally, before the processor 601 executes the step of outputting a corresponding control signal based on the reversing control result to control the scraper and slide plate to perform corresponding action switching, the method further includes:

[0163] The scraper and slide plate are controlled to perform learning operations according to preset actions to record the running time of the scraper and slide plate in each action stage;

[0164] Based on the runtime of each action stage, set the self-learning time for each action stage.

[0165] Based on the self-learning time corresponding to each action stage, corresponding time reversal judgment conditions are generated to perform reversal judgment in the corresponding action stage.

[0166] This invention also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the various processes of the strong position verification sliding plate hybrid control method or the application-side strong position verification sliding plate hybrid control method provided in this invention, and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0167] Those skilled in the art will understand that implementing all or part of the processes in the above embodiments can be done by a computer program instructing related hardware, and can be stored in a computer-readable storage medium. When executed, the program can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0168] The above description discloses only preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A hybrid control method for a scraper slide with strong position verification, characterized in that, include: The operating parameters of the scraper and slide plate during the working process are obtained, including position information, pressure information and time information; Based on the location information, pressure information, and time information, determine the reversal judgment condition corresponding to the current action stage; The commutation determination conditions are matched according to a preset priority to obtain the commutation control result; Based on the reversing control result, a corresponding control signal is output to control the scraper and slide plate to perform corresponding action switching; The determination of the reversal judgment conditions corresponding to the current action stage based on the location information, pressure information, and time information includes: When the current action phase is the skateboard going up phase, it is determined whether the skateboard has reached the preset up position based on the position information. When the preset up position is reached, the corresponding position reversal judgment condition is determined, and it is determined whether the preset bottoming time has been reached based on the time information. When the preset bottoming time is reached, the corresponding first time reversal judgment condition is determined. When the current action stage is the scraper opening stage, the slide plate descending stage, or the scraper closing stage, it is determined whether the preset reversing pressure has been reached based on the pressure information. When the preset reversing pressure is reached, the corresponding pressure reversing judgment condition is determined, and it is determined whether the preset reversing time has been reached based on the time information. When the preset reversing time is reached, the corresponding second time reversing judgment condition is determined. The step of matching the commutation determination conditions according to a preset priority to obtain the commutation control result includes: Determine the influence parameters of each of the commutation determination conditions on the commutation control result, and determine the matching priority corresponding to each of the commutation determination conditions based on the influence parameters; According to the matching priority corresponding to each of the commutation determination conditions, each of the commutation determination conditions is determined in sequence. When any commutation determination condition is satisfied, the commutation control result corresponding to that commutation determination condition is determined. Before outputting a corresponding control signal based on the reversing control result to control the scraper and slide plate to perform corresponding action switching, the method further includes: The scraper and slide plate are controlled to perform learning operations according to preset actions to record the running time of the scraper and slide plate in each action stage; Based on the runtime of each action stage, set the self-learning time for each action stage. Based on the self-learning time corresponding to each action stage, corresponding time reversal judgment conditions are generated to perform reversal judgment in the corresponding action stage.

2. The strong position verification sliding plate hybrid control method as described in claim 1, characterized in that, The acquisition of the operating parameters of the scraper and slide plate during operation includes: Position sensors are placed at the position where the skateboard has reached its upward trajectory to obtain the position information corresponding to the skateboard's upward trajectory. Pressure information during the reversing process of each hydraulic valve group is obtained by pressure sensors arranged on each hydraulic valve group corresponding to the scraper. The timing starts when the action is initiated and is recorded when the corresponding reversal trigger condition or action switch is detected, so as to obtain the time information corresponding to the current action stage.

3. The strong position verification sliding plate hybrid control method as described in claim 1, characterized in that, The step of outputting a corresponding control signal based on the reversing control result to control the scraper and slide plate to perform corresponding action switching includes: Based on the reversing control result corresponding to the current action phase, output the control signal corresponding to the next target action phase; The scraper and slide plate are controlled to switch from the current action stage to the next target action stage according to the control signal.

4. A hybrid control device for a scraper slide with strong position verification, characterized in that, Implementing the hybrid control method for a scraper slide with strong position verification as described in claim 1, comprising: The first acquisition module is used to acquire the operating parameters of the scraper and the slide plate during the working process. The operating parameters include position information, pressure information and time information. The first determining module is used to determine the reversal judgment condition corresponding to the current action stage based on the position information, pressure information and time information; The first matching module is used to match the commutation determination conditions according to a preset priority to obtain the commutation control result; The first output module is used to output a corresponding control signal based on the reversing control result, and control the scraper and the slide to perform corresponding action switching.

5. A hybrid control system for a scraper slide with strong position verification, characterized in that, The strong position verification scraper plate mixing control system includes: a strong position verification scraper plate mixing control device; The strong position verification scraper plate hybrid control device implements the strong position verification scraper plate hybrid control method as described in claim 1.

6. An electronic device, characterized in that, include: The memory, the processor, and the computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the strong position verification scraper hybrid control method as described in any one of claims 1 to 3.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the strong position verification scraper hybrid control method as described in any one of claims 1 to 3.

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