Control method for realizing automatic pouring and compression of barreled garbage of garbage compression truck

Abstract

The invention belongs to the technical field of garbage compression trucks, and particularly relates to a control method for realizing automatic pouring and compression of barreled garbage of a garbage compression truck, which comprises the following steps of: acquiring the total weight of the barreled garbage through a weight sensor; calculating the net weight of the garbage; the corresponding power takeoff output rotating speed is calculated; driving to execute garbage pouring action, and in the garbage can pouring process, dynamically adjusting the rotating speed of the power takeoff by the vehicle control unit according to the real-time weight; in the garbage compression process, the whole vehicle controller dynamically adjusts the rotating speed of the power takeoff according to the real-time weight, and a scraper blade is controlled to execute the compression action; when the garbage is poured and compressed at the same time, the rotating speed is distributed in proportion according to the weight change in the two working states, and the total output rotating speed is kept unchanged. The weight is automatically recognized to control pouring and compression of garbage, meanwhile, the optimal rotating speed output in the working state is automatically adjusted according to the recognized weight, and electric quantity loss caused by constant-speed output is avoided.

Description

Technical Field

[0001] This invention relates to the field of garbage compactor technology, and in particular to a control method for automatically dumping and compressing barrelled garbage in a garbage compactor. Background Technology

[0002] New energy pure electric garbage compactor trucks typically require multiple people to handle the dumping and compaction of garbage during use. This is due to the limitations of vehicle modification, which not only wastes manpower but also leads to excessive power loss due to inconsistent human operation methods. While pure electric vehicles prioritize range, reducing energy consumption is also an urgent need.

[0003] Currently, the modified pure electric garbage compactor trucks require manual operation of the mechanical structure to dump and compress the garbage. This method has drawbacks. For example, the amount of garbage in the garbage bin can only be predicted based on the amount poured into the bin, and the weight of the garbage poured into the garbage bin cannot be determined. On the other hand, due to the differences in manual operation, if the operator presses the high speed when low speed compression is required, this method will accelerate the consumption of electricity. Summary of the Invention

[0004] Based on the technical problems in the background art, the present invention proposes a control method for automatically dumping and compressing barrelled garbage in a garbage compactor truck.

[0005] This invention proposes a control method for automatically dumping and compressing barrelled garbage in a garbage compactor truck, comprising the following steps: Step 1: When the trash can is attached to the linkage device, the total weight of the trash in the can is obtained through the weight sensor.

[0006] Step 2: The linkage device controller receives the total weight signal, calculates the net weight of the waste, and sends the net weight information to the vehicle controller.

[0007] Step 3: The vehicle controller calculates the corresponding PTO output speed based on the net weight information and sends the speed command to the motor controller.

[0008] Step 4: The motor controller controls the motor to output the corresponding speed according to the speed command, which drives the power take-off device to drive the linkage device to perform the garbage dumping action. During the garbage dumping process, the weight sensor monitors the weight change in real time, and the vehicle controller dynamically adjusts the speed of the power take-off device according to the real-time weight. During the process of emptying the trash can: if the weight sensor detects that the weight has not dropped to the weight of the can within five consecutive seconds, the vehicle controller will increase the speed output; if the weight drops to the weight of the can within ten seconds, the original speed will be restored; if the weight has not dropped to the weight of the can after more than ten seconds, the speed output will be stopped until the weight of the can is detected and then resumed.

[0009] Step 5: During the garbage compression process, the weight sensor at the bottom of the garbage bin detects the weight of the garbage in real time and transmits the weight signal to the vehicle controller. The vehicle controller dynamically adjusts the speed of the power take-off unit according to the real-time weight and controls the scraper to perform the compression action. If the detected garbage weight is zero, the vehicle controller will stop the motor from outputting its speed.

[0010] Step 6: When the garbage is dumped and compressed at the same time, the speed is proportionally distributed according to the weight change in the two working states through the pressure diversion device in the linkage device, so as to keep the total output speed constant. When the weight of garbage in the bin exceeds 5% but does not exceed 105% of the preset weight, the system issues an alarm. When the weight of garbage in the bin exceeds 105% of the preset weight, the vehicle controller stops outputting rotational speed until the weight falls below the threshold and then restarts operation.

[0011] Preferably, the linkage device controller, the vehicle controller, and each sensor communicate via a CAN bus.

[0012] Preferably, the method further includes the following steps: arranging multiple distributed pressure sensors inside the garbage bin to monitor the garbage accumulation pattern in real time; the vehicle controller dynamically adjusts the scraper's movement trajectory or pressure intensity based on the distribution analysis results; when the pressure on one side is detected to be continuously higher than a set threshold on the other side, the scraper is controlled to tilt towards the high-pressure side, and the compaction frequency on that side is increased.

[0013] Preferably, the method further includes the following steps: during each trash can emptying process, the weight sensor continuously collects weight data and records the complete weight change curve; after emptying, the average value of the stable segment at the end of the weight curve is analyzed as the measured weight of the trash can; a historical weight database is established, and the weight value is updated after each operation; during the emptying process, the latest estimated weight value is used to calculate the net weight, and the rotation speed is dynamically adjusted by matching the historical curve pattern in real time.

[0014] Preferred choice, suitable for new energy pure electric garbage compactors.

[0015] The beneficial effects of this invention are as follows: 1. In this invention, the automated garbage dumping and unloading operations can reduce labor costs, improve economic efficiency, and increase work efficiency. Furthermore, by automatically matching the appropriate rotation speed according to the weight, energy waste is avoided, and power consumption is reduced to a certain extent, which can help compensate for the range problem in new energy vehicles. Attached Figure Description

[0016] Figure 1 This is an overall control diagram of a control method for automatically dumping and compressing barrelled garbage in a garbage compactor truck, as proposed in this invention. Detailed Implementation

[0017] Example 1: Refer to Figure 1 A control method for automatically dumping and compressing barrelled garbage in a garbage compactor truck includes the following steps: The solution requires a vehicle controller (A), a mechanical or electric power take-off device (B), a linkage device for garbage dumping and compression (C), a controller for controlling the linkage device (D), a weight sensor (E), and software communication and association facilities, etc. The specific implementation plan is as follows: After the barrelled garbage is hung into the linkage device C, the sensor E on C senses the electrical signal of the barrel's weight and transmits it to the controller D. After the controller D calculates the weight of the barrel, it sends it to the vehicle controller A via a CAN signal. The controller A converts the weight into a speed command through its built-in calculation program. The vehicle controller A sends this command to the motor controller, which controls the motor's speed output, thereby controlling the power take-off's speed output. This ensures that the power take-off device B outputs speed to the linkage device C, enabling the linkage device C to automatically control the barrelled garbage to be poured in.

[0018] The control logic for the process of hanging and unloading the garbage bin is as follows: If the weight of the bin is M, after the garbage bin is hung in the linkage device C, the total weight of the garbage bin sensed by the sensor includes the weight of the bin itself. Therefore, when calculating the weight of the garbage bin, the weight of the bin M needs to be subtracted. From the time the garbage bin is hung in to the time it is lifted and then poured out, the weight of the garbage bin will gradually decrease. Therefore, the weight sensor sends a weight sensing signal in real time, and the vehicle controller A also controls the speed output of the power take-off device B in real time. In some cases, if the garbage bin cannot be emptied, and the signal from the weight sensor does not reach the weight M of the bin within 5 consecutive seconds, the vehicle controller A will issue a command to increase the rotation speed output based on the weight of the bin. If the weight sensor detects the weight of the bin within 10 seconds, the vehicle controller A will stop issuing the command to increase the rotation speed and return to the previous operating speed. If the signal from the weight sensor still exceeds the weight M of the bin after more than 10 seconds, the vehicle controller A will issue a command to stop the rotation speed output. After the weight sensor detects the weight M of the bin, the vehicle controller will issue a command to return to the previous operating speed. The control logic for unloading the bin is as follows: the unloading process is the rotational speed of the bin's own weight M. When the weight sensor detects no weight, the bin has been unloaded, and the vehicle controller A issues a command to stop the rotational speed output; thus completing one bin loading and unloading process.

[0019] Control logic for garbage compression after bin garbage is poured in: After the bin-sized garbage is poured in, the scraper simultaneously works to press the garbage into the garbage bin. As the garbage is poured in, a weight sensor at the bottom of the garbage transfer bin transmits the weight of the garbage to the linkage controller D via an electrical signal. The linkage controller D receives the signal, converts it, and transmits it as a CAN signal to the vehicle controller A. The vehicle controller A performs internal calculations, converts the weight into a speed command, and sends it to the motor controller. The motor controller outputs a specified speed to the motor, which in turn outputs the speed through the power take-off device B via the mechanical linkage device C, automatically controlling the scraper to press the garbage into the garbage bin. Because the weight of the garbage is dynamically changing, the speed output by the vehicle controller A changes dynamically according to the weight of the garbage. When the weight sensor detects that the weight of the garbage is 0, the vehicle controller controls the motor to stop outputting speed.

[0020] When the garbage bin is poured in, the scraper needs to work synchronously because the weight sensor detects the weight of the garbage. This process may result in two different required speeds. Therefore, a pressure diversion device needs to be added to the linkage device C to ensure that, under the same output speed, the garbage pouring and unloading, as well as the scraper's compression of the garbage, dynamically change with the weight. For example, when the garbage is poured in, the weight of the bin decreases, so the required speed decreases; while the garbage bin at the bottom of the scraper gradually increases in weight, causing the required speed to increase. However, the total output speed remains constant in both working states.

[0021] The specific control logic is as follows: When the bin of garbage is poured in, the weight sensor detects a gradual decrease in weight, while the weight sensor at the bottom of the bin detects a gradual increase in garbage. Electrical signals from both operating states are simultaneously sent to the linkage controller D. The linkage controller D processes these signals and sends them as a CAN signal to the vehicle controller A. The vehicle controller A converts the weight signals from both states into a total required speed command and sends it to the motor controller. The motor controller then controls the motor to output speed to the linkage device via the power take-off device B. The pressure divider in the linkage device proportionally distributes the required speed for each operating state based on the weight changes, thereby automatically controlling the scraper to compress the garbage and the linkage device to pour it in. The principle of the linkage device unloading the bin is the same as described above.

[0022] When the weight of the garbage in the garbage bin exceeds the preset weight by less than 5%, the garbage bin weight sensor sends an alarm to the linkage device controller. When the weight of the garbage bin exceeds the preset weight by 105%, the linkage device controller sends a signal to the vehicle controller to stop the speed output. The vehicle controller then issues a command to stop the speed output. The system will automatically restart when the weight of the garbage bin is below 105%.

[0023] In this embodiment, the entire process of garbage dumping, unloading, and compression is automated, significantly reducing human intervention. The power take-off speed is dynamically adjusted based on the weight of the garbage to avoid energy waste caused by constant speed operation. At the same time, the pressure diversion device coordinates the synchronous operation of multiple working conditions, improving the overall energy efficiency and smoothness of the system.

[0024] Example 2: A control method for automatically dumping and compressing bin-type garbage in a garbage compactor truck. In actual operation, the garbage in the bin may be unevenly distributed due to factors such as dumping position, garbage composition, or vehicle posture. For example, one side may be piled too high, while the other side is lower, or there may even be localized empty loads or over-compaction. This phenomenon may cause uneven force on the scraper during compression, affecting the uniformity of compaction, increasing equipment wear, and potentially leading to increased energy consumption. To solve the above problems, based on Example 1, a real-time sensing and adaptive compaction control mechanism for the garbage distribution state is added. The specific steps are as follows: Add a distributed sensing sensor system: Multiple distributed pressure sensors are arranged around the inside of the garbage bin and at the bottom to monitor the garbage accumulation pattern and the force on various parts of the scraper in real time; The sensor arrangement is as follows: a group of sensors is set at intervals along the length of the garbage bin, and each group contains two sensors arranged symmetrically on the left and right; At the same time, pressure sensors are installed on the hydraulic actuator of the scraper to detect the compaction resistance on the left and right sides of the scraper.

[0025] The linkage device controller D receives real-time data from each distributed pressure sensor and performs data processing and analysis. The analysis includes: calculating the average pressure on the left and right sides and the difference between them; determining whether there is a significant unbalanced load, such as the pressure value on one side being continuously higher than the set threshold on the other side; and detecting the difference in the stacking height between the front and rear areas of the garbage bin.

[0026] Based on the distribution analysis results, the vehicle controller A dynamically adjusts the scraper's movement trajectory, compaction sequence, and compaction force. The specific control logic is as follows: if the pressure on the left side is detected to be significantly higher than that on the right side, the scraper is controlled to tilt slightly to the left when performing the compression action, and the dwell time or compaction frequency of the left compaction area is appropriately increased; if the garbage bin is detected to have a high accumulation at the front, the scraper is first controlled to move forward for pre-compaction before overall compression; the flow and pressure distribution of the hydraulic oil circuits on the left and right sides are dynamically adjusted through the pressure diversion device to ensure that the scraper can maintain stable compaction under off-center load conditions.

[0027] During the compression process, distributed pressure sensors continuously monitor the compaction effect, and the vehicle controller A dynamically fine-tunes the control parameters based on real-time feedback until the pressure distribution inside the garbage bin tends to be balanced or reaches the preset compaction standard.

[0028] For example: The system detects that the average pressure on the left side of the garbage bin is 320 kg and on the right side is 120 kg, which is determined to be an uneven state with the left side higher than the right side; during the compression stage, the vehicle controller A controls the scraper to tilt 5 degrees to the left, and at the same time increases the hydraulic flow on the left side by 20% through the pressure diversion device; when the scraper performs the compression action, it adds one reciprocating compaction in the left area. As compaction proceeds, the system continuously monitors the pressure changes on the left and right sides until the difference is reduced to within the set threshold, and the normal compaction mode is restored.

[0029] In this embodiment, the above-mentioned solution can significantly improve the uniformity and overall density of garbage compaction, optimize the utilization rate of garbage loading space, reduce abnormal wear of scrapers, hydraulic systems and garbage bin structures caused by off-center loading, and extend the service life of equipment; by adaptive adjustment, ineffective or repeated compaction actions are avoided, further reducing system energy consumption, and improving the intelligence level and adaptability of the compression operation.

[0030] Example 3: A control method for automatically dumping and compressing garbage bins in a garbage compactor truck. To address the problem that "the actual weight of the garbage bin may dynamically change due to long-term use, dirt accumulation, residue buildup, icing, or structural deformation; furthermore, the garbage bin is already filled with garbage at the start of operation, making it impossible to directly obtain the weight of a clean bin; if fixed or historical weight values ​​are used for calculation, the net weight error will increase, thus affecting the speed matching accuracy and operational efficiency," this method, based on Example 1, introduces a dynamic weight estimation and real-time calibration mechanism based on the weight curve during the dumping process. The specific steps are as follows: During each trash can emptying process, the weight sensor E continuously collects weight data at a sampling frequency of no less than 10Hz. The system records the complete weight change curve from the start of hanging the trash can to the end of unloading it, and stores the curve and related timestamp information.

[0031] After the pouring is completed, the system analyzes the weight curve, extracts the data from the final stable segment, typically the last 3 to 5 seconds, and calculates the average value of this segment as the measured weight of the bucket. If the curve does not reach a stable state at the end, such as still showing a slow downward trend, the system will make a judgment based on the following rules: if the weight value is continuously higher than the upper limit of the historical self-weight range, it is determined that the garbage has not been completely emptied; if the weight value fluctuates within a reasonable range, the median value of the last 10 seconds of data will be taken as the self-weight estimate.

[0032] The system establishes an independent historical database of the self-weight of each trash can, which can be identified by RFID or mechanical coding; after each operation, the estimated self-weight is recorded. The bucket's historical weight sequence is used for weighted smoothing updates. An example of the calculation formula is as follows: , where α is the historical weighting coefficient, usually taken as 0.6-0.8; If a certain self-weight estimate deviates abnormally from the historical range, such as by more than 15%, the system will mark the data as pending verification and prioritize the use of the historical average in the next operation, while prompting the operator to check the status of the trash can.

[0033] During the dumping process, the system uses the latest estimated weight value to calculate the net weight in real time. At the same time, the system monitors the weight decrease trend in real time and performs pattern matching with historical dumping curves. If a significantly slow weight decrease is detected, the system dynamically adjusts itself using the following strategies: if the matching is a waste stickiness mode, the rotation speed is appropriately increased and a small shaking motion is added; if the matching is a weight increase mode, the estimated weight value is dynamically updated in this operation, and the rotation speed output curve is adjusted accordingly.

[0034] For example: A trash can's historical weight records are 20kg, 21kg, and 20.5kg. After this emptying, the weight curve stabilizes at 22.5kg. The system calculates... The weight was 22.5 kg, which deviates from the historical average of 20.5 kg by about 9.8%, within the allowable range. The system updated the weight of the bucket to 21.2 kg (α=0.7). In the next bucket operation, the system used 21.2 kg as the weight of the bucket for net weight calculation and speed matching. During the pouring process, if the weight drop was slow, the system matched the historical curve to determine that it was in a weight increase mode, dynamically adjusted the weight to 22 kg, and reduced the initial speed accordingly to avoid energy waste.

[0035] In this embodiment, dynamic learning and calibration of the garbage bin's own weight are achieved, significantly improving the accuracy of garbage net weight calculation and reducing speed control inaccuracies, operation interruptions, or energy waste caused by weight errors. Through real-time correction and pattern matching, the success rate and smoothness of the dumping process are improved.

[0036] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A control method for automatically dumping and compressing barrelled garbage in a garbage compactor truck, characterized in that, Includes the following steps: Step 1: When the trash can is attached to the linkage device, the total weight of the trash in the can is obtained through the weight sensor; Step 2: The linkage device controller receives the total weight signal, calculates the net weight of the waste, and sends the net weight information to the vehicle controller. Step 3: The vehicle controller calculates the corresponding PTO output speed based on the net weight information and sends the speed command to the motor controller. Step 4: The motor controller controls the motor to output the corresponding speed according to the speed command, which drives the power take-off device to drive the linkage device to perform the garbage dumping action. During the garbage dumping process, the weight sensor monitors the weight change in real time, and the vehicle controller dynamically adjusts the speed of the power take-off device according to the real-time weight. Step 5: During the garbage compression process, the weight sensor at the bottom of the garbage bin detects the weight of the garbage in real time and transmits the weight signal to the vehicle controller. The vehicle controller dynamically adjusts the speed of the power take-off unit according to the real-time weight and controls the scraper to perform the compression action. Step 6: When the garbage is dumped and compressed simultaneously, the speed is proportionally distributed according to the weight changes in the two working states through the pressure diversion device in the linkage device, so as to keep the total output speed constant.

2. The control method for automatically dumping and compressing barrelled garbage in a garbage compactor truck according to claim 1, characterized in that, The linkage device controller, vehicle controller, and various sensors communicate via CAN bus.

3. The control method for automatically dumping and compressing barrelled garbage in a garbage compactor truck according to claim 2, characterized in that, In step four, during the process of emptying the trash can: If the weight sensor detects that the weight has not decreased to the weight of the bucket within five consecutive seconds, the vehicle controller will increase the speed output. If the weight drops to the weight of the barrel within ten seconds, then the original rotation speed is restored. If the speed does not drop to the weight of the barrel within ten seconds, the speed output will stop until the weight of the barrel is detected and then resumed.

4. The control method for automatically dumping and compressing barrelled garbage in a garbage compactor truck according to claim 2, characterized in that, In step five, if the detected garbage weight is zero, the vehicle controller will control the motor to stop outputting speed.

5. The control method for automatically dumping and compressing barrelled garbage in a garbage compactor truck according to claim 2, characterized in that, In step six, when the weight of the trash in the trash can exceeds 5% but does not exceed 105% of the preset weight, the system will issue an alarm. When the weight of garbage in the garbage bin exceeds 105% of the preset weight, the vehicle controller stops outputting rotational speed until the weight falls below the threshold, at which point it restarts operation.

6. A control method for automatically dumping and compressing barrelled garbage in a garbage compactor truck according to any one of claims 1 to 5, characterized in that, It also includes the following steps: Multiple distributed pressure sensors are installed inside the trash can to monitor the shape of trash accumulation in real time. The vehicle controller dynamically adjusts the scraper's movement trajectory or pressure intensity based on the distribution analysis results.

7. The control method for automatically dumping and compressing barrelled garbage in a garbage compactor truck according to claim 6, characterized in that, When the pressure on one side is detected to be consistently higher than the set threshold on the other side, the scraper is controlled to tilt towards the high-pressure side, and the compaction frequency on that side is increased.

8. A control method for automatically dumping and compressing barrelled garbage in a garbage compactor truck according to any one of claims 1 to 5, characterized in that, It also includes the following steps: During each emptying of the trash can, the weight sensor continuously collects weight data and records the complete weight change curve; After the pouring was completed, the average value of the stable segment at the end of the weight curve was taken as the measured weight of the bucket. Establish a historical database of self-weight and update the self-weight value after each job.

9. A control method for automatically dumping and compressing barrelled garbage in a garbage compactor truck according to claim 8, characterized in that, During the tipping process, the net weight is calculated using the latest estimated self-weight value, and the rotation speed is dynamically adjusted by matching the historical curve pattern in real time.

10. A control method for automatically dumping and compressing barrelled garbage in a garbage compactor truck according to any one of claims 1 to 5, characterized in that, Applicable to new energy pure electric garbage compactors.

Images