Spiral compression starting and sound-light early warning method with throw-in opening closing linkage infrared sensor detecting garbage amount

Abstract

The present application relates to the technical field of intelligent garbage collection equipment, and discloses a spiral compression starting and sound-light early warning method for detecting garbage amount by a throw-in opening closing linkage infrared sensor, wherein the method comprises: after the throw-in opening is closed, driving the infrared sensor to perform double-waveband calibration pulse emission, matching a pollution type discrimination interval table based on the ratio of two waveband attenuation coefficients, obtaining a dominant pollution type label and a differentiated compensation weight; generating a garbage height sampling value time sequence when performing weighted fusion compensation on a plurality of original distance data; performing piecewise linear fitting on the sequence, determining a settling completion state by using the last segment settling rate value, and outputting a stable garbage height value; generating a compression starting instruction after comparing with a compression starting threshold value; and when detecting a jam during the compression process, performing reverse rotation according to the axial position partition matching differentiated escape parameters, and outputting a state prompt through a sound-light device.

Description

Technical Field

[0001] This invention relates to the field of intelligent waste collection equipment technology, and more specifically, to a method for starting a spiral compression system and providing audible and visual early warnings based on the detection of waste volume using an infrared sensor linked to the closing of the waste inlet. Background Technology

[0002] In intelligent waste collection equipment with screw compression, after the inlet is closed, an infrared sensor needs to be activated to detect the waste inside the bin and obtain the waste height value. This waste height value is then used to determine whether to start screw compression. In scenarios involving mixed disposal of kitchen waste, the pollutants adhering to the sensor surface consist of a mixture of various types, including grease films, water mist condensation, and solid particles. Different types of pollutants exhibit different attenuation characteristics for different wavelengths of infrared light.

[0003] Existing technology drives infrared sensors to emit single-band calibration pulses to the standard reflective calibration plate at the bottom of the bin. The echo intensity value is compared with the factory reference intensity value to generate a unified pollution attenuation coefficient. This pollution attenuation coefficient is used to compensate and correct the original distance data. After the inlet is closed, a fixed time is waited and the standard deviation of the sampling value is used to determine whether the waste has settled stably. During the spiral compression process, the waste is freed by reversing at a fixed angle.

[0004] The aforementioned existing technologies have the following drawbacks: a single-band calibration pulse only acquires the total attenuation and cannot distinguish the current dominant pollution type; a uniform pollution attenuation coefficient may result in overcompensation or undercompensation when compensation is performed under different pollution types, leading to a systematic residual error in the compensated waste height value; the mid-section acceleration sliding caused by the lubrication of liquid leachate in kitchen waste may temporarily reduce the standard deviation of the sampled value, forming a pseudo-steady period; the method of waiting for a fixed duration in conjunction with the standard deviation determination may easily misjudge the pseudo-steady period as the time when sedimentation is completed, causing the judgment basis for compression start to deviate from the actual waste volume; the fixed reversal angle escape method cannot adapt to the different jamming characteristics exhibited by different axial positions due to differences in the degree of leachate lubrication. Summary of the Invention

[0005] This invention provides a method for starting a spiral compression mechanism and providing an audible and visual warning, which is linked to the closing of the inlet and the detection of the amount of waste by an infrared sensor. This method solves the technical problems in related technologies, such as the decreased accuracy of infrared sensor ranging due to pollution in the waste collection environment, inaccurate determination of waste height, and lack of adaptive extrication ability when the spiral compression mechanism gets stuck.

[0006] This invention discloses a spiral compression start-up and audible and visual early warning method for detecting the amount of waste by an infrared sensor linked to the closure of the inlet, comprising the following steps: in response to the closure confirmation signal, driving the infrared sensor to emit calibration pulses to the standard reflective calibration sheet at the bottom of the hopper in the first band and the second band respectively, and obtaining the echo intensity value of the first band and the echo intensity value of the second band; Based on the echo intensity values ​​of the two bands and the corresponding factory reference intensity values, the first band attenuation coefficient and the second band attenuation coefficient are generated respectively. The ratio of the two attenuation coefficients is calculated and matched with the pre-stored pollution type discrimination interval table to determine the dominant pollution type label and the corresponding first band compensation weight and second band compensation weight. The infrared sensor is driven to perform continuous multi-frame scanning of the garbage area in the bin using a dual-band alternating sampling method. The attenuation coefficient and compensation weight are used to perform weighted fusion compensation calculation on the original distance data of each frame to generate a time sequence of compensated garbage height sampling values. The time series is segmented into multiple linear segments by linear fitting. The absolute value of the slope of the last segment is extracted as the final segment settling rate value. The final segment settling rate value is compared with the settling termination rate threshold to determine the waste settling state. When the settling is completed, the stable waste height value is output. The stable waste height value is compared with the compression start threshold. When the compression start condition is met, a compression start command is generated and the screw compression mechanism is driven to start operating. Torque sensing data is acquired in real time during the operation of the spiral compression mechanism. When the torque sensing data exceeds the jamming torque threshold, the jamming position value is read. The jamming position value is matched with the axial position partition table to obtain the corresponding escape parameters. The spiral compression mechanism is then driven to perform reverse rotation according to the escape parameters.

[0007] Furthermore, the attenuation coefficients of the first and second bands are generated based on the echo intensity values ​​of the two bands and the corresponding factory reference intensity values, respectively. The ratio of the two attenuation coefficients is calculated and matched with a pre-stored pollution type discrimination interval table to determine the dominant pollution type label and the corresponding first and second band compensation weights, including: The first band attenuation coefficient is generated by comparing the echo intensity value of the first band with the factory reference intensity value of the first band. The second band attenuation coefficient is generated by comparing the echo intensity value of the second band with the factory reference intensity value of the second band. Both the first band attenuation coefficient and the second band attenuation coefficient are dimensionless and their values ​​are greater than zero and less than or equal to one. The ratio of the attenuation coefficient of the first band to the attenuation coefficient of the second band is calculated as the attenuation coefficient ratio. The pollution type discrimination interval table stores multiple non-overlapping attenuation coefficient ratio value intervals. Each value interval corresponds to a dominant pollution type label and a set of compensation weights. The sum of the first band compensation weight and the second band compensation weight is equal to one. The attenuation coefficient ratio is matched with the multiple value intervals, and the dominant pollution type label, the first band compensation weight, and the second band compensation weight corresponding to the matched value interval are output.

[0008] Furthermore, the dominant pollution type label includes oil-dominant, water mist-dominant, and particulate-dominant types; When the attenuation coefficient ratio falls into a lower value range, corresponding to the oil-dominated type, the second band compensation weight is greater than the first band compensation weight. When the attenuation coefficient ratio falls into a higher value range, corresponding to the water mist-dominated type, the compensation weight of the first band is greater than the compensation weight of the second band. When the attenuation coefficient ratio falls within the middle range, corresponding to the particle-dominated type, the difference between the first band compensation weight and the second band compensation weight is less than a preset difference threshold.

[0009] Furthermore, an overlapping transition zone is set at the boundary of two adjacent value intervals in the pollution type discrimination interval table. When the attenuation coefficient ratio is within the overlapping transition zone, the compensation weights corresponding to the two adjacent value intervals are calculated using a linear interpolation algorithm to generate the compensation weight value of the transition region.

[0010] Furthermore, the weighted fusion compensation operation on the original distance data of each frame using the attenuation coefficient and compensation weight includes: For each frame of sampled data, the product of the first band compensation weight and the original reflection distance data of the first band divided by the attenuation coefficient of the first band is summed with the product of the second band compensation weight and the original reflection distance data of the second band divided by the attenuation coefficient of the second band to obtain the weighted fusion compensation distance value. The weighted fusion compensation distance value is subtracted from the fixed distance value between the infrared sensor installation position and the standard reflective calibration plate at the bottom of the bin to obtain the compensated garbage height sampling value of the frame.

[0011] Furthermore, during the continuous multi-frame scanning process, the infrared sensor is re-driven to emit calibration pulses to the standard reflective calibration sheet at the bottom of the warehouse in the first and second bands at each preset calibration interval frame number. The attenuation coefficients of the first and second bands are regenerated, the attenuation coefficient ratio is recalculated, and the pollution type discrimination interval table is matched to update the dominant pollution type label, the compensation weight of the first and second bands. The weighted fusion compensation operation of subsequent frames uses the updated parameters.

[0012] Furthermore, the time series sequence is segmented into multiple linear segments through linear fitting, including: The initial state of the time series is set such that two adjacent sampling points form a minimum linear segment; The pair of adjacent linear segments with the smallest fitting error increment after merging is gradually merged. The fitting error increment is defined as the difference between the sum of squared residuals obtained by re-performing least squares linear regression on all sampling points in the merged linear segment after merging two adjacent linear segments into one linear segment and the sum of squared residuals of the two linear segments before merging. Merging stops when the increment of the merging error between all adjacent linear segments exceeds the preset fitting error threshold, generating multiple linear segments arranged in chronological order. The slope of each linear segment is determined by the slope of the line obtained by performing least squares linear regression on all sampling points within that linear segment.

[0013] Furthermore, the comparison of the final settling rate value with the settling termination rate threshold to determine the waste settling state includes: When the final settling rate value is greater than the settling termination rate threshold, it is determined that the waste settling has not been completed. After adding a preset number of sampling frames, the continuous multi-frame scanning and weighted fusion compensation operation is returned to be executed. Piecewise linear fitting and final settling rate value extraction are then re-executed on the added complete time sequence. When the final settlement rate value is less than or equal to the settlement termination rate threshold, it is determined that the waste settlement has been completed, and the arithmetic mean of all sampled values ​​in the final linear segment is calculated as the stable waste height value. When the cumulative number of sampling frames reaches the preset maximum cumulative number of sampling frames, and the final settlement rate value is still greater than the settlement termination rate threshold, the average value of the final linear segment in the current time series is taken as the stable waste height value and a state marker indicating that the settlement has not fully converged is added.

[0014] Furthermore, the drive screw compression mechanism, which performs reverse rotation according to the escape parameters, also includes: During the reverse rotation process, torque sensing data is acquired synchronously. When the torque sensing data continues to decrease and falls below the preset escape confirmation torque threshold, the remaining reversal angle is terminated in advance. When the reverse rotation is completed and the torque sensing data is still not lower than the escape confirmation torque threshold, the reverse angle value is increased by a preset increment and the reverse rotation is performed again until the torque sensing data is lower than the escape confirmation torque threshold or the cumulative reverse angle value reaches the maximum allowed reverse angle limit of this zone. After the reverse rotation is completed, the forward rotation is resumed at a reduced speed lower than the preset speed. When the torque sensing data remains below the jamming torque threshold, the speed is gradually restored to the preset speed to continue the compression operation. When the torque sensing data exceeds the jamming torque threshold again during the re-forward rotation, the jamming position matching and escape operation are repeated. When the cumulative number of reversal attempts reaches the preset maximum number of retries, the spiral compression mechanism stops operating and the equipment status is locked.

[0015] This invention provides a spiral compression start-up and audible / visual early warning system that is linked to the inlet closure and an infrared sensor for detecting the amount of waste, comprising: The dual-band calibration module is used to respond to the closure confirmation signal of the hopper, drive the infrared sensor to emit calibration pulses to the standard reflective calibration sheet at the bottom of the hopper in the first band and the second band respectively, and obtain the echo intensity value of the first band and the echo intensity value of the second band. The pollution type discrimination module is used to generate the first band attenuation coefficient and the second band attenuation coefficient based on the echo intensity values ​​of the two bands and the corresponding factory reference intensity values, respectively. It calculates the ratio of the two attenuation coefficients and matches them with the pre-stored pollution type discrimination interval table to determine the dominant pollution type label and the corresponding first band compensation weight and second band compensation weight. The weighted fusion compensation module is used to drive the infrared sensor to perform continuous multi-frame scanning of the garbage area in the bin in a dual-band alternating sampling mode. The attenuation coefficient and compensation weight are used to perform weighted fusion compensation calculation on the original distance data of each frame to generate a time sequence of the compensated garbage height sampling value. The settling state determination module is used to perform piecewise linear fitting on the time series to generate multiple linear segments, extract the absolute value of the slope of the last segment as the settling rate value of the last segment, compare the settling rate value of the last segment with the settling termination rate threshold to determine the waste settling state, and output a stable waste height value when the settling is completed. The compression start determination module is used to compare the stable garbage height value with the compression start threshold. When the compression start condition is met, a compression start command is generated and the screw compression mechanism is driven to start operating. The adaptive escape module is used to acquire torque sensing data in real time during the operation of the spiral compression mechanism. When the torque sensing data exceeds the jamming torque threshold, the jamming position value is read, and the jamming position value is matched with the axial position partition table to obtain the corresponding escape parameters. The spiral compression mechanism is then driven to perform reverse rotation according to the escape parameters.

[0016] This invention uses a dual-band attenuation coefficient ratio to match a pollution type discrimination interval table, and applies differentiated compensation weights to the original distance data of the two bands for weighted fusion compensation calculation. This reduces the systematic residual error in the waste height sampling values ​​after compensation, which is caused by the inability to distinguish the dominant pollution type. By performing piecewise linear fitting on the time series of waste height sampling values ​​and determining the settlement completion status based on the final settlement rate value, this invention solves the technical problem that the pseudo-stable period caused by the acceleration and sliding in the middle section due to lubrication by liquid leachate is misjudged as the settlement completion time, making the acceptance time of the stable waste height value closer to the actual settlement completion time. By recording the axial position value when jamming occurs and matching it with an axial position partition table to obtain differentiated escape parameters, this invention solves the technical problem that a fixed reversal angle cannot adapt to the jamming characteristics of different axial positions, making the reversal operation match the actual jamming requirements of the current position. Attached Figure Description

[0017] Figure 1 This is a flowchart of the spiral compression start-up and audible and visual early warning method for detecting the amount of waste by the infrared sensor linked to the closing of the inlet, provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the time sequence (20 frames) of the compensated garbage height sampling values ​​provided in an embodiment of the present invention; Figure 3 This is a schematic diagram showing the comparison of the slopes of three segments in the piecewise linear fitting results provided in this embodiment of the invention. Figure 4 This is a schematic diagram comparing the dual-band attenuation coefficient and compensation weight provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the pollution type discrimination interval and Rp value distribution provided in the embodiments of the present invention; Figure 6 This is a schematic diagram of the change in torque sensing data during the spiral compression process provided in an embodiment of the present invention; Figure 7 This is a schematic diagram comparing the axial position partitioning and escape parameters provided in the embodiments of the present invention; Figure 8 This is a schematic diagram of piecewise linear fitting of garbage height provided in an embodiment of the present invention: data of each frame and segment boundaries; Figure 9 This is a schematic diagram showing the height of waste inside the storage compartment before and after compression, provided by an embodiment of the present invention. Detailed Implementation Example

[0018] This embodiment discloses a method for starting a spiral compression system and providing an audible and visual early warning system based on an infrared sensor that detects the amount of waste when the inlet is closed. Figure 1 As shown, it includes the following steps: Step 1: Obtain the port closure confirmation signal and drive the infrared sensor to perform dual-band calibration pulse transmission to obtain the echo intensity values ​​of the two bands; The system acquires the closure confirmation signal output by the closure sensor, and in response to this signal, drives the infrared sensor to transmit calibration pulses to the standard reflective calibration plate at the bottom of the silo in the first and second wavebands respectively. It then receives the echo signals returned by the standard reflective calibration plate for the two calibration pulses and acquires the echo intensity value of the first waveband. Second band echo intensity value .

[0019] It should be noted that the first and second bands mentioned above are two near-infrared bands with different center wavelengths. These refer to the two operating bands of the infrared sensor. The selection of these two bands is based on the distinguishable differences in the attenuation characteristics of different types of pollution to these two bands. For example, the center wavelength of the first band is near the absorption peak of grease films, while the center wavelength of the second band is in the sensitive region of water mist condensation and scattering. This results in the two bands exhibiting differentiated attenuation responses to different types of pollution.

[0020] A community food waste collection station deployed a spiral compression intelligent waste collection device, serial number DEV-C07, with a bin volume of 240 liters. An infrared sensor was installed on the top of the bin, with a fixed distance H0 of 850 mm from the sensor to the standard reflective calibration plate at the bottom of the bin. On August 14, 20XX, at 12:47:23, a user closed the bin after disposing of food waste, and the closure sensor output a closure confirmation signal. Because the device had been in a food waste collection environment for an extended period, it had received multiple batches of food waste containing soup and grease during the lunch rush that day, resulting in mixed contamination on the sensor surface. In response to the closure confirmation signal, the control processor drove the infrared sensor to emit calibration pulses in two bands: a first band (center wavelength 940 nm, near the absorption peak of the grease film) and a second band (center wavelength 850 nm, in the water mist condensation scattering sensitive area) towards the standard reflective calibration plate at the bottom of the bin, acquiring the echo intensity values ​​for both bands.

[0021] Table 1. Results of Dual-Band Calibration Pulse Echo Intensity Acquisition

[0022] Step 2: Based on the echo intensity values ​​of the two bands and the factory reference intensity values, generate the attenuation coefficients for each band, calculate the attenuation coefficient ratio and match it with the pollution type discrimination interval table, and output the dominant pollution type label and the corresponding compensation weight. The echo intensity value of the first band Compared with the factory reference strength value of the first band Perform ratio calculations to generate the attenuation coefficient for the first band. The second band echo intensity value Compared with the factory reference strength value of the second band Perform ratio calculations to generate the attenuation coefficient for the second band. The calculation formula is as follows: in, and These are the reference intensity values ​​for the first and second bands, calibrated under pollution-free conditions when the sensor leaves the factory, and are pre-stored in the control processor. and Both are ratios of echo intensity values ​​to reference intensity values ​​within the same waveband, with the same dimensions. The ratios are dimensionless and range from [value range missing]. The smaller the value, the greater the attenuation of the corresponding band.

[0023] Calculate the ratio of the attenuation coefficients of the two bands. : because and All are dimensionless numbers. Both are dimensionless numbers. Match the data with a pre-stored pollution type discrimination interval table to determine the current dominant pollution type label. and the corresponding first-band compensation weight Second band compensation weight The pollution type discrimination interval table stores multiple non-overlapping intervals. The value ranges, each corresponding to a dominant pollution type label and a set of compensation weights, are as follows: .

[0024] It should be noted that the dominant pollution type labels included in the above pollution type discrimination interval table include at least three types: oil-dominated, water mist-dominated, and particulate-dominated. When When the value falls into the lower range, it indicates that the attenuation of the first band is relatively more severe, corresponding to oil-dominated pollution. In this case, the measurement data of the second band is more reliable. Greater than ;when When the value falls within a higher range, it indicates that the attenuation of the second band is relatively more severe, corresponding to water mist-dominated pollution. In this case, the measurement data of the first band is more reliable. Greater than ;when When the value falls within the middle range, it corresponds to particulate-dominated pollution, and the two bands are affected to approximately the same degree. and The values ​​are close.

[0025] Furthermore, in order to To avoid frequent switching of the dominant pollution type label due to minor fluctuations when the label falls precisely near the boundary of two adjacent intervals, an overlapping transition zone is set at the boundary of the adjacent intervals. When located within the overlapping transition zone, a linear interpolation algorithm is used to calculate the compensation weights corresponding to two adjacent value intervals to generate the compensation weight values ​​for the transition region, thereby making the compensation weights follow the transition. The changes exhibit continuous transition characteristics.

[0026] Based on the data in Table 1, calculate the attenuation coefficients for the two bands:

[0027] Calculate the attenuation coefficient ratio: Rp=0.8076 falls into the interval [0.60,0.85] corresponding to the oil-dominated type in the pollution type discrimination interval table, indicating that the first band (940 nm, near the oil absorption peak) is more severely affected by the oil film attenuation, and the current dominant pollution type is oil-dominated. The data of the second band is more reliable, so the compensation weight w2 of the second band is greater than the compensation weight w1 of the first band.

[0028] Table 2. Matching Results of Pollution Type Discrimination Interval Table

[0029] Step 3: Drive the infrared sensor to perform continuous multi-frame scanning of the garbage area in the bin using a dual-band alternating sampling method. Use the attenuation coefficient and compensation weight to perform weighted fusion compensation calculation on the original distance data of each frame to generate a time sequence of compensated garbage height sampling values. The infrared sensor is driven to continuously sample the waste area inside the bin at preset intervals, alternating between the first and second wavebands. Frame scanning sampling is used to acquire the raw reflection distance data of the first band and the raw reflection distance data of the second band for each frame. Among these... This is the initially set number of sampling frames. For the... Frame sampling data ( ),in The frame number is determined using the attenuation coefficient of the first band. Second band attenuation coefficient First-band compensation weight Second band compensation weight Perform weighted fusion compensation calculation to generate the first... Garbage height sampled value after frame compensation The calculation formula is as follows:

[0030] in, The known fixed distance from the infrared sensor installation location to the standard reflective calibration plate at the bottom of the warehouse is expressed in units of length. For the first The original reflection distance data of the first band of the frame, For the first The original reflection distance data of the second band of the frame, both in units of and same; and The dimensionless attenuation coefficient is and These are distance data after attenuation coefficient compensation for the corresponding band, in units of and . same; and For dimensionless compensation weights, the dimensions of the weighted summation result within parentheses are the same as those of the original weights. Consistent, the units of measurement in the overall formula are unified as length units.

[0031] right The above operations are performed sequentially on the frame sampled data to generate a time sequence of compensated garbage height sampled values. ,in This is the garbage height sample value after compensation in the first frame. This is the garbage height sample value after compensation in the second frame. For the first Garbage height sampled value after frame compensation.

[0032] It should be noted that the preset sampling interval mentioned above is the time interval between two adjacent frame samples. The preset sampling interval must be set to meet the time requirement for the infrared sensor to complete one transmission and reception cycle for the first and second bands between two adjacent frames.

[0033] Furthermore, in order to track the real-time changes in the contamination state of the sensor surface during multi-frame sampling, a preset number of frames is used at each interval. ( Repeat steps 1 and 2 of the dual-band calibration pulse emission and contamination type determination process to update the first-band attenuation coefficient. Second band attenuation coefficient and the first-band compensation weight Second-band compensation weight The weighted fusion compensation calculation for subsequent frames uses the updated parameters. This processing method allows the compensation parameters to be adjusted according to changes in the contamination state of the sensor surface, even when the sampling duration is long.

[0034] Control processor sets the initial sampling frame number The preset sampling interval is 500 milliseconds. The parameters determined in step 2 are used. , , , , (millimeters) weighted fusion compensation calculations are performed on each frame of data. Taking the 3rd frame as an example, millimeters millimeters, then:

[0035]

[0036] The food waste contained a large amount of soup, and there was a significant amount of liquid leachate between the waste layers. The settling process exhibited a nonlinear characteristic: initial slow compaction, accelerated sliding in the middle section due to leachate lubrication, and subsequent deceleration and stabilization. The time-series sequence of the compensated waste height sampling values ​​generated after 20 frames of sampling is shown in the table below.

[0037] Table 3. Time sequence of garbage height sampling values ​​after compensation (initial 20 frames)

[0038] Step 4: Perform piecewise linear fitting on the time series of the compensated waste height sampling values, determine the waste settling state based on the final settling rate value, and output a stable waste height value; Time series of compensated garbage height sampling values Piecewise linear fitting is performed, dividing the time series of compensated garbage height sampling values ​​into multiple linear segments, and calculating the absolute value of the slope of each linear segment. The specific steps are as follows: Step 401: Time series of the compensated garbage height sampling values Piecewise linear fitting is performed. Initially, two adjacent sampling points form a minimum linear segment. The pair of adjacent linear segments with the smallest increment of fitting error after merging is gradually merged until the increment of the merged error between all adjacent linear segments exceeds a preset fitting error threshold. This process stops when merging stops, generating a set of multiple linear segments arranged in chronological order. ,in This is the first linear segment. This is the second linear segment. For the first A linear segment, The total number of linear segments, and each linear segment Corresponding to a slope value ,in is the linear segment number. Where, linear segment... slope value From the linear segment The slope of the straight line obtained by performing least-squares linear regression on all sampling points within the range is determined, i.e., for the linear segment... The set of sampling points within ( For the first Sampling time of each sampling point This corresponds to the compensated garbage height sampling value. linear segment (Sampling point number within), fitted to a straight line using the least squares method. The slope obtained is , The corresponding intercept is given. The fitting error increment after merging adjacent linear segments is defined as the difference between the sum of squared residuals obtained by re-performing least squares linear regression on all sampling points within the merged linear segment after merging two adjacent linear segments into one, and the sum of the sums of squared residuals of the two linear segments before merging.

[0039] Furthermore, the solution process for the above least squares linear regression is as follows: For the linear segment Communist Party of China sampling points ,in linear segment Total number of sampling points within, slope and intercept Determined by the following formula:

[0040]

[0041] in, For the first Sampling time of each sampling point This corresponds to the compensated garbage height sampling value. linear segment The sampling point number within, and each summation symbol. Both indicate that the first to the second elements within the linear segment are... Sum of each sampling point, The upper bound for the summation. The unit is length units divided by time units. The unit is a unit of length, and The units are consistent.

[0042] Step 402: Extract the last linear segment absolute value of slope As the final settlement rate value.

[0043] Step 403: Settlement rate value of the final section With the preset settlement termination rate threshold Comparison, among which Units and The units are consistent, which is the length unit divided by the time unit. When If the garbage settling is not yet complete, add a preset number of sampling frames, return to step 3 to continue sampling, and re-execute steps 401 to 402 on the time sequence of the added, fully compensated garbage height sampling values. At that point, it was determined that the waste settling was complete, and the calculation of the last linear segment was performed. The arithmetic mean of all sampled values ​​is used as the stable garbage height value. .

[0044] It should be noted that during the process of re-performing the piecewise fitting after adding a preset number of sampling frames, the number of additional sampling frames can be set to the initial number of sampling frames. The preset ratio value can also be set to a fixed number of frames. After each additional sampling, the additional frame data is merged with the previously collected frame data to form a complete time series of compensated garbage height sampling values ​​for segmented fitting, rather than fitting only the additional frame data separately.

[0045] Furthermore, to prevent the sampling process from continuing indefinitely due to the waste settling process failing to meet the termination conditions, a maximum cumulative sampling frame limit is set. When the cumulative number of sampled frames reaches The final settlement rate is still greater than the settlement termination rate threshold. At that time, the mean of the last linear segment in the time series of the current compensated garbage height sampling values ​​is taken as the stable garbage height value. An additional status marker indicating incomplete settlement is added, which is used to indicate the equipment's operating status in subsequent steps.

[0046] Piecewise linear fitting was performed on the time series of the 20 compensated garbage height sampling values ​​in Table 3, with a preset fitting error threshold of 8.0 square millimeters and a settling termination rate threshold. mm / s. Piecewise linear fitting divides the sequence into three linear segments: the first segment (frames 1 to 10) corresponds to the rapid settling and mid-stage acceleration sliding phase caused by the seepage of soup after the garbage is put in, with a relatively large absolute value of the slope; the second segment (frames 10 to 13) corresponds to the brief deceleration transition phase after the sliding ends; the third segment (frames 13 to 20) corresponds to the near-stable final settling phase.

[0047] Taking the final linear segment S3 (frames 13 to 20, a total of 8 sampling points) as an example, the slope calculation process is explained. The sampling times are substituted with frame numbers (ti represents frame numbers 13 to 20), and hi represents the corresponding height values ​​(252.7 to 254.0 mm). Using the least squares formula, the slope is calculated to be approximately 0.19 mm / frame. Converted to time units (sampling interval 0.5 seconds / frame), this represents the final segment settlement rate. mm / s.

[0048] The final settlement rate value millimeters per second and mm / s comparison The garbage settlement is determined to be complete. The arithmetic mean of the height values ​​of all 8 frames (frames 13 to 20) in the final segment S3 is calculated as the stable garbage height value:

[0049] Table 4 Summary of Piecewise Linear Fitting Results

[0050] Step 5: Compare the stable garbage height value with the compression start threshold, and generate a compression start command or restore standby state; Stabilize the height of the garbage Compared with the preset compression start threshold Comparison, among which and All units are units of length. When If the amount of waste in the bin does not meet the conditions for starting compression, the processor will return to standby mode, waiting for the next inlet closure confirmation signal to trigger. When the amount of waste in the bin reaches the compression start condition, a compression start command is generated.

[0051] Device DEV-C07 preset compression start threshold Millimeters. This will stabilize the height of the garbage. millimeters and Comparing millimeters, The system determines that the amount of waste in the bin has reached the conditions for starting compression and controls the processor to generate a compression start command.

[0052] Step 6: In response to the compression start command, trigger the audible and visual prompts and drive the screw compression mechanism to start operation, while simultaneously activating the axial position encoder to record the current axial position value; In response to the compression start command, a yellow indicator light flashes and a compression start voice prompt plays, driving the screw compression mechanism to start forward operation at a preset speed. Simultaneously, the screw axial position encoder is activated to record the current axial position value of the screw compression mechanism in real time. ,in This indicates the amount of axial displacement of the screw compression mechanism during the compression stroke.

[0053] It should be noted that the aforementioned helical axial position encoder is a rotary encoder mounted on the drive shaft of the helical compression mechanism. The axial displacement is calculated by multiplying the cumulative number of rotations by the screw pitch. Before starting the helical compression mechanism, the current position is set as the axial position zero point.

[0054] At 12:47:38 on August 14, 20XX, the control processor responded to the compression start command, the yellow indicator light on the DEV-C07 device began to flash, and the speaker played a voice prompt: "Garbage compression started, please do not approach the inlet." The screw compression mechanism started rotating forward at a preset speed of 45 rpm, with a screw pitch of 18 mm / revolution. The screw axial position encoder accumulated axial displacement starting from the current position as zero point and output the axial position value pcur in real time.

[0055] Step 7: Acquire torque sensor data in real time during operation. When jamming is detected, read the jamming position value, match the axial position partition table to obtain the corresponding escape parameters, and drive the spiral compression mechanism to perform reverse rotation. During the forward operation of the screw compression mechanism, the torque sensing data output by the torque sensor is acquired in real time. When torque sensor data When the preset jamming torque threshold is exceeded, the forward operation of the screw compression mechanism is immediately stopped, and the current axial position value is read. As the jamming position value ,in and All units are torque units.

[0056] The jamming position value Match the data with the pre-stored axial position partition table to determine the partition label where the jamming position is located. The axial position partitioning table divides the entire axial range of the helical compression mechanism into multiple consecutive partitions, each corresponding to a partition label. Based on the partition label, the escape parameter configuration table is queried to obtain the corresponding reversal angle value. and reverse speed value The drive screw compression mechanism is reversed at the specified angle. and reverse speed value Perform a reverse rotation.

[0057] It should be noted that the division of each continuous zone in the above axial position zoning table is based on the stress characteristics of the waste and the distribution characteristics of leachate in different axial position segments. In the continuous zones near the bottom of the bin, the waste is affected by the combined effects of the gravity of the waste above and the accumulation of leachate, resulting in a higher degree of leachate lubrication. Jamming is usually caused by large, hard foreign objects, and the corresponding reversal angle value is larger. In the continuous zones near the bin opening, the waste layer is thinner and the leachate content is lower. Jamming is usually caused by dense waste accumulation, and the corresponding reversal angle value is smaller. The reversal angle and reversal speed values ​​corresponding to each continuous zone in the escape parameter configuration table are parameter values ​​that have been pre-calibrated and determined based on the equipment structural parameters and waste type characteristics.

[0058] Furthermore, to further confirm whether the reverse rotation effectively released the jam during the escape process, torque sensing data is acquired simultaneously during the reverse rotation. When the torque sensing data continuously decreases and falls below the preset escape confirmation torque threshold during the reverse rotation, the escape operation is deemed effective, the remaining reversal angle is terminated early, and the recovery process in step 8 begins. When the reverse rotation reaches the reversal angle value... If the torque sensor data is still not lower than the escape confirmation torque threshold when the operation is completed, it is determined that the escape operation under the current parameters has not fully released the jam. The reverse angle value is increased by a preset increment and the reverse rotation is performed again until the torque sensor data is lower than the escape confirmation torque threshold or the cumulative reverse angle value reaches the maximum allowed reverse angle limit of the continuous zone.

[0059] After the screw compression mechanism has been running in the forward direction for about 23 seconds, when the axial displacement has accumulated to pcur = 187 mm, the torque sensor detects it. N·m, exceeding the preset locking torque threshold N·m, the control processor immediately stops forward operation and reads the card position value pc=187 mm.

[0060] The DEV-C07 screw compressor has a total stroke of 300 mm. The axial position zoning table divides the entire stroke into three continuous zones: bottom zone (0–120 mm), middle zone (120–220 mm), and top zone (220–300 mm). When pc=187 mm, the compressor falls into the middle zone, and the zone label Zc is "Middle Zone". The reverse angle value corresponding to the middle zone is obtained by consulting the escape parameter configuration table. Reverse speed value The control processor drives the spiral compression mechanism to perform a 135° reverse rotation at 22 revolutions per minute. When the reverse rotation has been performed to approximately 90°, the torque sensor data continues to drop to 18.3 N·m, which is below the escape confirmation torque threshold of 25.0 N·m. Therefore, the escape operation is deemed effective, and the remaining reverse angle is terminated prematurely.

[0061] Table 5 Axial position partitioning and escape parameter configuration

[0062] Step 8: After the reversal is completed, the machine will start running forward again at a reduced speed. The recovery status will be determined based on the torque sensor data. Then, the compression completion process or the equipment locking process will be executed. After the reverse rotation is completed, the drive screw compression mechanism restarts in the forward direction at a reduced speed lower than the preset speed, and continuously acquires torque sensing data. The torque sensing data remains below the jamming torque threshold during the restart process. Upon determining that the obstruction has been cleared, the rotation speed is gradually restored to the preset speed to continue the compression operation until the screw compression mechanism reaches the end of the compression stroke or the waste in the bin is compressed to the preset compression completion height. After compression is completed, a green indicator light is triggered to remain on and a compression completion voice prompt is played, then the screw compression mechanism is reset to its initial position.

[0063] When the torque sensor data exceeds the jamming torque threshold again during the restart process... Then, repeat the jamming position matching and freeing operation in step 7. When the cumulative number of reversal attempts reaches the preset maximum number of retries... When it is determined that the current obstruction cannot be eliminated by automatic freeing, the spiral compression mechanism stops operating, triggers the red indicator light to stay on and plays a device lock voice alarm, and sets the device status to the locked state.

[0064] It should be noted that the above maximum number of retries This is a preset maximum number of cumulative reversal attempts to prevent damage to the mechanism caused by repeated attempts to escape when the device is severely jammed and cannot be automatically cleared. When the device is in a locked state, it will refuse to respond to port opening requests and compression start commands. Maintenance personnel must manually remove the jam and reset the device to unlock it.

[0065] After freeing itself from the obstacle, the control processor drives the spiral compression mechanism to reduce its speed by 30 rpm and restart in the forward direction. After restarting, the torque sensor data stabilizes between 21.4 N·m and 26.8 N·m, consistently below the jamming torque threshold. The resistance level was measured at N·m, indicating that the jamming had been cleared. The control processor gradually restored the rotation speed to the preset 45 rpm and continued the compression operation. After the screw compression mechanism reached the end of the compression stroke (axial displacement of 300 mm), the waste in the bin was compressed to the preset compression completion height of 142 mm. At 12:48:51 on August 14, 20XX, the compression operation was completed. The green indicator light on the DEV-C07 device remained on, and the speaker played a voice prompt saying "Compression complete, welcome to use." The screw compression mechanism reset to the axial zero point, and the control processor returned to standby mode, waiting for the next inlet closure confirmation signal to trigger. The total number of reversal attempts in this complete process was 1, far below the preset maximum number of retry attempts. The device failed to enter the locked state.

[0066] Example 2 Existing intelligent waste compression equipment has the following problems in operation control: First, the screw compression mechanism may still be triggered even when the inlet is not completely closed, posing a safety hazard to users; Second, the equipment cannot sense whether the amount of waste in the temporary compartment has reached the minimum required for effective compression, resulting in ineffective operation even when the amount of waste is insufficient; Third, the compression mechanism lacks intelligent shutdown judgment capability, failing to terminate operation in time when the temporary compartment is emptied in advance, and also lacks a backup guarantee against indefinite operation; Fourth, the equipment lacks proactive status notification to users during compression operation, making it impossible for users to perceive the current operating status of the equipment in a timely manner.

[0067] To address the aforementioned issues, this embodiment provides a method for starting a spiral compression system and providing audible and visual warnings, linked to the detection of waste volume when the discharge port is closed. This embodiment operates on an intelligent waste compression device, whose hardware components include: a controller, a discharge port switch sensor, an infrared sensor, a spiral compression mechanism, a voice broadcast module, an indicator light assembly (including yellow and green indicator lights), a temporary compartment, and a main compartment. The controller receives status signals from each sensor, performs logical judgments, and issues control commands. The discharge port switch sensor is installed at the discharge port frame to detect the opening and closing status of the discharge port. The infrared sensor is installed on the upper part of the temporary compartment, facing the interior space, to detect the filling status of the waste inside. The spiral compression mechanism is located between the temporary compartment and the main compartment, compressing and transferring the waste in the temporary compartment to the main compartment via a spiral propulsion method. The voice broadcast module and the indicator light assembly together constitute an audible and visual warning system, installed in a user-visible location on the device's outer casing.

[0068] The steps in this embodiment are as follows: Step 1: Based on the input port switch sensor signal, determine the input port closed state and generate a compression start enable flag. The controller continuously reads the output signal of the slot switch sensor at a fixed polling cycle. When the slot door is fully closed, the slot switch sensor sends a high-level slot-in signal to the controller; when the slot is open or not fully closed, the sensor outputs a low-level signal. The controller performs debouncing processing on the received slot-in signal. After confirming that the signal is stable for at least 50 milliseconds, it determines that the slot is fully closed and sets the internal compression start enable flag to the valid state; if the signal is low, the compression start enable flag is kept in the invalid state, and the controller does not issue any start command to the screw compression mechanism.

[0069] It should be noted that the aforementioned gate switch sensor refers to a sensing element installed at the gate frame to detect the gate's closed state. It can be a contact sensing element such as a magnetic proximity switch or a micro switch. The aforementioned debouncing process means that after receiving a jump in the sensor signal, the controller does not immediately update the judgment result. Instead, it confirms the state change only after the signal remains stable for a preset threshold. This filters out brief level fluctuations caused by gate vibration or signal interference, avoiding misjudgments.

[0070] Step 2: Based on the data detected by the infrared sensor, determine the amount of waste filling in the temporary compartment and generate a waste quantity threshold. When the compression start enable flag is active, the controller sends an activation command to the infrared sensor, which scans the interior of the temporary compartment. The infrared sensor continuously emits a specific wavelength of infrared light into the compartment, while the receiver receives the infrared signals reflected from the surfaces of objects inside the compartment in real time. The controller compares the real-time detection data from the infrared sensor with the compression trigger threshold pre-stored in non-volatile memory: if the detection result shows that the amount of waste filling has reached or exceeded the compression trigger threshold, the waste quantity compliance flag is set to active; if the waste quantity has not reached the compression trigger threshold, the waste quantity compliance flag remains inactive, and the system returns to standby mode, waiting for the next inlet closure signal to trigger a new round of detection and judgment.

[0071] It should be noted that the aforementioned compression trigger threshold refers to a pre-calibrated benchmark value for determining the amount of waste filling based on the volume specifications of the temporary compartment and the working characteristics of the screw compression mechanism. This value is stored as a parameter in the controller's non-volatile memory and can be adjusted via a host computer or device management port. The detection logic of the aforementioned infrared sensor is as follows: When the amount of waste filling in the temporary compartment is small and the space inside is relatively open, the infrared beam has a long propagation path inside the compartment, and the intensity of the reflected signal received by the receiver is weak or the reflection distance is far. Based on this, the controller determines that the amount of waste filling has not reached the compression trigger threshold. When the amount of waste filling in the temporary compartment increases to a certain extent, the height of the waste accumulation increases, and the infrared beam is blocked by the surface of the waste within a short distance, generating a strong reflected signal. The receiver receives the reflected signal earlier and the signal strength increases. Based on this, the controller determines that the amount of waste filling has reached the compression trigger threshold.

[0072] Step 3: Based on the compression start enable flag and the waste volume threshold flag, send a start command to the screw compressor mechanism and simultaneously activate the audible and visual warning system. When the controller confirms that both the compression start enable flag and the waste volume threshold flag are active, it sends a start command to the drive unit of the screw compression mechanism. The drive motor of the screw compression mechanism is then energized, and the screw blades begin to rotate, pushing and compressing the waste in the temporary compartment towards the main compartment. Simultaneously, the controller sends a compression start signal to the audible and visual warning system. The voice broadcast module begins to loop safety reminders, the yellow indicator light flashes continuously at a fixed frequency, and the green indicator light goes out. The timing deviation between the aforementioned audible and visual warning activation action and the start command does not exceed 100 milliseconds.

[0073] It should be noted that the safety prompt repeatedly broadcast by the aforementioned voice broadcast module is "The device is compressing, please keep away from the input port." This prompt automatically repeats after each broadcast, and the volume is set to a sound pressure level that is clearly audible within a 3-meter radius of the device. The aforementioned yellow indicator light flashes at a frequency of 1Hz, alternating between being on for 0.5 seconds and off for 0.5 seconds, providing a clear visual signal to the user that the device is currently in compression operation.

[0074] In this embodiment, to provide users with multi-dimensional status awareness information during compressed operation, the audio-visual warning system adopts a dual-dimensional prompting method combining a voice broadcast module and an indicator light component. The voice broadcast module is responsible for conveying safety warning information in the auditory dimension, while the indicator light component is responsible for conveying device operating status information in the visual dimension. Both are activated in strict synchronization in time sequence, jointly covering the user's status acquisition needs under different perception conditions.

[0075] Step 4: Based on the empty chamber detection result and the compression timer status, perform a two-condition shutdown judgment and send a shutdown command to the screw compression mechanism. After the spiral compression mechanism starts, the controller synchronously starts the compression timer to begin timing the compression run. During the operation of the compression mechanism, the infrared sensor continuously monitors the internal space of the temporary chamber in real time, with a detection cycle of no more than 100 milliseconds. The controller executes the shutdown decision based on the following dual-condition shutdown logic: Step 401: Early shutdown determination triggered by empty compartment. During the compression operation, the controller continuously reads the detection data from the infrared sensor to determine whether the temporary compartment has been emptied. When the infrared sensor detects that the waste in the temporary compartment has been completely compressed and transferred to the main compartment, the infrared beam propagation path is unobstructed, and the characteristics of the reflected signal at the receiving end match the empty compartment status baseline, the controller determines that the temporary compartment has been emptied after continuously confirming that the stable duration of the empty compartment detection signal is not less than 200 milliseconds. It then immediately issues a shutdown command to the screw compression mechanism drive unit, the screw compression mechanism terminates operation early, and the compression timer is simultaneously reset to zero.

[0076] Step 402, Timed Stop Judgment. If the compression timer reaches the preset compression duration... If the infrared sensor still does not detect an empty chamber, the controller, based on the compression timer's expiration signal, sends a stop command to the screw compression mechanism drive unit, and the screw compression mechanism ceases operation. The preset compression duration, in seconds, can be adjusted within the range of 10 to 15 seconds according to the device specifications and model. The specific value is stored in the controller configuration register.

[0077] Steps 401 and 402 above complement each other, with step 401 taking precedence and step 402 serving as a fallback. After the shutdown command is executed, the controller resets both the compression start enable flag and the garbage volume target flag to an invalid state, clears the compression timer, and the system returns to standby mode.

[0078] It should be noted that the above-mentioned empty compartment status benchmark value refers to the characteristic reference quantity of the reflected signal collected by the infrared sensor receiver when the temporary compartment is in an empty state. It is obtained by calibration under the condition of an empty temporary compartment before the equipment leaves the factory and stored in the controller's non-volatile memory in the form of parameters. It is used to compare with real-time detection data during compression operation to determine whether the temporary compartment has returned to an empty state.

[0079] In this embodiment, to prevent the compression mechanism from running indefinitely due to abnormal empty chamber detection or special waste conditions, a timed fallback mechanism is introduced in step 402 based on step 401. The timed fallback mechanism uses the expiration of the compression timer as the trigger condition for forced shutdown, giving the compression running time a predictable upper limit, thereby protecting the spiral compression mechanism from overload damage and ensuring the predictability of the overall equipment operation.

[0080] Step 5: Based on the shutdown command, trigger the audible and visual warning system to switch execution states and generate a compression completion notification. Simultaneously with issuing a stop command to the screw compression mechanism, the controller sends a compression completion signal to the audible and visual warning system, triggering a state switch for the system. The voice broadcast module stops looping the safety prompts during compression and switches to broadcasting "Compression complete, ready for normal delivery." This prompt is broadcast only once and then stops, without looping. The yellow indicator light then turns off, and the green indicator light returns to its constant on state. The timing deviation between the aforementioned audible and visual switching action and the stop command does not exceed 100 milliseconds.

[0081] It should be noted that the green indicator light returning to a constant state refers to the indicator light display when the equipment returns to normal standby mode. This clearly distinguishes it from the flashing yellow indicator light during compression operation, allowing users to intuitively judge the current operating stage of the equipment through changes in light color and flashing status.

[0082] Technical effects of this embodiment: This embodiment introduces an interlocking determination mechanism for the port closure state before compression starts, ensuring that the controller only allows subsequent processes to proceed when the compression start enable flag is in a valid state. This eliminates the possibility of the spiral compression mechanism being triggered to start when the port is not fully closed, thus avoiding the safety risk of harm to the user.

[0083] By introducing an infrared sensor to detect and determine the amount of waste filling in the temporary compartment after the inlet is closed and confirmed, the controller only issues a compression start command when the waste amount reaches the standard and the flag is in a valid state. This eliminates the condition of triggering invalid compression action when the waste filling amount is insufficient, and reduces the number of invalid operations of the equipment.

[0084] By employing a dual-condition shutdown logic that combines early shutdown triggered by an empty compartment with a timed fallback shutdown, the controller can promptly terminate the operation of the screw compressor mechanism when the temporary compartment is emptied in advance, while simultaneously maintaining the preset compression duration. As a limit guarantee for forced shutdown, the compression runtime will not exceed the expected range under any circumstances, thus balancing the timeliness and reliability of compression control.

[0085] By synchronously triggering the state switching of the audible and visual warning system at the timing nodes of compression start-up and shutdown, the voice broadcast module and indicator light components convey the current operating status of the device to the user in both auditory and visual dimensions. This allows the user to obtain timely safety warning information during compression operation and to know in a timely manner that the device has returned to a ready-to-deploy state after compression is completed, thus providing the user with status perception information covering the entire compression process.

[0086] The embodiments of the present invention have been described above. However, the embodiments are not limited to the specific implementation methods described above. The specific implementation methods described above are merely illustrative and not restrictive. Those skilled in the art can make more equivalent embodiments under the guidance of the present embodiments, and all of them are within the protection scope of the present embodiments.

Claims

1. A method for starting a spiral compression system and providing audible and visual early warning based on an infrared sensor detecting the amount of waste when the inlet is closed, characterized in that: Includes the following steps: In response to the closure confirmation signal of the hopper, the infrared sensor is driven to emit calibration pulses to the standard reflective calibration sheet at the bottom of the hopper in the first band and the second band respectively, and the echo intensity values ​​of the first band and the second band are obtained. Based on the echo intensity values ​​of the two bands and the corresponding factory reference intensity values, the first band attenuation coefficient and the second band attenuation coefficient are generated respectively. The ratio of the two attenuation coefficients is calculated and matched with the pre-stored pollution type discrimination interval table to determine the dominant pollution type label and the corresponding first band compensation weight and second band compensation weight. The infrared sensor is driven to perform continuous multi-frame scanning of the garbage area in the bin using a dual-band alternating sampling method. The attenuation coefficient and compensation weight are used to perform weighted fusion compensation calculation on the original distance data of each frame to generate a time sequence of compensated garbage height sampling values. The time series is segmented into multiple linear segments by linear fitting. The absolute value of the slope of the last segment is extracted as the final segment settling rate value. The final segment settling rate value is compared with the settling termination rate threshold to determine the waste settling state. When the settling is completed, the stable waste height value is output. The stable waste height value is compared with the compression start threshold. When the compression start condition is met, a compression start command is generated and the screw compression mechanism is driven to start operating. Torque sensing data is acquired in real time during the operation of the spiral compression mechanism. When the torque sensing data exceeds the jamming torque threshold, the jamming position value is read. The jamming position value is matched with the axial position partition table to obtain the corresponding escape parameters. The spiral compression mechanism is then driven to perform reverse rotation according to the escape parameters.

2. The spiral compression start-up and audible / visual early warning method based on the infrared sensor detecting the amount of waste when the inlet is closed, as described in claim 1, is characterized in that... The attenuation coefficients for the first and second bands are generated based on the echo intensity values ​​of the two bands and the corresponding factory reference intensity values, respectively. The ratio of the two attenuation coefficients is calculated and matched with a pre-stored pollution type discrimination interval table to determine the dominant pollution type label and the corresponding first and second band compensation weights, including: The first band attenuation coefficient is generated by comparing the echo intensity value of the first band with the factory reference intensity value of the first band. The second band attenuation coefficient is generated by comparing the echo intensity value of the second band with the factory reference intensity value of the second band. Both the first band attenuation coefficient and the second band attenuation coefficient are dimensionless and their values ​​are greater than zero and less than or equal to one. The ratio of the attenuation coefficient of the first band to the attenuation coefficient of the second band is calculated as the attenuation coefficient ratio. The pollution type discrimination interval table stores multiple non-overlapping attenuation coefficient ratio value intervals. Each value interval corresponds to a dominant pollution type label and a set of compensation weights. The sum of the first band compensation weight and the second band compensation weight is equal to one. The attenuation coefficient ratio is matched with the multiple value intervals, and the dominant pollution type label, the first band compensation weight, and the second band compensation weight corresponding to the matched value interval are output.

3. The spiral compression start-up and audible / visual early warning method based on the infrared sensor detecting the amount of waste when the inlet is closed, as described in claim 2, is characterized in that... The dominant pollution type labels include oil-dominant, water mist-dominant, and particulate-dominant. When the attenuation coefficient ratio falls into a lower value range, corresponding to the oil-dominated type, the second band compensation weight is greater than the first band compensation weight. When the attenuation coefficient ratio falls into a higher value range, corresponding to the water mist-dominated type, the compensation weight of the first band is greater than the compensation weight of the second band. When the attenuation coefficient ratio falls within the middle range, corresponding to the particle-dominated type, the difference between the first band compensation weight and the second band compensation weight is less than a preset difference threshold.

4. The spiral compression start-up and audible / visual early warning method based on the infrared sensor detecting the amount of waste when the inlet is closed, as described in claim 2, is characterized in that... An overlapping transition zone is set at the boundary of two adjacent value intervals in the pollution type discrimination interval table. When the attenuation coefficient ratio is located within the overlapping transition zone, the compensation weights corresponding to the two adjacent value intervals are calculated using a linear interpolation algorithm to generate the compensation weight value of the transition region.

5. The spiral compression start-up and audible / visual early warning method based on the infrared sensor detecting the amount of waste when the inlet is closed, as described in claim 1, is characterized in that... The weighted fusion compensation operation on the original distance data of each frame using the attenuation coefficient and compensation weight includes: For each frame of sampled data, the product of the first band compensation weight and the original reflection distance data of the first band divided by the attenuation coefficient of the first band is summed with the product of the second band compensation weight and the original reflection distance data of the second band divided by the attenuation coefficient of the second band to obtain the weighted fusion compensation distance value. The weighted fusion compensation distance value is subtracted from the fixed distance value between the infrared sensor installation position and the standard reflective calibration plate at the bottom of the bin to obtain the compensated garbage height sampling value of the frame.

6. The spiral compression start-up and audible / visual early warning method for detecting waste volume using an infrared sensor linked to the opening closure as described in claim 1, characterized in that... During the continuous multi-frame scanning process, the infrared sensor is re-driven to emit calibration pulses to the standard reflective calibration sheet at the bottom of the warehouse in the first and second bands at each preset calibration interval frame number. The attenuation coefficient of the first band and the attenuation coefficient of the second band are regenerated, the attenuation coefficient ratio is recalculated and matched with the pollution type discrimination interval table to update the dominant pollution type label, the compensation weight of the first band and the compensation weight of the second band. The weighted fusion compensation operation of subsequent frames uses the updated parameters.

7. The method for starting spiral compression and providing audible and visual early warning based on the detection of waste volume using an infrared sensor linked to the closure of the inlet as described in claim 1, characterized in that... The time series is segmented into multiple linear segments by linear fitting, including: The initial state of the time series is set such that two adjacent sampling points form a minimum linear segment; The pair of adjacent linear segments with the smallest fitting error increment after merging is gradually merged. The fitting error increment is defined as the difference between the sum of squared residuals obtained by re-performing least squares linear regression on all sampling points in the merged linear segment after merging two adjacent linear segments into one linear segment and the sum of squared residuals of the two linear segments before merging. Merging stops when the increment of the merging error between all adjacent linear segments exceeds the preset fitting error threshold, generating multiple linear segments arranged in chronological order. The slope of each linear segment is determined by the slope of the line obtained by performing least squares linear regression on all sampling points within that linear segment.

8. The method for starting a spiral compression system and providing audible and visual early warning based on an infrared sensor detecting the amount of waste when the inlet is closed, as described in claim 1, is characterized in that... The method of comparing the final settlement rate value with the settlement termination rate threshold to determine the waste settlement state includes: When the final settling rate value is greater than the settling termination rate threshold, it is determined that the waste settling has not been completed. After adding a preset number of sampling frames, the continuous multi-frame scanning and weighted fusion compensation operation is returned to be executed. Piecewise linear fitting and final settling rate value extraction are then re-executed on the added complete time sequence. When the final settlement rate value is less than or equal to the settlement termination rate threshold, it is determined that the waste settlement has been completed, and the arithmetic mean of all sampled values ​​in the final linear segment is calculated as the stable waste height value. When the cumulative number of sampling frames reaches the preset maximum cumulative number of sampling frames, and the final settlement rate value is still greater than the settlement termination rate threshold, the average value of the final linear segment in the current time series is taken as the stable waste height value and a state marker indicating that the settlement has not fully converged is added.

9. The method for starting spiral compression and providing audible and visual early warning based on the detection of waste volume using an infrared sensor linked to the closure of the inlet as described in claim 1, characterized in that... The drive screw compression mechanism performs reverse rotation according to the escape parameters, and further includes: During the reverse rotation process, torque sensing data is acquired synchronously. When the torque sensing data continues to decrease and falls below the preset escape confirmation torque threshold, the remaining reversal angle is terminated in advance. When the reverse rotation is completed and the torque sensing data is still not lower than the escape confirmation torque threshold, the reverse angle value is increased by a preset increment and the reverse rotation is performed again until the torque sensing data is lower than the escape confirmation torque threshold or the cumulative reverse angle value reaches the maximum allowed reverse angle limit of this zone. After the reverse rotation is completed, the forward rotation is resumed at a reduced speed lower than the preset speed. When the torque sensing data remains below the jamming torque threshold, the speed is gradually restored to the preset speed to continue the compression operation. When the torque sensing data exceeds the jamming torque threshold again during the re-forward rotation, the jamming position matching and escape operation are repeated. When the cumulative number of reversal attempts reaches the preset maximum number of retries, the spiral compression mechanism stops operating and the equipment status is locked.

10. A spiral compression start-up and audible / visual early warning system for detecting the amount of waste by an infrared sensor linked to the closure of the waste inlet, used to execute the spiral compression start-up and audible / visual early warning method for detecting the amount of waste by an infrared sensor linked to the closure of the waste inlet as described in any one of claims 1 to 9, characterized in that, include: The dual-band calibration module is used to respond to the closure confirmation signal of the hopper, drive the infrared sensor to emit calibration pulses to the standard reflective calibration sheet at the bottom of the hopper in the first band and the second band respectively, and obtain the echo intensity value of the first band and the echo intensity value of the second band. The pollution type discrimination module is used to generate the first band attenuation coefficient and the second band attenuation coefficient based on the echo intensity values ​​of the two bands and the corresponding factory reference intensity values, respectively. It calculates the ratio of the two attenuation coefficients and matches them with the pre-stored pollution type discrimination interval table to determine the dominant pollution type label and the corresponding first band compensation weight and second band compensation weight. The weighted fusion compensation module is used to drive the infrared sensor to perform continuous multi-frame scanning of the garbage area in the bin in a dual-band alternating sampling mode. The attenuation coefficient and compensation weight are used to perform weighted fusion compensation calculation on the original distance data of each frame to generate a time sequence of the compensated garbage height sampling value. The settling state determination module is used to perform piecewise linear fitting on the time series to generate multiple linear segments, extract the absolute value of the slope of the last segment as the settling rate value of the last segment, compare the settling rate value of the last segment with the settling termination rate threshold to determine the waste settling state, and output a stable waste height value when the settling is completed. The compression start determination module is used to compare the stable garbage height value with the compression start threshold. When the compression start condition is met, a compression start command is generated and the screw compression mechanism is driven to start operating. The adaptive escape module is used to acquire torque sensing data in real time during the operation of the spiral compression mechanism. When the torque sensing data exceeds the jamming torque threshold, the jamming position value is read, and the jamming position value is matched with the axial position partition table to obtain the corresponding escape parameters. The spiral compression mechanism is then driven to perform reverse rotation according to the escape parameters.

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