Method, device and equipment for controlling pushing shovel torque in compression garbage truck box and medium

Abstract

The application provides a method, device and equipment for controlling the torque of a pushing shovel in a compression garbage truck box and a medium, and relates to the technical field of torque control. The method comprises the following steps: acquiring real-time position information of a pushing shovel mechanism in a box; determining a real-time minimum pushing force currently required by the pushing shovel mechanism based on the real-time position information; and adjusting the output torque of a pushing shovel driving motor based on the real-time minimum pushing force, so that the output torque matches the real-time minimum pushing force. In this way, the pushing shovel position is monitored in real time, the minimum required torque is dynamically matched, on-demand energy supply is realized, and energy consumption is effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of torque control technology, and in particular to a method, device, equipment and medium for controlling the torque of the pusher in a compressed garbage truck container. Background Technology

[0002] The compactor garbage truck uses a compression mechanism inside the stuffer and a pusher mechanism inside the container to create bidirectional compression, thereby improving loading efficiency.

[0003] In related technologies, pusher mechanisms often employ constant torque control, meaning the pusher motor consistently outputs a constant torque throughout the unloading process. However, as waste is gradually discharged from the bin, the amount of remaining waste decreases, reducing the friction and expansion forces the pusher needs to overcome. This constant torque output results in a significant amount of electrical energy being wasted. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a method, device, equipment and medium for controlling the torque of the pusher in the compressed garbage truck container, which dynamically matches the minimum required torque by real-time monitoring of the pusher position, realizes on-demand energy supply and effectively reduces energy consumption.

[0005] In a first aspect, embodiments of the present invention provide a method for controlling the torque of a pusher inside a garbage truck container. The method includes: acquiring real-time position information of the pusher mechanism within the container; determining the current minimum thrust required by the pusher mechanism based on the real-time position information; and adjusting the output torque of the pusher drive motor based on the real-time minimum thrust to match the output torque with the real-time minimum thrust.

[0006] In a preferred embodiment of the present invention, the above-mentioned acquisition of the real-time position information of the pusher mechanism within the housing includes: acquiring the real-time distance measurement value between the photoelectric distance sensor and the rear end face of the pusher mechanism through the photoelectric distance sensor installed on the front panel of the housing; and using the real-time distance measurement value as the real-time position information.

[0007] In a preferred embodiment of the present invention, the above-mentioned determination of the current real-time minimum thrust required by the pusher mechanism based on real-time location information includes: determining the real-time advance length of the pusher mechanism based on real-time distance measurement values; and determining the real-time minimum thrust based on a preset linear relationship between the real-time advance length and the minimum thrust.

[0008] In a preferred embodiment of the present invention, the above-mentioned determination of the real-time advancing length of the pusher mechanism based on the real-time distance measurement value includes: obtaining the initial distance from the photoelectric ranging sensor to the initial position of the pusher; and taking the difference between the real-time distance measurement value and the initial distance as the real-time advancing length.

[0009] In a preferred embodiment of the present invention, the method further includes: determining the remaining capacity percentage of the garbage in the container based on real-time distance measurement values; and sending the remaining capacity percentage to the central control screen in the driver's cab for display.

[0010] In a preferred embodiment of the present invention, the determination of the remaining capacity percentage of the waste in the bin based on the real-time distance measurement value includes: acquiring the initial distance from the photoelectric distance sensor to the initial position of the pusher, and the maximum distance to the maximum stroke position of the pusher; determining a first difference between the maximum distance and the real-time distance measurement value; determining a second difference between the maximum distance and the initial distance; and determining the remaining capacity percentage based on the first difference and the second difference.

[0011] In a preferred embodiment of the present invention, adjusting the output torque of the pusher drive motor based on the real-time minimum thrust includes: inputting the real-time minimum thrust into a pre-set thrust-torque conversion model to obtain a target torque command; and sending the target torque command to the controller of the pusher drive motor to adjust the output torque.

[0012] Secondly, embodiments of the present invention also provide a control device for the torque of the pusher inside a garbage truck container. The device includes: a real-time position information acquisition module for acquiring real-time position information of the pusher mechanism inside the container; a real-time minimum thrust determination module for determining the current real-time minimum thrust required by the pusher mechanism based on the real-time position information; and an output torque adjustment module for adjusting the output torque of the pusher drive motor based on the real-time minimum thrust, so that the output torque matches the real-time minimum thrust.

[0013] Thirdly, embodiments of the present invention also provide an electronic device, including a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the method for controlling the torque of the pusher shovel inside the compressed garbage truck container described in the first aspect.

[0014] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions. When the computer-executable instructions are invoked and executed by a processor, the computer-executable instructions cause the processor to implement the method for controlling the torque of the pusher shovel inside the compressed garbage truck container as described in the first aspect.

[0015] The embodiments of the present invention bring the following beneficial effects: This invention provides a method, apparatus, device, and medium for controlling the torque of the pusher inside a garbage truck container. By acquiring the real-time position information of the pusher mechanism within the container, the minimum real-time thrust required by the pusher mechanism is determined based on this information. Then, the output torque of the pusher drive motor is adjusted to match the minimum real-time thrust. This method achieves on-demand energy supply and effectively reduces energy consumption by dynamically matching the minimum required torque through real-time monitoring of the pusher position.

[0016] Other features and advantages of this disclosure will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the techniques described above.

[0017] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 A flowchart illustrating a method for controlling the torque of the pusher shovel inside a compressed garbage truck, provided as an embodiment of the present invention; Figure 2 A flowchart illustrating another method for controlling the torque of the pusher shovel inside a compressed garbage truck container, provided by an embodiment of the present invention; Figure 3 A schematic diagram of the structure of a control device for the torque of the pusher shovel inside a compressed garbage truck container provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] The compactor garbage truck uses a compression mechanism inside the stuffer and a pusher mechanism inside the container to create bidirectional compression, thereby improving loading efficiency.

[0022] In related technologies, pusher mechanisms often employ constant torque control, meaning the pusher motor consistently outputs a constant torque throughout the unloading process. However, as waste is gradually discharged from the bin, the amount of remaining waste decreases, reducing the friction and expansion forces the pusher needs to overcome. This constant torque output results in a significant amount of electrical energy being wasted.

[0023] Based on this, the present invention provides a method, apparatus, equipment, and medium for controlling the torque of the pusher inside a compressed garbage truck container. This method acquires the real-time position information of the pusher mechanism within the container, determines the minimum real-time thrust required by the pusher mechanism based on this information, and adjusts the output torque of the pusher drive motor to match the minimum real-time thrust. In this approach, by monitoring the pusher position in real time and dynamically matching the minimum required torque, on-demand energy supply is achieved, effectively reducing energy consumption.

[0024] To facilitate understanding of this embodiment, a method for controlling the torque of the pusher shovel inside a compressed garbage truck, as disclosed in this embodiment of the invention, will first be described in detail.

[0025] Example 1 This invention provides a method for controlling the torque of the pusher shovel inside a compressed garbage truck container. Figure 1 A flowchart illustrating a method for controlling the torque of the pusher blade inside a compressed garbage truck container, as provided in an embodiment of the present invention. Figure 1 As shown, the method for controlling the torque of the pusher inside the compactor garbage truck container may include the following steps: Step S101: Obtain the real-time position information of the pusher mechanism inside the box.

[0026] Real-time position information refers to the instantaneous spatial position of the pusher mechanism within the housing along its direction of movement. This information is typically represented by the straight-line distance between a fixed reference point on the pusher mechanism (such as the rear end face of the pusher) and a fixed reference point on the housing (such as the inner wall of the front panel of the housing or the sensor mounting point), measured in millimeters (mm). This information is dynamically changing and decreases as the pusher advances.

[0027] Specifically, obtaining the real-time position information of the pusher mechanism within the housing can include: acquiring the real-time distance measurement value between the photoelectric distance sensor and the rear end face of the pusher mechanism using a photoelectric distance sensor installed on the front panel of the housing; and using the real-time distance measurement value as the real-time position information.

[0028] Among them, the photoelectric ranging sensor is a non-contact distance measurement sensor based on optical principles. It emits modulated light (such as laser or infrared light) towards a target object and receives the light signal reflected back from the target object. The distance to the target object is calculated by measuring the time of flight (TOF) or phase difference of the light pulse. This application preferably uses a phase-based laser ranging sensor because it offers high accuracy and strong resistance to ambient light interference in short to medium distance measurements. The sensor itself must have temperature compensation functionality to eliminate the impact of temperature changes on measurement accuracy.

[0029] In addition to photoelectric ranging sensors, non-contact sensors such as laser ranging sensors, ultrasonic sensors, or magnetostrictive displacement sensors can also be used for distance measurement to acquire the position signal of the pusher in real time. The sensor sends digital signals to the controller at a fixed frequency (e.g., 100Hz). The controller has an internal watchdog timer to ensure the continuity of data reception. If no new data is received for more than a set time (e.g., 50ms), the sensor is considered faulty and the controller enters a safe mode.

[0030] The rear end face of the pusher mechanism refers to the plane facing the front panel of the housing on the side of the pusher assembly. To ensure measurement stability and consistency, this end face should be a flat metal plane with an area larger than the sensor spot diameter. In actual installation, if the rear end face of the pusher has reinforcing ribs or uneven structures, a smooth reflector should be installed to ensure the strength and stability of the reflected signal.

[0031] Among them, the real-time distance measurement value is the measurement data continuously output by the sensor. This data directly reflects the straight-line distance from the rear end face of the pusher to the sensor mounting base surface, and is the basic physical quantity for all subsequent calculations.

[0032] The method also includes: determining the remaining capacity percentage of the garbage in the container based on real-time distance measurements; and sending the remaining capacity percentage to the central control screen in the driver's cab for display.

[0033] The remaining capacity percentage is the percentage of the total volume of the container that is currently not filled with waste.

[0034] The driver's cab central control screen is an LCD display that integrates in-vehicle infotainment and vehicle status monitoring functions, and is usually located in the center of the driver's cab. It communicates with other controllers in the vehicle (such as VCU, MCU, BCM, etc.) via the CAN bus, and can receive and graphically display various vehicle status information, such as vehicle speed, battery level, fault codes, and the operating status of the superstructure systems.

[0035] The process of determining the remaining capacity percentage of the waste inside the bin based on real-time distance measurements may include: acquiring the initial distance from the photoelectric distance sensor to the initial position of the pusher, and the maximum distance to the maximum stroke position of the pusher; determining a first difference between the maximum distance and the real-time distance measurement; determining a second difference between the maximum distance and the initial distance; and determining the remaining capacity percentage based on the first and second differences.

[0036] The maximum distance is a constant determined during vehicle manufacturing or commissioning and stored in the controller's memory. It represents the distance measured by the sensors when the pusher is in its foremost position (i.e., the waste is completely pushed out and the pusher is adjacent to the front panel of the container). This value describes the maximum usable length of the container.

[0037] The first difference is the difference between the maximum distance (L) and the real-time distance (Ln), i.e., L-Ln. This difference represents the remaining travel distance of the pusher from its current position to its front limit position, and also indirectly reflects the remaining usable space at the front of the box.

[0038] The second difference is the difference between the maximum distance (L) and the initial distance (L2), i.e., L-L2. This difference represents the entire stroke range of the pusher, that is, the maximum distance the pusher can move from the initial position to the front limit position, and also indirectly reflects the total usable length of the box.

[0039] Specifically, the controller calculates the remaining capacity percentage based on the linear proportional assumption using the three known quantities (L, L2, Ln). The formula is: Remaining capacity percentage = (L-Ln) / (L-L2)×100%, which physically represents the proportion of the current remaining stroke of the pusher to the total stroke of the pusher, assuming that the waste capacity is proportional to the pusher stroke.

[0040] Before calculation, the controller checks if L is greater than L2 (total travel is a positive number). The calculated result is also limited to between 0% and 100% to avoid out-of-range displays due to abnormal sensor signals. For example, if Ln is less than L (which theoretically should not happen), the percentage is set to 0%; if Ln is greater than L2, the percentage is set to 100%.

[0041] For example: Calibration and Calculation: When the vehicle rolls off the production line, L2 is calibrated to 50mm and L to 3850mm, so the total travel is 3800mm. During vehicle operation, the sensor reads Ln = 962.5mm.

[0042] Controller calculation: The first difference is 3850 - 962.5 = 2887.5 mm.

[0043] The second difference = 3850 - 50 = 3800 mm.

[0044] Remaining capacity percentage = (2887.5 / 3800) × 100% = 75.98%.

[0045] The central control screen displays "76%".

[0046] This method eliminates the need for complex parameters such as the cross-sectional area and total volume of the container. The percentage can be obtained simply by measuring two endpoints calibrated by the sensors, which greatly simplifies the algorithm and reduces the requirements for the controller's storage space and computing power. It is particularly suitable for conventional compressed garbage trucks with uniform container cross-sections.

[0047] Step S102: Based on the real-time location information, determine the minimum real-time thrust required by the pusher mechanism.

[0048] The real-time minimum thrust refers to the minimum axial thrust required for the pushing mechanism to overcome all resistance from the remaining waste in the container (mainly including friction between the waste and the container wall, as well as pressure generated by the expansion of the waste) at the current pushing position, thus enabling it to continuously and smoothly advance the waste forward. The unit is kilonewtons (kN). This thrust is a theoretically calculated value and also an ideal target value for energy-saving control.

[0049] Upon receiving real-time position information, the controller first performs median filtering or Kalman filtering to eliminate measurement noise. Then, it calculates the required real-time minimum thrust based on a pre-defined pusher position-thrust calculation model (usually a linear model or a lookup table model). This model is pre-stored in the controller's non-volatile memory (such as EEPROM or Flash) and can be calibrated online using diagnostic tools.

[0050] Step S103: Based on the real-time minimum thrust, adjust the output torque of the pusher drive motor to match the real-time minimum thrust.

[0051] Output torque refers to the rotational torque output by the pusher drive motor (whether electric direct drive, hydraulic drive, or other types), measured in Newton-meters (N·m). This torque is converted into the axial thrust of the pusher through a transmission mechanism (such as a ball screw, rack and pinion, hydraulic pump / motor, etc.). The relationship between torque and thrust is determined by the mechanical structure of the transmission system.

[0052] The controller calculates the target torque value based on the calculated real-time minimum thrust and the torque-thrust conversion coefficient of the pusher drive motor (which takes into account transmission ratio, mechanical efficiency, etc.). This target torque value is sent to the motor controller (MCU) via the CAN bus (Controller Area Network) in the form of periodic messages (e.g., every 20ms). Upon receiving the command, the motor controller uses either vector control (FOC) or direct torque control (DTC) algorithms to precisely adjust the three-phase current of the motor, ensuring that the actual output torque matches the target torque. Simultaneously, the motor controller provides real-time feedback of the actual torque value via the CAN bus, forming a closed-loop monitoring system.

[0053] Specifically, adjusting the output torque of the pusher drive motor based on the real-time minimum thrust can include: inputting the real-time minimum thrust into a pre-set thrust-torque conversion model to obtain a target torque command; and sending the target torque command to the controller of the pusher drive motor to adjust the output torque.

[0054] The thrust-torque conversion model is a mathematical model that describes the quantitative relationship between the axial thrust (F) of the pusher blade and the output torque (T) of the motor. This model is a mathematical expression of the physical characteristics of the mechanical transmission system, and its core parameters include the transmission ratio, transmission efficiency, and system inertia.

[0055] The target torque command is a specific torque value (in N·m) calculated by the controller based on the thrust-torque conversion model and sent to the motor controller. This command is the target value for the motor controller to perform torque control.

[0056] The Motor Control Unit (MCU) is one of the core components of an electric vehicle or electric superstructure. It receives torque commands from the vehicle controller or superstructure controller and precisely adjusts the amplitude and phase of the three-phase AC power supplied to the motor by controlling the switching on and off of IGBTs (Insulated Gate Bipolar Transistors) or MOSFETs (Metal-Oxide-Semiconductor Field-Effect Transistors) in the inverter, thereby achieving precise control of the motor's output torque.

[0057] Regarding the construction of the thrust-torque conversion model: When the pusher is driven by an electric screw, the rotational motion of the motor is converted into the linear motion of the pusher via a ball screw or planetary roller screw. The conversion model is T=(F×p) / (2π×η), where p is the screw lead (m / rev) and η is the overall mechanical efficiency of the screw and other transmission components such as bearings.

[0058] When the pusher is hydraulically driven, the motor drives the hydraulic pump, which generates high-pressure oil that enters the cylinder through a multi-way valve, pushing the pusher. The conversion model is more complex here, involving pump displacement, system pressure, cylinder area, and valve pressure drop. The controller needs to calculate the required pressure P=F / A based on the required thrust F and cylinder area A, and then calculate the required motor torque T=(P×V) / (2π×η_pump) based on the hydraulic pump displacement V and motor speed n, where η_pump is the mechanical efficiency of the hydraulic pump.

[0059] The motor controller performs data format conversion on the calculated target torque T_cmd (e.g., converting it to a 0-100% signal corresponding to 0-2000Nm transmitted on the CAN bus). Then, it sends this to the motor controller via the CAN bus in the form of periodic messages (typically 10ms or 20ms). Upon receiving the command, the motor controller uses it as the setpoint for its internal current or torque loop and, through a PID (Proportional-Integral-Derivative) control algorithm, rapidly adjusts the motor's three-phase current, ensuring that the actual output torque T_act quickly follows T_cmd, achieving precise control.

[0060] Taking a certain model of 18-ton pure electric compressed garbage truck as an example: Sensor selection: Select an infrared laser rangefinder with a range of 0-5m, an accuracy of ±1mm, an IP67 protection rating, and an operating temperature range of -30℃ to +85℃.

[0061] Initial calibration: When the pusher is in the initial position (full load), the sensor reading is 3850mm.

[0062] Operation Process: Unloading begins, and the pusher advances forward. When the controller reads a real-time sensor reading of 2887.5 mm, the real-time advance length is calculated to be 962.5 mm after filtering. The controller calls the pre-stored linear model F=30kN / m*Lx to calculate the real-time minimum thrust as 28.875kN. Combining this with transmission system parameters (e.g., ball screw lead of 10mm, mechanical efficiency of 0.9), the target motor torque is calculated to be approximately 51 N·m. The controller sends this command to the motor controller via the CAN bus, and the motor immediately adjusts its output torque, achieving on-demand power supply. If constant torque control were used at this time, the motor might still output the initial torque of 115.5kN (approximately 204 N·m), resulting in significant energy waste.

[0063] The method for controlling the pusher torque inside a garbage truck container provided in this invention includes a method, device, equipment, and medium for controlling the pusher torque inside the container. It acquires the real-time position information of the pusher mechanism within the container, determines the minimum real-time thrust required by the pusher mechanism based on this information, and adjusts the output torque of the pusher drive motor to match the minimum real-time thrust. This method achieves on-demand energy supply by dynamically matching the minimum required torque through real-time monitoring of the pusher position, effectively reducing energy consumption.

[0064] Example 2 This invention also provides another method for controlling the torque of the pusher inside the garbage truck container; this method is implemented based on the method in the above embodiments; the method focuses on describing the specific implementation of determining the minimum real-time thrust required by the pusher mechanism based on real-time position information.

[0065] Figure 2 A flowchart of another method for controlling the torque of the pusher shovel inside a compressed garbage truck container, as provided in an embodiment of the present invention, is shown below. Figure 2 As shown, determining the minimum real-time thrust required by the pusher mechanism based on real-time location information may include the following steps: Step S201: Determine the real-time advance length of the pusher mechanism based on the real-time distance measurement value.

[0066] The real-time advance length refers to the cumulative distance the pusher travels from its initial position (the position when fully loaded) towards the front panel of the container. It is a relative quantity, calculated using the formula Lx = L2 - Ln (when the sensor is located on the front panel, and the measured distance decreases as the pusher advances), where L2 is the initial position distance and Ln is the real-time distance. The unit is meters (m).

[0067] Specifically, determining the real-time advancing length of the pusher mechanism based on real-time distance measurements can include: acquiring the initial distance from the photoelectric ranging sensor to the initial position of the pusher; and using the difference between the real-time distance measurement and the initial distance as the real-time advancing length.

[0068] The initial distance is a constant determined during vehicle manufacturing or commissioning and stored in the controller's memory. It represents the distance measured by the sensors when the pusher is in the fully retracted position (i.e., the box is fully loaded). This value needs to be accurately measured and recorded, serving as the zero-point reference for all subsequent relative position calculations.

[0069] The calculation of real-time advance length is as follows: During normal operation, the controller reads the real-time distance Ln and L2 from the EEPROM, performs a subtraction operation Lx = L2 - Ln to obtain the real-time advance length. This calculation is performed immediately after each acquisition of a new Ln to ensure the real-time performance of Lx.

[0070] Before calculating Lx, the controller checks the reasonableness of Ln to ensure that Ln is not greater than L2 (the pusher cannot return to its initial position). If Ln is greater than L2, it may mean that the sensor is blocked or has drifted, and the controller will record a fault code and temporarily freeze the calculation.

[0071] By using zero-point calibration and simple subtraction, the absolute distance measurement value is converted into a relative propulsion length, which simplifies the calculation model, avoids complex coordinate transformations, and improves the reliability and computational efficiency of the system.

[0072] Step S202: Determine the real-time minimum thrust based on the preset linear relationship between the real-time propulsion length and the minimum thrust.

[0073] The preset linear relationship refers to a model, derived through theoretical mechanics analysis or extensive real-vehicle testing, that describes the mathematical relationship between the real-time advance length (Lx) of the pusher and the required minimum thrust (F). In this embodiment, it takes the form F=k*Lx, where k is the linear coefficient in kN / m. This model is the core algorithm, and its accuracy directly affects the energy-saving effect.

[0074] The determination of the linear coefficient k: Coefficient k is not a fixed constant; it comprehensively reflects the frictional characteristics between the waste and the container, the physical properties of the waste, and the geometric dimensions of the container. The determination of k involves two steps: theoretical calculation and actual vehicle calibration. The theoretical calculation is based on a preliminary estimate using the force analysis formula k = f * P * C + f * ρ * g * B * h. The values ​​for f (comprehensive friction coefficient) and P (garbage expansion force) need to be determined through laboratory testing or by referring to empirical values ​​from similar vehicle models.

[0075] The actual vehicle calibration involves several steps: During the prototype vehicle debugging phase, multiple rounds of full-bin unloading tests are conducted using typical waste of different types and moisture contents (such as household waste, kitchen waste, and mixed waste). Multiple points are selected along the pusher's path (e.g., initial, 1 / 4, 1 / 2, 3 / 4), and the actual thrust is precisely measured using pressure sensors or tension / compression sensors installed between the pusher and the hydraulic cylinder / lead screw. The measured pusher length minus the actual thrust data is input into the calibration software, and an optimal straight line is fitted using the least squares method. The slope of this line is the final calibration coefficient k. This k value is then written into the controller of each vehicle as a factory parameter.

[0076] In the online calculation: after obtaining the real-time distance Ln, the controller first calls the stored initial distance L2 to calculate Lx = L2 - Ln. Then, substituting Lx into the formula F = k * Lx, the current real-time minimum thrust F can be obtained.

[0077] For example, the calibration process involved three full-container unloading tests on a garbage truck using municipal solid waste. The actual thrust was measured at distances of Lx = 0.5m, 1.0m, 1.5m, 2.0m, 2.5m, and 3.0m. After obtaining six sets of data, linear regression analysis was used to calculate a k value of 29.8 kN / m, with an R² (goodness of fit) of 0.98, indicating a significant linear relationship. Finally, the k value was set to 30 kN / m and stored in the controller.

[0078] Real-time calculation: During normal vehicle operation, the controller reads Ln=2500mm. Given L2=3850mm, then Lx=3850-2500=1.35m. Using the calibration coefficient k=30kN / m, F=30*1.35=40.5kN is calculated.

[0079] By combining theoretical calculations with actual vehicle calibration, the parameters of the linear model were accurately determined, making the thrust calculation both physically meaningful and consistent with actual working conditions, thus ensuring the accuracy of the control algorithm.

[0080] Example 3 Corresponding to the above method embodiments, this invention provides a control device for the torque of the pusher shovel inside a garbage truck container. Figure 3 This is a schematic diagram of the structure of a control device for the torque of the pusher shovel inside a compressed garbage truck, provided in an embodiment of the present invention. Figure 3 As shown, the control device for the pusher torque inside the compressed garbage truck container may include: The real-time location information acquisition module 301 is used to acquire the real-time location information of the pusher mechanism inside the housing.

[0081] The real-time minimum thrust determination module 302 is used to determine the current real-time minimum thrust required by the pusher mechanism based on real-time position information.

[0082] The output torque adjustment module 303 is used to adjust the output torque of the pusher drive motor based on the real-time minimum thrust, so that the output torque matches the real-time minimum thrust.

[0083] The control device for the pusher torque inside the compressed garbage truck container provided in this embodiment of the invention can obtain the real-time position information of the pusher mechanism inside the container, determine the current real-time minimum thrust required by the pusher mechanism based on the real-time position information, and adjust the output torque of the pusher drive motor based on the real-time minimum thrust to match the output torque with the real-time minimum thrust. In this method, by monitoring the pusher position in real time and dynamically matching the minimum required torque, on-demand energy supply is achieved, effectively reducing energy consumption.

[0084] In some embodiments, the real-time location information acquisition module is further configured to acquire a real-time distance measurement value between the photoelectric ranging sensor and the rear end face of the pusher mechanism via a photoelectric ranging sensor mounted on the front panel of the housing; and use the real-time distance measurement value as real-time location information.

[0085] In some embodiments, the real-time minimum thrust determination module is further configured to determine the real-time advance length of the pusher mechanism based on the real-time distance measurement value; and to determine the real-time minimum thrust based on the preset linear relationship between the real-time advance length and the minimum thrust.

[0086] In some embodiments, the real-time minimum thrust determination module is further configured to obtain the initial distance from the photoelectric ranging sensor to the initial position of the pusher; and to use the difference between the real-time distance measurement value and the initial distance as the real-time advance length.

[0087] In some embodiments, the real-time minimum thrust determination module is further configured to determine the remaining capacity percentage of the waste inside the container based on the real-time distance measurement value; and send the remaining capacity percentage to the central control screen in the cab for display.

[0088] In some embodiments, the real-time minimum thrust determination module is further configured to acquire the initial distance from the photoelectric ranging sensor to the initial position of the pusher, and the maximum distance to the maximum stroke position of the pusher; determine a first difference between the maximum distance and the real-time distance measurement; determine a second difference between the maximum distance and the initial distance; and determine the remaining capacity percentage based on the first difference and the second difference.

[0089] In some embodiments, the output torque adjustment module is further configured to input the real-time minimum thrust into a pre-set thrust-torque conversion model to obtain a target torque command; and send the target torque command to the controller of the pusher drive motor to adjust the output torque.

[0090] The device provided in this embodiment of the invention has the same implementation principle and technical effect as the aforementioned method embodiment. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment.

[0091] Example 4 This invention also provides an electronic device for controlling the torque of the pusher inside the compressed garbage truck container as described above; see also Figure 4 The diagram shows the structure of an electronic device, which includes a memory 400 and a processor 401. The memory 400 stores one or more computer instructions, which are executed by the processor 401 to implement the above-mentioned method for controlling the torque of the pusher in the compressed garbage truck container.

[0092] Furthermore, Figure 4The electronic device shown also includes a bus 402 and a communication interface 403. The processor 401, the communication interface 403 and the memory 400 are connected via the bus 402.

[0093] The memory 400 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 403 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc. The bus 402 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0094] Processor 401 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 401 or by instructions in software form. Processor 401 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a readily available storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 400, and processor 401 reads information from memory 400 and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0095] This invention also provides a computer-readable storage medium storing computer-executable instructions. When these computer-executable instructions are called and executed by a processor, they cause the processor to implement the above-described method for controlling the torque of the pusher inside the compressed garbage truck container. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0096] The computer program product for controlling the torque of the pusher in a compressed garbage truck container provided in this embodiment of the invention includes a computer-readable storage medium storing non-volatile program code executable by a processor. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0097] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0098] In the several embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0099] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0100] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0101] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0102] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling the torque of the pusher shovel inside a compressed garbage truck container, characterized in that, The method includes: Obtain the real-time position information of the pusher mechanism within the housing; Based on the real-time location information, determine the minimum real-time thrust required by the pusher mechanism. Based on the real-time minimum thrust, adjust the output torque of the pusher drive motor so that the output torque matches the real-time minimum thrust.

2. The method according to claim 1, characterized in that, The acquisition of the real-time position information of the pusher mechanism within the housing includes: The real-time distance measurement value between the photoelectric distance sensor and the rear end face of the pusher mechanism is obtained by using the photoelectric distance sensor installed on the front panel of the box. The real-time distance measurement value is used as the real-time location information.

3. The method according to claim 2, characterized in that, The step of determining the minimum real-time thrust required by the pusher mechanism based on the real-time location information includes: Based on the real-time distance measurement value, the real-time advance length of the pusher mechanism is determined; The real-time minimum thrust is determined based on the preset linear relationship between the real-time propulsion length and the minimum thrust.

4. The method according to claim 3, characterized in that, Determining the real-time advancing length of the pusher mechanism based on the real-time distance measurement value includes: Obtain the initial distance from the photoelectric ranging sensor to the initial position of the pusher; The difference between the real-time distance measurement and the initial distance is taken as the real-time advance length.

5. The method according to claim 2, characterized in that, The method further includes: Based on the real-time distance measurement value, determine the remaining capacity percentage of the waste inside the container; The remaining capacity percentage is sent to the central control screen in the driver's cab for display.

6. The method according to claim 5, characterized in that, Determining the remaining capacity percentage of the waste inside the container based on the real-time distance measurement includes: The initial distance from the photoelectric ranging sensor to the initial position of the pusher, and the maximum distance to the maximum stroke position of the pusher are obtained. Determine a first difference between the maximum distance and the real-time distance measurement; Determine a second difference between the maximum distance and the initial distance; The remaining capacity percentage is determined based on the first difference and the second difference.

7. The method according to claim 1, characterized in that, The adjustment of the output torque of the pusher drive motor based on the real-time minimum thrust includes: The real-time minimum thrust is input into a pre-set thrust-torque conversion model to obtain the target torque command; The target torque command is sent to the controller of the pusher drive motor to adjust the output torque.

8. A control device for the torque of the pusher shovel inside a garbage truck container, characterized in that, The device includes: The real-time position information acquisition module is used to acquire the real-time position information of the pusher mechanism inside the housing; The real-time minimum thrust determination module is used to determine the current real-time minimum thrust required by the pusher mechanism based on the real-time position information. The output torque adjustment module is used to adjust the output torque of the pusher drive motor based on the real-time minimum thrust, so that the output torque matches the real-time minimum thrust.

9. An electronic device, characterized in that, The method includes a processor and a memory, the memory storing defined computer-executable instructions that can be executed by the processor, the processor executing the computer-executable instructions to implement the method for controlling the torque of the pusher in the compactor garbage truck container as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the method for controlling the torque of the pusher shovel inside the compressed garbage truck container as described in any one of claims 1 to 7.

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