A method and device for controlling the lifting and lowering of sweeping discs on a sweeper truck.

Abstract

This invention discloses a method and device for controlling the lifting and lowering of sweeping discs in a sweeper truck, relating to the field of sanitation vehicle control technology. The method includes: S1, periodically collecting sweeping disc linkage monitoring data and preprocessing the data; S2, generating a sweeping disc linkage state matrix sequence, extracting matrix shift markers, and generating sweeping disc linkage judgment data based on the sweeping disc motion state; S3, matching the matrix shift markers to corresponding sweeping disc lifting action templates, performing timer combination matching, calculating the sweeping disc action duration value, and generating linkage strategy data; S4, generating corresponding side sweeping disc lifting control commands based on the linkage strategy data, and executing timing control according to the sweeping disc action duration value. This invention solves the problem of insufficient linkage between operation mode switching and side operation switching in existing sweeper truck sweeping disc lifting control, resulting in delayed sweeping disc lifting response, uncoordinated actions, and difficulty in dynamically adjusting the control duration.

Description

Technical Field

[0001] This invention relates to the field of sanitation vehicle control technology, and in particular to a method and device for controlling the lifting and lowering of sweeping discs on a sweeper truck. Background Technology

[0002] With the continuous development of intelligent sanitation equipment, electro-hydraulic coordinated control, and multi-condition linkage operation technologies, the control of sweeper truck superstructure has gradually shifted from single-function control to multi-actuator coordinated control. Especially during the switching between different operating modes such as sweeping, vacuuming, and dry sweeping, as well as the coordinated control of components such as left and right sweeping discs, suction nozzles, and water spraying, the control system not only needs to identify the operating status but also needs to consider the response timing of actuators, the connection of hydraulic actions, and the continuity of the operation process, thereby improving the overall vehicle's operating efficiency, control stability, and ease of operation. Against this backdrop, technical solutions for the switching of sweeper truck superstructure operating states, the coordinated control of actuators, and the automated control of the operation process are constantly emerging.

[0003] For example, application CN107024874B discloses a control method, device, and sweeper truck for a sweeper truck, relating to the field of automated cleaning technology. The sweeper truck control method of this invention includes: acquiring a target working state; determining the sweeper truck whose retraction / extension state needs to change based on the retraction / extension state of the sweeper truck in the target working state and the retraction / extension state of the sweeper truck in the current working state; and generating retraction / extension commands for the sweeper truck whose retraction / extension state needs to change, so that the retraction / extension state of the sweeper truck conforms to the target working state.

[0004] For example, application CN118210243A discloses a controller and control method for a single-engine sweeper truck, including a single-engine controller and a CAN bus controller. The single-engine controller and the CAN bus controller are used to jointly control the hydraulic single-engine sweeper truck, which breaks through the traditional complex control of hydraulic single-engine sweeper trucks. It can realize the smooth and effective start-up and switching of various operation functions of the single-engine sweeper truck, improve the reliability of the product, protect the safety of the transmission system, reduce the complexity of operation, and simplify the user interface.

[0005] However, existing technologies focus more on the overall operation state switching of sweeper trucks or the start / stop control of superstructure functions, with insufficient consideration for the fine-grained linkage control between sweeper disc lifting and operation mode switching, and side operation switching. Especially during continuous operation, when switching from sweeping to washing and suction mode, from dual-side operation to single-side operation, or from operation to stop, there is a lack of a unified and effective mechanism for determining the sweeper disc lifting demand in real time based on the current operation mode, side operation status, and sweeper disc movement status, and generating the corresponding lifting control timing sequence in conjunction with hydraulic actuation characteristics. This easily leads to problems such as lag in sweeper disc lifting control, uncoordinated linkage between left and right sweeper discs, and discontinuous operation switching processes, making it difficult to meet the actual needs of sweeper truck sweeper disc lifting linkage control.

[0006] Therefore, in order to address the above problems, there is an urgent need for a method and device for controlling the lifting and lowering of the sweeping discs of a sweeper truck. Summary of the Invention

[0007] To address the technical problems of insufficient linkage between operation mode switching and side operation switching in existing sweeper disc lifting control systems, resulting in sluggish sweeper disc lifting response, uncoordinated movements, and difficulty in dynamically adjusting control duration, this invention provides a sweeper disc lifting linkage operation control method and device. The technical solution is as follows: On the one hand, a method for controlling the lifting and lowering linkage operation of a sweeper truck is provided. This method includes: S1, periodically collecting sweeper linkage monitoring data, performing preprocessing on the sweeper linkage monitoring data, and outputting preprocessed sweeper linkage monitoring data; S2, combining and encoding the operation mode and side operation status based on the preprocessed sweeper linkage monitoring data to generate a sweeper linkage state matrix sequence, performing adjacent sampling period difference on the sweeper linkage state matrix sequence to extract matrix shift markers, and generating sweeper linkage judgment data based on the sweeper movement state; S3, based on the sweeper linkage judgment data... The matrix shift markers are matched to the corresponding sweeping disc lifting action template. Timer combination matching is performed, and a gated loop unit regression model is constructed to output the corresponding side sweeping disc ground clearance adjustment amount and the corresponding side sweeping disc lifting cylinder stroke adjustment amount. The sweeping disc action duration value is calculated by combining the absolute value of the pressure difference of the corresponding side sweeping disc lifting cylinder and the hydraulic oil temperature value, and the linkage strategy data is generated. S4, the corresponding side sweeping disc lifting control command is generated based on the linkage strategy data, and the timing control is executed according to the sweeping disc action duration value. When the timing ends, the corresponding side solenoid valve disconnection command is output to complete the sweeping disc lifting linkage control.

[0008] Furthermore, the specific steps for periodically collecting sweeping disc linkage monitoring data and preprocessing the data to output the preprocessed data are as follows: A fixed-duration sliding time window is set as one sampling period. Sweeping disc linkage monitoring data is periodically collected during the sweeper's lifting and lowering operation. This data includes: the voltage value of the one-button operation signal, the output voltage value of the sweeping mode selection switch, the output voltage value of the sweeping and vacuuming mode selection switch, the output voltage value of the dry sweeping mode selection switch, the output voltage value of the left-side operation selection switch, the output voltage value of the right-side operation selection switch, the voltage value of the sweeping disc lowering solenoid valve coil, the voltage value of the sweeping disc raising solenoid valve coil, the current value of the sweeping disc lowering solenoid valve coil, the current value of the sweeping disc raising solenoid valve coil, the output pressure value of the hydraulic pump, the pressure value of the rodless chamber of the sweeping disc lifting cylinder, and the sweeping disc lifting... The data includes the cylinder rod chamber pressure, hydraulic oil temperature, sweeping disc lifting cylinder stroke displacement, sweeping disc ground clearance, and controller system timestamp. For the collected sweeping disc linkage monitoring data, a network time protocol time synchronization algorithm is used to perform multi-node time reference alignment and time synchronization correction. A parity check consistency detection algorithm is used to perform sampling data integrity detection and abnormal record identification. A three-sigma anomaly detection algorithm is used to perform abnormal sampling value identification and abnormal record removal. A first-order exponential weighted moving average filtering algorithm is used to perform instantaneous jitter suppression and noise smoothing. A vector normalization algorithm is used to perform dimensional unification and numerical scale standardization on the sweeping disc linkage monitoring data, outputting the preprocessed sweeping disc linkage monitoring data.

[0009] Furthermore, the specific steps for combining and encoding the operation mode and side operation status based on the preprocessed sweeping linkage monitoring data to generate the sweeping linkage status matrix sequence are as follows: Read the preprocessed sweeping linkage monitoring data, compare the voltage value of the one-button operation signal and the hydraulic pump output pressure value with the corresponding thresholds, and synchronize and pair the comparison results according to the controller system timestamp value to construct an operation access linkage group; perform sampling cycle-by-sampling logic synthesis on the operation access linkage group to generate an operation access status sequence; within the sampling cycle corresponding to the operation access status sequence, perform mutually exclusive combination encoding of the output voltage values ​​of the sweeping mode selection switch, the sweeping and vacuuming mode selection switch, and the dry sweeping mode selection switch to generate an operation mode encoding value; perform side combination encoding of the output voltage values ​​of the left operation selection switch and the right operation selection switch to generate a side operation encoding value; and then concatenate the operation mode encoding value and the side operation encoding value according to the controller system timestamp value to generate the sweeping linkage status matrix sequence.

[0010] Furthermore, the specific steps for performing adjacent sampling period difference operations on the scanning linkage state matrix sequence to extract matrix shift markers are as follows: Perform adjacent sampling period difference operations on the scanning linkage state matrix sequence to extract the shift results of matrix elements; when the operation mode code value changes from non-washing / suction code to washing / suction code, a washing / suction entry matrix shift marker is generated; when the side operation code value changes from left-side open code to left-side closed code, a left-side exit matrix shift marker is generated; when the side operation code value changes from right-side open code to right-side closed code, a right-side exit matrix shift marker is generated; when the one-button operation signal voltage value changes from on state to off state, an operation stop matrix shift marker is generated, and the matrix shift markers are arranged according to the controller system timestamp value to generate a matrix shift event sequence.

[0011] Furthermore, the specific steps for generating sweeping disc linkage judgment data based on the sweeping disc motion state are as follows: Within the sampling period corresponding to the operation access state sequence, calculate the pressure difference between the rodless chamber pressure value and the rod chamber pressure value of the lifting cylinder of the left and right sweeping discs, respectively; calculate the displacement change of the lifting cylinder stroke displacement value of the left and right sweeping discs in adjacent sampling periods, and the height change of the sweeping disc ground clearance value of the left and right sweeping discs in adjacent sampling periods; when the voltage value and current value of the rising solenoid valve coil of the left sweeping disc meet the conduction condition, and the corresponding side pressure difference, displacement change, and height change satisfy the upward direction relationship, the left sweeping disc is generated. Ascending motion status marker; when the voltage and current values ​​of the descending solenoid valve coil of the left sweeping disk meet the conduction conditions, and the corresponding side pressure difference, displacement change, and height change satisfy the descending direction relationship, a descending motion status marker for the left sweeping disk is generated; the ascending motion status marker and descending motion status marker for the right sweeping disk are generated in the same way, forming a sequence of left and right sweeping disk motion states; the matrix displacement event sequence and the sequence of left and right sweeping disk motion states are associated according to the controller system timestamp value, the left and right sweeping disk motion states corresponding to different matrix displacement markers are classified, a matrix displacement action category sequence is generated, and sweeping disk linkage judgment data is output.

[0012] Furthermore, based on the sweeping linkage judgment data, the matrix displacement markers are matched with the corresponding sweeping lifting action templates. The specific steps for performing timer combination matching are as follows: The sweeping linkage judgment data is read; the washing / vacuuming entry matrix displacement markers are matched with the double-sided retraction action templates; the left-side exit matrix displacement markers are matched with the left-side retraction action templates; the right-side exit matrix displacement markers are matched with the right-side retraction action templates; and the matrix states that are not coded for washing / vacuuming and whose corresponding side operation codes are in the enabled state are matched with the corresponding side lowering action templates, thus forming a sweeping lifting action template sequence; timer combination matching is performed on the sweeping lifting action template sequence. Matching: When the sweeping disc lifting action template sequence is the left lowering action template, match the left sweeping disc lowering timer template; when the sweeping disc lifting action template sequence is the left retraction action template, match the left sweeping disc rising timer template; when the sweeping disc lifting action template sequence is the right lowering action template, match the right sweeping disc lowering timer template; when the sweeping disc lifting action template sequence is the right retraction action template, match the right sweeping disc rising timer template; when the sweeping disc lifting action template sequence is the double-sided retraction action template and is triggered by the washing and suction entry matrix displacement mark, match the washing and suction mode rising edge trigger timer template, and form a timer combination sequence.

[0013] Further, the specific steps for constructing the gated loop unit regression model to output the corresponding side sweeping disc ground clearance adjustment amount and the corresponding side sweeping disc lifting cylinder stroke adjustment amount are as follows: A gated loop unit regression model is constructed based on the preprocessed sweeping disc linkage monitoring data and sweeping disc linkage judgment data; a training sample set is constructed by extracting corresponding time-series data segments around each matrix displacement marker in the matrix displacement event sequence; the matrix displacement marker, sweeping disc lifting action template, corresponding side sweeping disc ground clearance value, corresponding side sweeping disc lifting cylinder stroke displacement value, corresponding side sweeping disc lifting cylinder two-chamber pressure difference value, hydraulic oil temperature value, and corresponding side solenoid valve coil voltage value and corresponding side solenoid valve coil current value are used as input features; the corresponding side sweeping disc ground clearance adjustment amount and the corresponding side sweeping disc lifting cylinder stroke adjustment amount are used as output labels; the gated loop unit network algorithm is used to perform regression training on the training sample set; the input features corresponding to the current sampling period are input into the trained gated loop unit regression model to output the corresponding side sweeping disc ground clearance adjustment amount and the corresponding side sweeping disc lifting cylinder stroke adjustment amount.

[0014] Furthermore, the specific steps for calculating the sweeping disc action duration value and generating linkage strategy data by combining the absolute value of the pressure difference between the corresponding side sweeping disc lifting cylinder and the hydraulic oil temperature value are as follows: Add the ground clearance adjustment amount of the corresponding side sweeping disc to the stroke adjustment amount of the corresponding side sweeping disc lifting cylinder to obtain the action adjustment synthesis term; add one to the absolute value of the pressure difference between the corresponding side sweeping disc lifting cylinder and take its natural logarithm to obtain the pressure response constraint term; add one to the hydraulic oil temperature value and take its square root to obtain the temperature correction term; divide the action adjustment synthesis term by the sum of the pressure response constraint term and the temperature correction term to obtain the sweeping disc action duration value; then write the sweeping disc action duration value into the timer combination sequence to form the template timing configuration sequence; associate the sweeping disc lifting action template sequence, the timer combination sequence, and the template timing configuration sequence according to the controller system timestamp value to output the linkage strategy data.

[0015] Furthermore, the specific steps for generating corresponding side sweeping disc lifting and lowering control commands based on the linkage strategy data, and executing timing control according to the sweeping disc action duration value, with the corresponding side solenoid valve disconnection command output at the end of the timing are as follows: Read the linkage strategy data, and generate corresponding side solenoid valve trigger commands according to the sweeping disc lifting and lowering action template sequence: when the action template is the corresponding side lowering action template, generate the corresponding side sweeping disc lowering solenoid valve trigger command; when the action template is the corresponding side retracting action template, generate the corresponding side sweeping disc raising solenoid valve trigger command; when the action template is the double-sided retracting action template, generate the left and right sweeping disc raising solenoid valve trigger commands; generate corresponding timer trigger commands according to the timer combination sequence, and combine the corresponding side solenoid valve trigger commands with the corresponding timer... The device triggers a synchronous output command, driving the corresponding sweeping disc lifting or lowering solenoid valve to enter the conducting state and starting the corresponding timer to begin the timing process; it continuously reads the hydraulic pump output pressure value, the rodless chamber pressure value of the corresponding sweeping disc lifting cylinder, and the rod chamber pressure value of the corresponding sweeping disc lifting cylinder; when the hydraulic pump output pressure value is greater than the upper pressure threshold, or when any of the pressure values ​​of the rodless chamber pressure value or the rod chamber pressure value of the corresponding sweeping disc lifting cylinder is greater than the upper chamber pressure threshold, a corresponding solenoid valve disconnection command is generated and the corresponding timer is terminated; when the corresponding timer reaches the sweeping disc action duration value, a corresponding solenoid valve disconnection command is generated, causing the corresponding solenoid valve to exit the conducting state, and the sweeping disc lifting linkage control data is output.

[0016] On the other hand, a sweeper disc lifting linkage operation control device is provided. This device is applied to a sweeper disc lifting linkage operation control method. The device includes: a timing acquisition and normalization module, used to periodically acquire sweeper disc linkage monitoring data, perform preprocessing on the sweeper disc linkage monitoring data, and output preprocessed sweeper disc linkage monitoring data; and a matrix shift analysis module, used to combine and encode the operation mode and side operation status based on the preprocessed sweeper disc linkage monitoring data, generate a sweeper disc linkage status matrix sequence, perform adjacent sampling period difference on the sweeper disc linkage status matrix sequence, extract matrix shift markers, and generate sweeper disc linkage judgment data in combination with the sweeper disc motion status. The linkage strategy construction module is used to match the matrix displacement markers with the corresponding sweeping disc lifting action template based on the sweeping disc linkage judgment data, execute timer combination matching, and construct a gated loop unit regression model to output the corresponding side sweeping disc ground clearance adjustment amount and the corresponding side sweeping disc lifting cylinder stroke adjustment amount. It calculates the sweeping disc action duration value by combining the absolute value of the pressure difference of the corresponding side sweeping disc lifting cylinder and the hydraulic oil temperature value, and generates linkage strategy data. The timing execution control module is used to generate the corresponding side sweeping disc lifting control command based on the linkage strategy data, and execute timing control according to the sweeping disc action duration value. When the timing ends, it outputs the corresponding side solenoid valve disconnection command to complete the sweeping disc lifting linkage control.

[0017] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: (1) By combining and encoding the operation mode and the side operation status, a sweeping linkage status matrix sequence is constructed, and the matrix shift mark is extracted based on the difference between adjacent sampling periods. This enables the differentiation and identification of different switching scenarios such as washing and suction entry, single-side exit, and operation stop, thereby improving the accuracy and timing of sweeping lifting linkage judgment.

[0018] (2) Match different matrix displacement marks to the corresponding sweeping and lifting action templates, and further perform timer combination matching. This can generate differentiated control strategies for different linkage requirements such as double-sided retraction, single-sided retraction and corresponding side lowering, avoiding the problem of uncoordinated left and right sweeping actions caused by the unified retraction and release control in the prior art.

[0019] (3) Construct a gated loop unit regression model to output the ground clearance adjustment amount of the corresponding side sweeping disc and the stroke adjustment amount of the corresponding side sweeping disc lifting cylinder. This can incorporate the matrix displacement state, hydraulic execution state and solenoid valve drive state into the adjustment amount generation process, thereby improving the sweeping disc lifting control's adaptability to continuous operation scenarios and dynamic state changes.

[0020] (4) The sweeping disc lifting and lowering cylinder stroke adjustment amount, the absolute value of the pressure difference of the sweeping disc lifting and lowering cylinder and the hydraulic oil temperature value are used to calculate the sweeping disc action duration value, and the timing control is performed accordingly. This allows the sweeping disc lifting and lowering duration to be dynamically adjusted according to the hydraulic state and action requirements, avoiding the problem of incomplete action or overdrive under fixed duration control. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of a sweeper truck sweeping disc lifting and linkage operation control method provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a sweeper disc lifting and linkage operation control device provided in an embodiment of the present invention; Figure 3 This is a schematic diagram showing the equal distribution of the sweeping action duration values ​​provided in an embodiment of the present invention; Figure 4 This is a flowchart of the sweeping and lifting linkage execution control provided in an embodiment of the present invention. Detailed Implementation

[0023] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0024] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0025] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning.

[0026] In this embodiment of the invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0027] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0028] This invention provides a method for controlling the lifting and lowering of sweeping discs on a sweeper truck, such as... Figure 1 The flowchart shown is a method for controlling the lifting and lowering linkage of a sweeper disc in a washing and sweeping vehicle. The processing flow of this method may include the following steps: S1, periodically collecting sweeper disc linkage monitoring data, performing preprocessing on the sweeper disc linkage monitoring data, and outputting the preprocessed sweeper disc linkage monitoring data; S2, combining and encoding the operating mode and side operating status based on the preprocessed sweeper disc linkage monitoring data to generate a sweeper disc linkage state matrix sequence, performing adjacent sampling period difference on the sweeper disc linkage state matrix sequence to extract matrix shift markers, and generating sweeper disc linkage judgment data based on the sweeper disc motion state; S3, based on the sweeper disc... The linkage judgment data matches the matrix displacement markers to the corresponding sweeping disc lifting action template, executes timer combination matching, and constructs a gated loop unit regression model to output the corresponding side sweeping disc ground clearance adjustment amount and the corresponding side sweeping disc lifting cylinder stroke adjustment amount. Combined with the absolute value of the pressure difference of the corresponding side sweeping disc lifting cylinder and the hydraulic oil temperature value, the sweeping disc action duration value is calculated to generate linkage strategy data; S4, based on the linkage strategy data, the corresponding side sweeping disc lifting control command is generated, and the timing control is executed according to the sweeping disc action duration value. When the timing ends, the corresponding side solenoid valve disconnection command is output to complete the sweeping disc lifting linkage control.

[0029] Optionally, the following steps are taken to periodically collect sweeping disc linkage monitoring data and preprocess the data to output the preprocessed data: A fixed-duration sliding time window is set as one sampling period, ranging from 0.5 to 2 seconds, and the sampling period is from 10 to 100 milliseconds. The controller triggers a synchronous sampling task at the beginning of each sampling period, forming a set of original records with a unified controller system timestamp value within the same sampling period. Sweeping disc linkage monitoring data is periodically collected during the sweeper's lifting and lowering operation. This data includes: the voltage value of the one-button operation signal, the output voltage value of the sweeping mode selection switch, and the voltage value of the sweeping and vacuuming mode. The following parameters are listed: output voltage value of the sweeping mode selection switch, output voltage value of the dry sweeping mode selection switch, output voltage value of the left-side operation selection switch, output voltage value of the right-side operation selection switch, voltage value of the sweeping disc descent solenoid valve coil, voltage value of the sweeping disc rise solenoid valve coil, current value of the sweeping disc descent solenoid valve coil, current value of the sweeping disc rise solenoid valve coil, hydraulic oil pump output pressure value, rodless chamber pressure value of the sweeping disc lifting cylinder, rod chamber pressure value of the sweeping disc lifting cylinder, hydraulic oil temperature value, stroke displacement value of the sweeping disc lifting cylinder, sweeping disc ground clearance value, and controller system timestamp value. The one-button operation signal voltage value is collected through the operation button input terminal in the cab and is used to indicate whether the current sampling period has entered the linkage operation state; the sweeping mode selection switch output voltage... The output voltage values ​​of the washing and suction mode selection switch and the dry sweeping mode selection switch are collected through the output terminals of the mode selection switches to indicate the current operation mode switching status; the output voltage values ​​of the left and right operation selection switches are collected through the output terminals of the side operation selection switches to indicate whether the left and right sweeping discs have entered the operation permission state; the voltage values ​​of the sweeping disc descent solenoid valve coil and the sweeping disc elevation solenoid valve coil are collected through the two ends of the corresponding solenoid valve coils to indicate whether the controller sends a drive command to the sweeping disc lifting and lowering execution circuit; the current values ​​of the sweeping disc descent solenoid valve coil and the sweeping disc elevation solenoid valve coil are collected through the current detection circuit to indicate the actual energization state of the solenoid valve coils. The technical principle is that voltage signals can characterize the command output status, and current signals can characterize the circuit conduction status. Collecting both together can avoid misjudgment caused by relying solely on a single voltage signal. The hydraulic pump output pressure value is collected by the main hydraulic circuit pressure sensor to characterize whether the hydraulic source is in an effective pressure supply state. The technical principle is that the sweeping disc lifting depends on hydraulic driving force, and when the pressure in the main hydraulic circuit is insufficient, the subsequent lifting action is difficult to establish stably. The pressure values ​​of the rodless chamber and the rod chamber of the sweeping disc lifting cylinder are collected by the cylinder two-chamber pressure sensors to characterize the cavity force state during the sweeping disc lifting execution process. The technical principle is that the pressure difference between the two chambers can reflect the actual force direction of the cylinder, thereby supporting the determination of the subsequent lifting direction.The hydraulic oil temperature is collected by a hydraulic oil tank temperature sensor to characterize the viscosity change of the hydraulic medium. The technical principle is that changes in hydraulic oil temperature alter the hydraulic response speed, thus affecting the duration of the sweeping disc action. The stroke displacement value of the sweeping disc lifting cylinder is collected by a displacement sensor installed on the sweeping disc lifting cylinder to characterize the stroke change of the sweeping disc within the sampling period. The sweeping disc height above the ground is collected by a height detection element installed at the working end of the sweeping disc to characterize the real-time height of the sweeping disc relative to the ground. The technical principle is that the stroke displacement value of the sweeping disc lifting cylinder reflects the internal displacement change of the actuator, while the sweeping disc height above the ground reflects the external posture change of the working end. Collecting both together improves the reliability of subsequent action state recognition. The controller system timestamp value is generated by the controller's internal clock at the sampling trigger moment to establish a unified timing reference for all sampled data. The above-mentioned rodless chamber pressure value, rod chamber pressure value, stroke displacement value, and sweeping disc height above the ground value of the sweeping disc lifting cylinder include data corresponding to the left sweeping disc and data corresponding to the right sweeping disc. For the collected scanning linkage monitoring data, a network time protocol time synchronization algorithm is used to perform multi-node time base alignment and time synchronization correction processing on the scanning linkage monitoring data. Specifically, the controller sends a time synchronization request to the acquisition node according to a preset synchronization period, records the request sending time, response receiving time, and node return time, calculates the clock offset and link round-trip delay, and then performs offset compensation on the controller system timestamp value of each sampling record, so that the scanning linkage monitoring data from different acquisition nodes in the same sampling period are mapped to a unified time base. The technical principle is to eliminate the timing misalignment caused by node clock drift through time offset compensation. A parity check consistency detection algorithm is used to perform sampling data integrity detection and abnormal record identification processing on the scanning linkage monitoring data. Specifically, the parity check bit is recalculated for the binary data frame in each sampling record, and then compared bit by bit with the original attached parity bit. Sampling records with inconsistent parity are marked as abnormal records. The technical principle is to use bit-level check relationship to detect transmission flip errors and prevent erroneous codes from entering subsequent state judgment.A three-sigma anomaly detection algorithm is used to identify and remove abnormal sampling values ​​from the sweeping disc linkage monitoring data. Specifically, within a fixed-duration sliding time window, the following voltage values ​​are calculated: one-button operation signal voltage, sweeping mode selection switch output voltage, sweeping and vacuuming mode selection switch output voltage, dry sweeping mode selection switch output voltage, left-side operation selection switch output voltage, right-side operation selection switch output voltage, sweeping disc descent solenoid valve coil voltage, sweeping disc descent solenoid valve coil current, sweeping disc descent solenoid valve coil current, hydraulic pump output pressure, sweeping disc lifting cylinder rodless chamber pressure, and sweeping disc lifting oil pressure. The window mean and standard deviation of the cylinder rod chamber pressure, hydraulic oil temperature, sweeping disc lifting cylinder stroke displacement, and sweeping disc ground clearance are used to identify outliers. Values ​​deviating more than three standard deviations from the window mean are considered abnormal and are then removed. The technical principle is to identify peak abrupt changes in sampling points using statistical dispersion. A first-order exponential weighted moving average filtering algorithm is used to perform instantaneous jitter suppression and noise smoothing on the sweeping disc linkage monitoring data. Specifically, higher weights are assigned to data in the current sampling period, and decreasing weights are assigned to data in adjacent historical sampling periods. The smoothing results are updated recursively. Switching voltage data is used to suppress connection... Point jitter, pressure data is used to suppress hydraulic pulsation, displacement data to suppress mechanical vibration, and height data to suppress instantaneous fluctuations caused by road surface disturbances. The technical principle is to reduce high-frequency noise components while preserving the current trend of change in the smoothed results. A vector normalization algorithm is used to perform dimensional unification and numerical scale standardization processing on the sweeping disc linkage monitoring data. Specifically, within the same sampling period, the voltage values ​​of the one-button operation signal, the output voltage values ​​of the sweeping mode selection switch, the output voltage values ​​of the sweeping and vacuuming mode selection switch, the output voltage values ​​of the dry sweeping mode selection switch, the output voltage values ​​of the left operation selection switch, the output voltage values ​​of the right operation selection switch, and the voltage values ​​of the sweeping disc descent solenoid valve coil are recorded. The following parameters are used to construct a feature vector: pressure value, sweeping disc lifting solenoid valve coil voltage value, sweeping disc lowering solenoid valve coil current value, sweeping disc lifting solenoid valve coil current value, hydraulic oil pump output pressure value, sweeping disc lifting cylinder rodless chamber pressure value, sweeping disc lifting cylinder rod chamber pressure value, hydraulic oil temperature value, sweeping disc lifting cylinder stroke displacement value, and sweeping disc ground clearance value. Then, the feature vector magnitude is used to normalize each component, mapping different physical quantities to a unified numerical scale. The technical principle is to eliminate the numerical bias caused by the dimensional differences between voltage, current, pressure, temperature, displacement, and height in subsequent combination encoding, matrix displacement recognition, and action template matching, outputting pre-processed sweeping disc linkage monitoring data.

[0030] In this implementation plan, by establishing a unified time series benchmark, a unified numerical scale, and a unified validity constraint for the sweeping disc linkage monitoring data, the voltage values ​​of the one-button operation signal, the output voltage values ​​of the sweeping mode selection switch, the output voltage values ​​of the sweeping mode selection switch, the dry sweeping mode selection switch, the output voltage values ​​of the left operation selection switch, the output voltage values ​​of the right operation selection switch, the voltage value of the sweeping disc descent solenoid valve coil, the current value of the sweeping disc rise solenoid valve coil, the output pressure value of the hydraulic oil pump, the pressure value of the rodless chamber of the sweeping disc lifting cylinder, the stroke displacement value of the sweeping disc lifting cylinder, and the sweeping disc ground clearance value are formed within the same sampling period. This preprocessed sweeping disc linkage monitoring data can be directly compared, continuously tracked, and stably input into the subsequent combination coding process. This improves the accuracy of the sweeping disc linkage state matrix sequence construction, the reliability of matrix displacement mark extraction, and the stability of the sweeping disc action duration value calculation.

[0031] Optionally, the specific steps for combining and encoding the operation mode and side operation status based on the preprocessed sweeping linkage monitoring data to generate the sweeping linkage status matrix sequence are as follows: Read the preprocessed sweeping linkage monitoring data, and compare the one-button operation signal voltage value and the hydraulic pump output pressure value with the corresponding thresholds. Specifically, the one-button operation signal voltage value is determined using a button conduction threshold; when the one-button operation signal voltage value is greater than the button conduction threshold, the current sampling period is determined to be in an operation enabled state. The hydraulic pump output pressure value is determined using a hydraulic establishment threshold; when the hydraulic pump output pressure value is greater than the hydraulic establishment threshold, the current sampling period is determined to be in a hydraulic effective state. The technical principle is that the one-button operation signal voltage value is used to characterize whether the control intention input is valid, and the hydraulic pump output pressure value is used to characterize whether the control intention input is valid. The pump output pressure value is used to characterize whether the sweeping disc lifting action has basic driving force. Only after the control intention is established and the hydraulic driving force is established can the subsequent operation mode coding value have actual control significance. The comparison results are synchronized and paired according to the controller system timestamp value. Specifically, the controller system timestamp value is used as a unified sorting benchmark. The judgment results of the one-key operation button signal voltage value and the judgment results of the hydraulic oil pump output pressure value within the same sampling period are written into the same timing record unit to construct the operation access linkage group. The operation access linkage group is subjected to sampling period logic synthesis. Specifically, in each sampling period, the operation enable state and the hydraulic effective state are judged by a dual condition. When both conditions are met, an access valid flag is output. When either condition is not met, an access invalid flag is output, generating an operation access state sequence.Within the sampling period corresponding to the operation access state sequence, the output voltage values ​​of the sweeping / washing mode selection switch, the sweeping / vacuuming mode selection switch, and the dry sweeping mode selection switch are mutually exclusive combination encoded. Specifically, each of these values ​​is compared with its respective mode conduction threshold. If none of the three mode selection switch output voltage values ​​reaches the mode conduction threshold, a "no mode" code is assigned. If only the sweeping / washing mode selection switch output voltage value reaches the mode conduction threshold, a sweeping / washing mode code is assigned. If only the sweeping / vacuuming mode selection switch output voltage value reaches the mode conduction threshold, a sweeping / washing mode code is assigned. If only the dry sweeping mode selection switch output voltage value reaches the mode conduction threshold, a sweeping / washing mode code is assigned. When the pressure value reaches the mode conduction threshold, it is assigned the dry sweeping mode code. The operation mode code value adopts a fixed discrete encoding method, where the no mode code is 0, the sweeping and washing mode code is 1, the vacuuming and washing mode code is 2, and the dry sweeping mode code is 3. Only one valid operation mode code value is allowed to be written in the current sampling period. When the output voltage values ​​of two or more mode selection switches reach the mode conduction threshold at the same time in the same sampling period, the mode code corresponding to the mode switching edge with the most recent controller system timestamp value is used as the only valid operation mode code value in the current sampling period. The technical principle is that the mutually exclusive combination encoding can compress multiple mode inputs into a single discrete state expression, avoid the subsequent matrix row state conflict caused by multiple modes being established concurrently, and generate the operation mode code value. The output voltage values ​​of the left and right work selection switches are combined and encoded using side-side codes. Specifically, the output voltage values ​​of the left and right work selection switches are compared with their respective side-side conduction thresholds. When the output voltage value of the left work selection switch reaches the side-side conduction threshold but the output voltage value of the right work selection switch does not, a left-side on code is assigned. When the output voltage values ​​of both the left and right work selection switches reach the side-side conduction thresholds, a dual-side on code is assigned. When the output voltage value of the right work selection switch reaches the side-side conduction threshold... When the threshold value and the output voltage value of the left-side operation selection switch do not reach the side conduction threshold, the right-side open code is assigned. When the output voltage values ​​of both the left-side and right-side operation selection switches do not reach the side conduction threshold, the double-side close code is assigned. The side operation code value adopts a fixed discrete coding method, where the left-side open code is 0, the double-side open code is 1, the right-side open code is 2, and the double-side close code is 3. The technical principle is that the side combination code can map the left and right side scanning operation allowable states to a unified side discrete state, which facilitates the subsequent two-dimensional splicing with the operation mode code value to generate the side operation code value.The operation mode code value and the side operation code value are then concatenated according to the controller system timestamp value. Specifically, each sampling period corresponding to the controller system timestamp value is used as the matrix writing time. The operation mode code value is written to the row state unit, and the side operation code value is written to the column state unit. A sweeping linkage state matrix sequence is generated according to the four-row and four-column mapping rule. The four rows correspond to the no-mode code, the washing and sweeping mode code, the washing and vacuuming mode code, and the dry sweeping mode code, respectively. The four columns correspond to the left-side open code, the double-side open code, the right-side open code, and the double-side closed code, respectively. The technical principle is that the matrix is ​​written periodically by driving the controller system timestamp value. The operation mode change process and the side operation change process can be uniformly projected into the same matrix time space, thereby providing a discrete state basis that can be directly calculated for subsequent matrix element displacement extraction.

[0032] In this implementation scheme, the voltage values ​​of the one-button operation signal, hydraulic pump output pressure, sweeping mode selection switch output voltage, vacuuming mode selection switch output voltage, dry sweeping mode selection switch output voltage, left-side operation selection switch output voltage, and right-side operation selection switch output voltage are uniformly mapped to the operation access state sequence, operation mode code value, side operation code value, and sweeping disc linkage state matrix sequence. This allows changes in control intent, hydraulic establishment state, operation mode, and side operation within a continuous sampling period to be stably expressed in the same discrete time sequence structure. This improves the state discrimination capability of the sweeping disc linkage state matrix sequence, the accuracy of matrix displacement mark extraction, and the targeting of subsequent sweeping disc lifting action template matching.

[0033] Optionally, the specific steps for performing adjacent sampling period difference on the scanning linkage state matrix sequence to extract matrix shift markers are as follows: Perform adjacent sampling period difference operation on the scanning linkage state matrix sequence. Specifically, sort the scanning linkage state matrix sequence according to the controller system timestamp value, take the matrix corresponding to the current sampling period and the matrix corresponding to the previous sampling period to form adjacent matrix pairs, then perform element-by-element subtraction on the discrete encoded values ​​at the same matrix positions, determine the matrix positions where the difference result is not zero as matrix element shift positions, and determine the matrix positions where the difference result is zero as matrix element hold positions, extracting the shift results of the matrix elements. The technical principle is that the scanning linkage state matrix sequence has already... The operation mode code value and the side operation code value are compressed and mapped into a unified discrete state space. Through differential operations between adjacent sampling periods, the stable state and switching state in the continuous time sequence can be separated, making the state transitions of matrix elements explicit in a directly discernible transformation form. When the operation mode code value changes from non-washing / suction code to washing / suction code, specifically, the operation mode code value of the current sampling period is determined to be washing / suction code, and the operation mode code value of the previous sampling period is determined to be any one of the following codes: no mode code, washing / sweeping mode code, or dry sweeping mode code. Simultaneously, when the sweeping linkage state matrix sequence of the current sampling period undergoes a row-wise transformation in the row corresponding to the washing / suction code, a washing / suction entry matrix transformation marker is generated. This technical principle... The principle lies in the mode switching edge where the sweeping disk transitions from the operation deployment state to the retraction control state, corresponding to the washing and suction code. By utilizing row-direction code shifting, the moment of switching into the washing and suction mode can be extracted separately from the continuous control process. When the side operation code value changes from the left-side open code to the left-side closed code, specifically, the side operation code value of the previous sampling period is determined to be the left-side open code, and the side operation code value of the current sampling period is determined to be either the double-side closed code or the right-side open code. Simultaneously, when the sweeping disk linkage state matrix sequence of the current sampling period undergoes column-direction shifting in the column corresponding to the left-side open code, a left-side exit matrix shifting marker is generated. The technical principle is that the disappearance of the left-side open code indicates a left sweeping disk operation permission status. The right-side operation permission state is revoked by using column-directed encoding shifting to accurately locate the timing edge of the left sweep disk that needs to exit the operation. When the side operation code value changes from right-side open code to right-side closed code, specifically, the side operation code value of the previous sampling period is determined to be right-side open code, and the side operation code value of the current sampling period is determined to be either double-side closed code or left-side open code. At the same time, when the sweep disk linkage state matrix sequence of the current sampling period undergoes column-directed shifting in the column corresponding to the right-side open code, a right exit matrix shifting mark is generated. The technical principle is that the disappearance of the right-side open code indicates that the right sweep disk operation permission state is revoked, and the timing edge of the right sweep disk that needs to exit the operation can be accurately located by using column-directed encoding shifting.When the voltage value of the one-button operation signal changes from the on state to the off state—specifically, when the voltage value of the one-button operation signal in the previous sampling period is greater than the button conduction threshold, and the voltage value of the one-button operation signal in the current sampling period is less than the button conduction threshold—and simultaneously, when the operation access state sequence in the current sampling period changes from an access valid marker to an access invalid marker, a work stop matrix shift marker is generated. The technical principle is that the change in the conduction state of the one-button operation signal voltage value corresponds to the end edge of the vehicle's coordinated operation process. Synchronizing this with the operation access state sequence avoids false triggering caused by simple button bounce. Furthermore, each matrix shift marker is arranged according to the controller system timestamp value, specifically according to the controller system... The matrix shift markers for washing / suction entry, left exit, right exit, and operation stop are written into a unified time-series event table in ascending order of timestamp values. When multiple matrix shift markers appear within the same sampling period, row-wise shifts of the operation mode code value take precedence over column-wise shifts of the side operation code value, and the operation stop matrix shift marker takes precedence over other matrix shift markers. This generates a matrix shift event sequence. The technical principle is that by standardizing the sorting of matrix shift markers through a unified time-series event table, a unique event entry point can be provided for subsequent sweeping and lifting action template matching, avoiding ambiguity in action judgment when multiple switching edges occur simultaneously.

[0034] In this implementation scheme, by performing differential processing on adjacent sampling periods under unified timing constraints on the sweeping linkage state matrix sequence, the switching edges of the operation mode code value, side operation code value, and one-button operation signal voltage value during continuous sampling can be converted into a matrix shift event sequence with a clear sequential relationship. This improves the timing identification stability, event classification consistency, and subsequent sweeping lifting action template matching accuracy of the washing and suction entry matrix shift mark, left exit matrix shift mark, right exit matrix shift mark, and operation stop matrix shift mark.

[0035] Optionally, the specific steps for generating sweeping disc linkage judgment data based on the sweeping disc motion state are as follows: Within the sampling period corresponding to the operation access state sequence, calculate the left sweeping disc pressure difference between the rodless chamber pressure value and the rod chamber pressure value of the left sweeping disc lifting cylinder; calculate the right sweeping disc pressure difference between the rodless chamber pressure value and the rod chamber pressure value of the right sweeping disc lifting cylinder; then calculate the left sweeping disc displacement change in adjacent sampling periods for the left sweeping disc lifting cylinder stroke displacement value, the right sweeping disc displacement change in adjacent sampling periods for the right sweeping disc lifting cylinder stroke displacement value, the left sweeping disc height change in adjacent sampling periods for the left sweeping disc ground height value, and the right sweeping disc height change in adjacent sampling periods for the right sweeping disc ground height value. The left sweeping disc pressure difference is the difference between the rodless chamber pressure value and the rod chamber pressure value of the left sweeping disc lifting cylinder; the right sweeping disc pressure difference is the difference between the rodless chamber pressure value and the rod chamber pressure value of the right sweeping disc lifting cylinder. The sweeping disc displacement change is calculated by subtracting the left sweeping disc lifting cylinder stroke displacement value from the previous sampling period from the current sampling period's left sweeping disc lifting cylinder stroke displacement value. The right sweeping disc displacement change is calculated by subtracting the right sweeping disc lifting cylinder stroke displacement value from the previous sampling period's right sweeping disc lifting cylinder stroke displacement value. The left sweeping disc height change is calculated by subtracting the left sweeping disc ground clearance value from the previous sampling period's left sweeping disc ground clearance value. The right sweeping disc height change is calculated by subtracting the right sweeping disc ground clearance value from the previous sampling period's right sweeping disc ground clearance value. The technical principle is that the force difference between the two chambers of the cylinder can reflect the direction of the hydraulic driving force, the stroke displacement change can reflect the actual movement trend of the cylinder piston rod, and the ground clearance change can reflect the posture change trend of the sweeping disc working end. By placing these three types of state quantities in the same sampling period for joint judgment, the hydraulic execution state, mechanical displacement state, and working end posture state can be uniformly mapped into a sweeping disc motion state that can be identified on the ground.When the voltage and current values ​​of the left sweeping disc rising solenoid valve coil meet the conduction condition, and the pressure difference, displacement change, and height change of the left sweeping disc satisfy the upward direction relationship, a left sweeping disc rising motion status marker is generated. Specifically, the left sweeping disc rising solenoid valve coil voltage meeting the conduction condition indicates that the controller has sent drive voltage to the left sweeping disc rising execution circuit; the left sweeping disc rising solenoid valve coil current meeting the conduction condition indicates that the left sweeping disc rising execution circuit has achieved actual conduction; and the left sweeping disc pressure difference satisfying the upward direction relationship... This indicates that the direction of force inside the left sweeping disc lifting cylinder is consistent with the upward movement. The change in left sweeping disc displacement satisfying the upward direction relationship indicates that the stroke displacement value of the left sweeping disc lifting cylinder changes along the preset upward displacement direction. The change in left sweeping disc height satisfying the upward direction relationship indicates that the left sweeping disc's height above the ground changes along the preset upward height direction. The technical principle is that only when the voltage drive state, current conduction state, hydraulic force state, cylinder displacement state, and sweeping disc attitude state remain consistent within the same sampling period is the left sweeping disc's upward movement considered a true upward process. When the left sweeping disc descends... When the voltage value of the solenoid valve coil and the current value of the left sweeping disc descent solenoid valve coil meet the conduction condition, and the pressure difference of the left sweeping disc, the displacement change of the left sweeping disc, and the height change of the left sweeping disc satisfy the descent direction relationship, a left sweeping disc descent motion status marker is generated. Specifically, the left sweeping disc descent solenoid valve coil voltage meeting the conduction condition indicates that the controller has sent drive voltage to the left sweeping disc descent execution circuit; the left sweeping disc descent solenoid valve coil current meeting the conduction condition indicates that the left sweeping disc descent execution circuit has achieved actual conduction; and the left sweeping disc pressure difference satisfying the descent direction relationship indicates that the left sweeping disc is raising or lowering oil... The direction of force inside the cylinder is consistent with the downward movement. The change in displacement of the left sweeping disc satisfies the relationship of the downward direction, indicating that the stroke displacement value of the left sweeping disc lifting cylinder changes along the preset downward displacement direction. The change in height of the left sweeping disc satisfies the relationship of the downward direction, indicating that the height value of the left sweeping disc above the ground changes along the preset downward height direction. The technical principle is that by using the closed constraint of the same direction of electrical signal, hydraulic signal, displacement signal and attitude signal, it can eliminate the misjudgment of simple solenoid valve being energized but not actually acting, simple pressure fluctuation but not forming effective displacement, and simple attitude jitter but not forming a stable lifting process.The right sweeping disk uses the same judgment process as the left sweeping disk to generate a right sweeping disk rising motion state marker and a right sweeping disk falling motion state marker, forming a left and right sweeping disk motion state sequence. This sequence is written periodically according to the controller system timestamp value. In the current sampling period, only one left sweeping disk main motion state marker and one right sweeping disk main motion state marker are allowed to be written. If both the left sweeping disk rising motion state marker and the left sweeping disk falling motion state marker simultaneously meet the candidate conditions within the current sampling period, the state with the higher consistency among the left sweeping disk pressure difference direction, left sweeping disk displacement change direction, and left sweeping disk height change direction is selected as the left sweeping disk main motion state marker. The right sweeping disk uses the same judgment principle. The technical principle lies in... The main motion state selection rule can eliminate short-term dual candidate states caused by sampling jitter. The matrix displacement event sequence and the left and right sweeping disk motion state sequences are associated according to the controller system timestamp value. Specifically, using the controller system timestamp value as a unified index, the event time in each matrix displacement event sequence is mapped to the left and right sweeping disk motion state markers corresponding to the same sampling period. Then, a preset number of sampling periods are traced forward and backward to form a local motion observation interval around the matrix displacement event. The left and right sweeping disk motion states corresponding to different matrix displacement markers are categorized. Specifically, when the washing and suction switch enters the observation interval corresponding to the matrix displacement marker, the left sweeping disk descent motion state marker turns... When the left sweeping disk ascends and the right sweeping disk descends and then ascends, it is classified as a bilateral retraction action. When the left sweeping disk descends and ascends within the observation interval corresponding to the left exit matrix shift mark, it is classified as a left retraction action. When the right sweeping disk descends and ascends within the observation interval corresponding to the right exit matrix shift mark, it is classified as a right retraction action. When the wash / suction entry matrix shift mark, left exit matrix shift mark, right exit matrix shift mark, and operation stop matrix shift mark do not appear in the matrix shift event sequence, and the operation mode code value remains non-wash / suction code, it is a side operation. The encoding values ​​maintain the corresponding codes among left-side open encoding, right-side open encoding, and double-side open encoding. Simultaneously, when the left and right sweeping motion state sequences consistently exhibit the corresponding side descent motion state flag within the observation interval, they are categorized as the corresponding side lowering action category, generating a matrix displacement action category sequence and outputting sweeping linkage judgment data. The technical principle lies in aligning and classifying the state switching information expressed by the matrix displacement event sequence with the actual execution information expressed by the left and right sweeping motion state sequences within a unified temporal space. This allows for binding changes in operational intent with the actual sweeping motion response to the same judgment result, providing sweeping linkage judgment data with event meaning, execution meaning, and temporal boundaries for subsequent sweeping lifting action template matching.

[0036] In this implementation scheme, by unifying the pressure values ​​of the rodless chamber of the sweeping disc lifting cylinder, the pressure values ​​of the rod chamber of the sweeping disc lifting cylinder, the stroke displacement value of the sweeping disc lifting cylinder, the ground clearance value of the sweeping disc, the voltage value of the sweeping disc rising solenoid valve coil, the current value of the sweeping disc falling solenoid valve coil, and the matrix displacement event sequence into the same timing judgment process, the motion state sequence of the left and right sweeping discs no longer relies solely on the change of a single electrical signal for inference, but can stably reflect the actual lifting process of the sweeping discs. This improves the accuracy of the action attribution of the matrix displacement action category sequence, the event constraint capability of the sweeping disc linkage judgment data, and the reliability of subsequent sweeping disc lifting action template matching.

[0037] Optionally, based on the sweeping linkage judgment data, the matrix displacement marker is matched with the corresponding sweeping lifting action template. The specific steps for performing timer combination matching are as follows: Read the sweeping linkage judgment data, specifically, read the matrix displacement event sequence, matrix displacement action category sequence, operation mode code value, side operation code value, and left and right sweeping motion state sequence in order according to the controller system timestamp value. Match the washing and suction entry matrix displacement marker with the double-sided retraction action template. Specifically, when there is a washing and suction entry matrix displacement marker in the current sampling period of the matrix displacement event sequence, and the matrix displacement action category sequence corresponds to the double-sided retraction action category in the same sampling period, the current sampling... The period marker is the time when the bilateral retraction action template is written. Then, the left sweeping disk rising motion state marker from the left sweeping disk motion state sequence and the right sweeping disk rising motion state marker from the right sweeping disk motion state sequence are jointly written into the bilateral retraction action template. The technical principle is that the wash-suction entry matrix shift marker indicates that the operation mode code value has switched from non-wash-suction code to wash-suction code. The current side operation permission should be simultaneously revoked, and the left and right sweeping disks need to transition from the operation deployment state to the synchronous retraction state. Therefore, using the bilateral retraction action template as a unified action expression can directly map the mode switching intention to the bilateral execution target. The left exit matrix shift marker is matched to the left retraction action template, specifically when… In the matrix shift event sequence, if a left-side exit matrix shift marker exists in the current sampling period, and the matrix shift action category sequence corresponds to a left-side retraction action category in the same sampling period, the current sampling period is marked as the time for writing the left-side retraction action template. Then, the left-side sweep disk rising motion status marker in the left sweep disk motion state sequence is written into the left-side retraction action template. The technical principle is that the left-side exit matrix shift marker indicates that the side operation permission corresponding to the output voltage value of the left-side operation selection switch has been revoked, and the left sweep disk needs to exit from its original operating posture. Therefore, the left-side exit event is fixedly mapped to the left sweep disk rising control target using the left-side retraction action template; the right-side exit matrix shift marker is matched... The right-side retraction action template is specifically designed for situations where a right-side exit matrix shift marker exists in the current sampling period of the matrix shift event sequence, and the matrix shift action category sequence corresponds to the right-side retraction action category in the same sampling period. In such cases, the current sampling period is marked as the right-side retraction action template writing time. Then, the right-side sweep disk rising motion status marker in the right sweep disk motion state sequence is written into the right-side retraction action template. The technical principle is that the right-side exit matrix shift marker indicates that the side operation permission corresponding to the output voltage value of the right-side operation selection switch has been revoked, and the right sweep disk needs to exit from its original operation posture. Therefore, the right-side exit event is fixedly mapped to the right sweep disk rising control target using the right-side retraction action template.The matrix state that is not coded for washing and suction and whose corresponding side operation code is in the open state is matched with the corresponding side-down action template. Specifically, when the current sampling period's operation mode code value is in a non-washing and suction code state other than no mode code, and the side operation code value is in any of the open states of left-side open code, right-side open code, or both-side open code, and the matrix shift event sequence does not contain a washing and suction entry matrix shift marker, a left exit matrix shift marker, a right exit matrix shift marker, or an operation stop matrix shift marker, and the matrix shift action category sequence corresponds to any of the left-side down action category or the right-side down action category, the current sampling period is written into the left-side down action template and the right-side down action template, respectively. The technical principle is that the non-washing and suction code state indicates that the sweeping still has the conditions for operation to be carried out, and the side operation code value is in the open state. The "Start" state indicates that the corresponding side's operation permission is valid. Therefore, the current matrix state should be mapped to the corresponding side's lowering action template, causing the sweeping disc to transition from the retracted posture to the operating posture, and forming a sweeping disc lifting and lowering action template sequence. Specifically, according to the controller system timestamp value in ascending order, the double-sided retracting action template, left-sided retracting action template, right-sided retracting action template, left-sided lowering action template, and right-sided lowering action template are written into a unified action template table. Only one main action template is allowed to be written in the current sampling period. When multiple template candidate conditions are met simultaneously in the same sampling period, the double-sided retracting action template is prioritized over the single-sided retracting action template, and the single-sided retracting action template is prioritized over the corresponding side lowering action template for retention. The technical principle is that template priority constraints can avoid action conflicts when the mode switching edge and the side switching edge overlap. Among them, the double-sided retracting action template, left-sided retracting action template, right-sided retracting action template, left-sided lowering action template, and right-sided lowering action template all include at least an action template type identifier, a target sweeping disc side identifier, a solenoid valve target action identifier, an interlock constraint identifier, and a template trigger timestamp value.The action template type identifier is used to distinguish whether the current template belongs to the retraction type or the release type. The target sweep side identifier is used to distinguish whether the current template corresponds to the left sweep, right sweep, or both sweep. The solenoid valve target action identifier is used to indicate whether the current template corresponds to the target of the rising solenoid valve or the target of the falling solenoid valve. The interlock constraint identifier is used to characterize whether the current template prohibits the release action or prohibits the independent action on the opposite side. The template trigger timestamp value is used to record the effective time of the action template. The technical principle is that by pre-defining the internal fields of the action template, the discrete event semantics in the matrix displacement event sequence can be transformed into a control semantic carrier that can be directly executed. The sweeping disc lifting action template sequence is matched using timer combinations. Specifically, based on the main action template type corresponding to each sampling period in the sweeping disc lifting action template sequence, a pre-stored timer mapping table is invoked to map the action template category to the timer template category. When the sweeping disc lifting action template sequence is a left-side lowering action template, the left sweeping disc descent timer template is matched. Specifically, the left sweeping disc descent action template entry, the left sweeping disc descent timing start marker, and the left sweeping disc descent timing end marker are written into the same timer template record. The technical principle is that the left lowering action corresponds to the change of the left sweeping disc from the retracted posture to the working posture, and the descent duration needs to be constrained by an independent descent timing. When the sweeping disc lifting action template sequence is a left-side retracting action template, the left sweeping disc rising timer template is matched. Specifically, the left sweeping disc retracting action template entry, the left sweeping disc rising timing start marker, and the left sweeping disc rising timing end marker are written into the same timer template record. The technical principle is... The left-side retraction action corresponds to the left sweeping disk changing from the working posture to the retraction posture, and the rising duration needs to be constrained by an independent rising timer. When the sweeping disk lifting action template sequence is the right-side lowering action template, the right sweeping disk lowering timer template is matched. Specifically, the right sweeping disk lowering action template entry, the right sweeping disk lowering timer start mark, and the right sweeping disk lowering timer end mark are written into the same timer template record. The technical principle is that the right-side lowering action corresponds to the right sweeping disk changing from the retraction posture to the working posture, and the falling duration needs to be constrained by an independent falling timer. When the sweeping disk lifting action template sequence is the right-side retraction action template, the right sweeping disk rising timer template is matched. Specifically, the right sweeping disk retraction action template entry, the right sweeping disk rising timer start mark, and the right sweeping disk rising timer end mark are written into the same timer template record. The technical principle is that the right-side retraction action corresponds to the right sweeping disk changing from the working posture to the retraction posture, and the rising duration needs to be constrained by an independent rising timer.When the sweeping disc lifting action template sequence is a double-sided retraction action template and is triggered by the wash-suction entry matrix shift mark, the wash-suction mode rising edge trigger timer template is matched. Specifically, in the current sampling period, the rising edge of the mode switching corresponding to the wash-suction entry matrix shift mark is detected, and the rising edge moment is written into the timing start position of the wash-suction mode rising edge trigger timer template. Then, the left and right sweeping disc synchronous retraction control target is written into the same template record. The technical principle is that the double-sided retraction action template in the wash-suction entry scenario is not a simple double-sided retraction process, but a synchronous retraction process directly triggered by the wash-suction coded entry edge. Using the wash-suction mode rising edge trigger timer template can ensure that the left and right sweeping discs start retraction at the same edge moment and form a timer combination sequence, specifically according to... The controller system writes the left sweep disk descent timer template, left sweep disk rise timer template, right sweep disk descent timer template, right sweep disk rise timer template, and washing / suction mode rising edge trigger timer template into a unified timer template table. If the main action template corresponds to only one side action within the same sampling period, only the corresponding single timer template is written. If the main action template corresponds to both sides retraction action within the same sampling period, the washing / suction mode rising edge trigger timer template is written as the main timer template. The technical principle is that through the one-to-one mapping relationship between action templates and timer templates, discrete action intentions can be directly converted into time execution constraints with start edges, duration intervals, and termination edges, providing a unified timing container for writing the duration values ​​of subsequent sweep disk actions. The left sweeping disc descent timer template, left sweeping disc ascending timer template, right sweeping disc descent timer template, right sweeping disc ascending timer template, and washing / suction mode rising edge triggered timer template all include at least a timer template type identifier, a timing start edge identifier, a timing end edge identifier, an initial value for the duration field, a corresponding solenoid valve binding identifier, and a template interlock identifier. The timer template type identifier is used to distinguish the current template's corresponding descent timing process, ascending timing process, and washing / suction mode rising edge triggered timing process. The timing start edge identifier is used to record the timing start time, the timing end edge identifier is used to record the timing end time, the initial value for the duration field is used to provide a default time placeholder before the sweeping action duration value is written, the corresponding solenoid valve binding identifier is used to indicate which solenoid valve conduction process the current timer template is bound to, and the template interlock identifier is used to indicate other timer templates that need to be blocked when the current timer template is activated. The technical principle is that by pre-defining the internal fields of the timer template, the subsequent sweeping action duration value writing process, the corresponding side solenoid valve triggering process, and the corresponding side solenoid valve disconnection process can be kept consistent in the same time constraint structure. Within the same sampling period, if the left sweep disk falling timer template, the left sweep disk rising timer template, the right sweep disk falling timer template, the right sweep disk rising timer template, and the wash-suction mode rising edge trigger timer template all have candidate write conditions, the timer template filtering is performed first according to the priority of the main action template.When the bilateral retraction action template is valid, only the rising edge trigger timer template of the wash-suction mode is retained, and the left sweeping disk descent timer template, right sweeping disk descent timer template, left sweeping disk rise timer template, and right sweeping disk rise timer template are prohibited from being written. When the unilateral retraction action template is valid and the bilateral retraction action template is invalid, only the corresponding side rise timer template is retained, and the corresponding side descent timer template is prohibited from being written. When the corresponding side lowering action template is valid and neither the bilateral retraction action template nor the unilateral retraction action template is valid, the corresponding side descent timer template is retained. The technical principle is to compress the concurrent control candidates in the mode switching instant, side switching instant, and bilateral synchronous retraction scenarios into a single time execution entry point through timer template interlocking and filtering, so that the retraction action takes precedence over the lowering action, and synchronous retraction takes precedence over unilateral action.

[0038] In this implementation scheme, by uniformly mapping the matrix displacement event sequence, matrix displacement action category sequence, operation mode code value, side operation code value, and left and right sweeping motion state sequence to sweeping lifting action template sequence and timer combination sequence, the washing and suction entry matrix displacement mark, left exit matrix displacement mark, right exit matrix displacement mark, and the corresponding side operation start state in non-washing and suction coding state can be converted into unique control semantics under the same timing rules. This improves the action direction of the sweeping lifting action template sequence, the trigger boundary determinism of the timer combination sequence, and the timing consistency of the subsequent sweeping action duration value writing process.

[0039] Optionally, the specific steps for constructing the gated loop unit regression model to output the corresponding side sweeping disc ground clearance adjustment and the corresponding side sweeping disc lifting cylinder stroke adjustment are as follows: Based on the preprocessed sweeping disc linkage monitoring data and sweeping disc linkage judgment data, a gated loop unit regression model is constructed. Specifically, using the controller system timestamp value as a unified time series reference, the corresponding side sweeping disc ground clearance value, the corresponding side sweeping disc lifting cylinder stroke displacement value, the corresponding side sweeping disc lifting cylinder two-chamber pressure difference value, hydraulic oil temperature value, the corresponding side solenoid valve coil voltage value, and the corresponding side solenoid valve coil current value are read from the preprocessed sweeping disc linkage monitoring data. The matrix displacement event sequence and the sweeping disc lifting cylinder stroke displacement are read from the sweeping disc linkage judgment data. The action template sequence is lowered, and the aforementioned time series quantities are then written into the same training record unit in the order of sampling periods to establish a time series regression mapping relationship driven by matrix displacement state for sweeping disk lifting and lowering adjustment. The technical principle is that the gated recurrent unit network can retain the state memory of the previous sampling period, which is suitable for continuous control scenarios where there is a time lag in the sweeping disk lifting and lowering response after the matrix displacement marker is triggered. A training sample set is constructed by extracting corresponding time series data segments around each matrix displacement marker in the matrix displacement event sequence. Specifically, the sampling period in which each matrix displacement marker appears is taken as the center time, and a preset number of sampling periods are extracted forward and backward to form a time series sample window of fixed length. Based on the matrix displacement marker type, the temporal sample window is divided into wash-suction entry samples, left exit samples, right exit samples, and corresponding side lowering samples. The technical principle is that the matrix displacement marker is the starting edge of the sweeping action switching. Using the continuous temporal segments before and after the edge as training samples enables the gated recurrent unit network to learn the state transition rules before and after the matrix displacement, rather than just learning the static correspondence of a single instantaneous point. The matrix displacement marker, sweeping lifting action template, corresponding side sweeping disk ground clearance value, corresponding side sweeping disk lifting cylinder stroke displacement value, corresponding side sweeping disk lifting cylinder two-chamber pressure difference value, hydraulic oil temperature value, and corresponding side solenoid valve coil voltage value and corresponding side solenoid valve The coil current value serves as the input feature. The matrix shift marker is written into the input sequence using discrete event encoding to characterize the job switching type of the current sampling period. The sweeping disc lifting motion template is written into the input sequence using motion category encoding to characterize the target motion semantics of the current sampling period. The corresponding side sweeping disc ground clearance value characterizes the current working end attitude reference. The corresponding side sweeping disc lifting cylinder stroke displacement value characterizes the current execution displacement reference. The pressure difference between the two chambers of the corresponding side sweeping disc lifting cylinder characterizes the current hydraulic driving force state. The hydraulic oil temperature value characterizes the current hydraulic medium response characteristics. The corresponding side solenoid valve coil voltage value characterizes the current control command output state.The corresponding side solenoid valve coil current value is used to characterize the current execution loop conduction state. The technical principle is that the above input features simultaneously cover event semantics, action semantics, posture state, displacement state, hydraulic state, and drive state, enabling the gated loop unit regression model to learn the formation mechanism of the sweeping disc action adjustment amount in a unified temporal space. The corresponding side sweeping disc ground clearance adjustment amount and the corresponding side sweeping disc lifting cylinder stroke adjustment amount are used as output labels. Specifically, the target retraction position and target lowering position after matrix displacement marker triggering are used as target reference states. The difference between the target retraction position, target lowering position and the corresponding side sweeping disc ground clearance value in the current sampling period is defined as the corresponding side sweeping disc ground clearance adjustment amount. The difference between the target cylinder stroke corresponding to the placement position and the displacement value of the side sweeping disc lifting cylinder stroke corresponding to the current sampling period is defined as the adjustment amount of the corresponding side sweeping disc lifting cylinder stroke. The technical principle is that the output label uses the residual adjustment difference between the target state and the current state, which enables the gated recurrent unit regression model to directly output the adjustment amount required for subsequent control without having to perform difference conversion again after prediction. The gated recurrent unit network algorithm is used to perform regression training on the training sample set. Specifically, each time series sample window is input into the hidden layer of the gated recurrent unit in the order of the sampling period. Dual regression output terminals are set for the output of the hidden layer. The first regression output terminal outputs the adjustment amount of the corresponding side sweeping disc ground clearance, and the second regression output terminal outputs the adjustment amount of the corresponding side sweeping disc. The adjustment amount of the lifting cylinder stroke is used as the loss function, with the sum of the mean square error between the predicted value and the label value of the corresponding side sweeping disc ground clearance adjustment amount and the predicted value and the label value of the corresponding side sweeping disc lifting cylinder stroke adjustment amount. This loss function is used to iteratively update the weight parameters of the gated recurrent unit network until the decrease in the loss function is less than a preset convergence threshold for multiple consecutive training rounds, resulting in a trained gated recurrent unit regression model. The technical principle lies in the fact that the dual regression outputs share the same temporal hidden state, which can improve the joint prediction accuracy by utilizing the coupling relationship between the corresponding side sweeping disc ground clearance adjustment amount and the corresponding side sweeping disc lifting cylinder stroke adjustment amount. The input features corresponding to the current sampling period are input into the trained gated recurrent unit regression model, specifically... The real-time input sequence is constructed by extracting matrix displacement markers, sweeping disc lifting action templates, corresponding side sweeping disc ground clearance values, corresponding side sweeping disc lifting cylinder stroke displacement values, corresponding side sweeping disc lifting cylinder two-chamber pressure difference values, hydraulic oil temperature values, corresponding side solenoid valve coil voltage values, and corresponding side solenoid valve coil current values ​​at the current control moment. This sequence is then written into the gated loop unit regression model according to the characteristic arrangement order consistent with the training sample set, outputting the corresponding side sweeping disc ground clearance adjustment amount and the corresponding side sweeping disc lifting cylinder stroke adjustment amount. The technical principle lies in maintaining the consistency of the input structure between the training and application phases, enabling the gated loop unit regression model to directly transfer the historically learned matrix displacement response rules to the sweeping disc lifting control process of the current sampling period.

[0040] In this implementation scheme, by uniformly incorporating the matrix displacement event sequence, the sweeping disc lifting action template sequence, the ground clearance value of the corresponding side sweeping disc, the stroke displacement value of the corresponding side sweeping disc lifting cylinder, the pressure difference value between the two chambers of the corresponding side sweeping disc lifting cylinder, the hydraulic oil temperature value, the voltage value of the corresponding side solenoid valve coil, and the current value of the corresponding side solenoid valve coil into the time-series regression process of the gated loop unit regression model, the ground clearance adjustment amount of the corresponding side sweeping disc and the stroke adjustment amount of the corresponding side sweeping disc lifting cylinder can directly reflect the actual remaining adjustment demand under the current matrix displacement state. This improves the pertinence of the sweeping disc action duration value calculation results, the continuity of the control quantity generation corresponding to the sweeping disc lifting action template sequence, and the response adaptation capability between matrix displacement and execution adjustment.

[0041] Optionally, the specific steps for generating the linkage strategy data by combining the absolute value of the pressure difference between the corresponding side sweeping disc lifting cylinder and the hydraulic oil temperature value to calculate the sweeping disc action duration value are as follows: The adjustment amount of the corresponding side sweeping disc ground clearance, the adjustment amount of the corresponding side sweeping disc lifting cylinder stroke, the absolute value of the pressure difference between the corresponding side sweeping disc lifting cylinder and the hydraulic oil temperature value are all taken from the dimensionless results of the corresponding feature items of the pre-processed sweeping disc linkage monitoring data. The subsequent action adjustment synthesis item, pressure response constraint item, temperature correction item, and sweeping disc action duration value are all calculated in the dimensionless space; the adjustment amount of the corresponding side sweeping disc ground clearance is added to the adjustment amount of the corresponding side sweeping disc lifting cylinder stroke to obtain the action adjustment... The motion adjustment composite item is specifically obtained by reading the corresponding side sweeping disc ground clearance adjustment and the corresponding side sweeping disc lifting cylinder stroke adjustment within the current sampling period, writing them into the same calculation record unit according to the same controller system timestamp value, and then performing numerical addition to obtain the motion adjustment composite item. The technical principle is that the corresponding side sweeping disc ground clearance adjustment represents the remaining height adjustment requirement of the sweeping disc working end relative to the target posture, and the corresponding side sweeping disc lifting cylinder stroke adjustment represents the remaining displacement adjustment requirement of the execution end relative to the target position. Combining the two into a motion adjustment composite item can compress the adjustment requirements of the working end and the adjustment requirements of the execution end into the same motion scale; the corresponding side sweeping disc ground clearance adjustment represents the remaining height adjustment requirement of the sweeping disc working end relative to the target posture, and the corresponding side sweeping disc lifting cylinder stroke adjustment represents the remaining displacement adjustment requirement of the execution end relative to the target position. Combining the two into a motion adjustment composite item can compress the adjustment requirements of the working end and the adjustment requirements of the execution end into the same motion scale; The pressure response constraint term is obtained by taking the natural logarithm of the absolute value of the pressure difference between the corresponding sweeping disc lifting cylinders, plus one. Specifically, the absolute value of the difference between the pressure values ​​in the rodless chamber and the rod chamber of the corresponding sweeping disc lifting cylinder is taken to obtain the absolute value of the pressure difference between the corresponding sweeping disc lifting cylinders. Then, the absolute value of the pressure difference between the corresponding sweeping disc lifting cylinders is added to a constant one, and the result is transformed using a natural logarithm to obtain the pressure response constraint term. The technical principle is that the absolute value of the pressure difference between the corresponding sweeping disc lifting cylinders represents the driving force intensity during hydraulic execution. When the driving force increases, the time required for the sweeping disc to reach the target posture will be shortened. Using a natural logarithmic transformation can maintain the... Under the premise of maintaining a monotonic change relationship, the numerical span of a large pressure difference range is compressed to prevent the excessive reduction of the duration calculation result due to an excessively large absolute value of the pressure difference. The temperature correction term is obtained by adding one to the hydraulic oil temperature value and taking the square root. Specifically, the hydraulic oil temperature value is read in the current sampling period, added to the constant one, and the square root transformation is performed on the addition result to obtain the temperature correction term. The technical principle is that the hydraulic oil temperature value affects the viscosity of the hydraulic medium, and the change in the viscosity of the hydraulic medium will further affect the response speed of the execution circuit. The square root transformation can reduce the excessive amplification effect of the high temperature range while maintaining the temperature change trend in the duration correction.The sweeping motion duration is obtained by dividing the motion adjustment synthesis term by the sum of the pressure response constraint term and the temperature correction term. Specifically, the pressure response constraint term and the temperature correction term are first summed, and then a division operation is performed with the motion adjustment synthesis term as the numerator and the summed result as the denominator to obtain the sweeping motion duration value for the current sampling period. The technical principle is that the motion adjustment synthesis term reflects the remaining motion scale, the pressure response constraint term reflects the hydraulic drive capability, and the temperature correction term reflects the hydraulic medium response characteristics. Placing these three in the same fractional relationship allows the sweeping motion duration value to increase with the increase of motion scale, decrease with the enhancement of hydraulic drive, and decrease with the improvement of hydraulic response, thereby establishing a time control quantity that matches the current execution state. The sweeping motion duration value is then written into the timer combination sequence to form a template timing configuration sequence. Specifically, the current timer template entry in the timer combination sequence is read periodically according to the controller system timestamp value, and the sweeping motion duration value calculated for the current sampling period is used as the template. The duration value is written to the duration field of the corresponding timer template entry. When the current timer template entry corresponds to the left sweeping disk descent timer template, the sweeping action duration value is written to the left sweeping disk descent duration position. When the current timer template entry corresponds to the left sweeping disk rise timer template, the sweeping action duration value is written to the left sweeping disk rise duration position. When the current timer template entry corresponds to the right sweeping disk descent timer template, the sweeping action duration value is written to the right sweeping disk descent duration position. When the current timer template entry corresponds to the right sweeping disk rise timer template, the sweeping action duration value is written to the right sweeping disk rise duration position. When the current timer template entry corresponds to the washing and suction mode rising edge triggered timer template, the sweeping action duration value is written to the bilateral synchronous retraction duration position. The technical principle is that by directly writing the sweeping action duration value into the duration field of the timer combination sequence, different action templates can have a unified time entry in the subsequent execution process.The sweeping disc lifting action template sequence, timer combination sequence, and template timing configuration sequence are associated according to the controller system timestamp value. Specifically, within the sampling period corresponding to each controller system timestamp value, the current action template entry in the sweeping disc lifting action template sequence, the current timer template entry in the timer combination sequence, and the current duration configuration entry in the template timing configuration sequence are read and written to the same linkage strategy recording unit. When there is a one-to-one correspondence between the action template type in the sweeping disc lifting action template sequence and the timer template type in the timer combination sequence, and the duration field in the template timing configuration sequence has been written, the current linkage strategy recording unit is marked as a valid strategy record, and the linkage strategy data is output. The technical principle is that by binding the action template, timer template, and duration configuration to the same period through the controller system timestamp value, the action semantics, time constraints, and execution cycle can be uniformly compressed into linkage strategy data that can be directly issued. This allows the subsequent sweeping disc lifting control process to no longer rely on a fixed duration table, but instead rely on a dynamic time strategy that matches the current hydraulic state and the current action scale.

[0042] The specific formula for calculating the duration of the sweeping action is as follows: ; In the formula, This indicates the duration of the sweeping action. This indicates the adjustment amount of the corresponding side sweeping disc's ground clearance. This indicates the stroke adjustment amount of the corresponding side sweeping disc lifting cylinder. This represents the absolute value of the pressure difference between the corresponding side sweeping disc lifting cylinders. This indicates the hydraulic oil temperature value.

[0043] In this implementation scheme, the adjustment amount of the ground clearance of the corresponding side sweeping disc, the adjustment amount of the stroke of the corresponding side sweeping disc lifting cylinder, the absolute value of the pressure difference of the corresponding side sweeping disc lifting cylinder, and the hydraulic oil temperature value are uniformly mapped to the sweeping disc action duration value. Then, the sweeping disc action duration value is bound to the sweeping disc lifting action template sequence and the timer combination sequence in the same period, so that the linkage strategy data can synchronously reflect the current action scale, hydraulic drive status, and hydraulic medium response status. This improves the adaptive capability of the corresponding side sweeping disc lifting control duration, the matching accuracy of the timer combination sequence and the sweeping disc lifting action template sequence, and the execution targeting of subsequent sweeping disc lifting linkage control data.

[0044] In this embodiment, Table 1 is a data table of sweeping disc action duration values, listing the calculated data for the sweeping disc action duration values ​​under five sampling periods. Specifically: Sampling period 1: The corresponding side sweeping disc ground clearance adjustment is 18, the corresponding side sweeping disc lifting cylinder stroke adjustment is 32, the absolute value of the corresponding side sweeping disc lifting cylinder pressure difference is 1.8, the hydraulic oil temperature is 28, and the sweeping disc action duration is 7.7945. Sampling period 2: The corresponding side sweeping disc ground clearance adjustment is 22, the corresponding side sweeping disc lifting cylinder stroke adjustment is 36, the absolute value of the corresponding side sweeping disc lifting cylinder pressure difference is 2.1, the hydraulic oil temperature is 30, and the sweeping disc action duration is 8.6578. Sampling period 3: The corresponding side sweeping disc ground clearance adjustment is 15, the corresponding side sweeping disc lifting cylinder stroke adjustment is 29, the absolute value of the corresponding side sweeping disc lifting cylinder pressure difference is 1.6, the hydraulic oil temperature is 26, and the sweeping disc action duration is 7.1525. Sampling period 4: The corresponding side sweeping disc ground clearance adjustment is 25, the corresponding side sweeping disc lifting cylinder stroke adjustment is 41, the absolute value of the corresponding side sweeping disc lifting cylinder pressure difference is 2.4, the hydraulic oil temperature is 33, and the sweeping disc action duration is 9.3554. Sampling period 5: The corresponding side sweeping disc ground clearance adjustment is 20, the corresponding side sweeping disc lifting cylinder stroke adjustment is 34, the absolute value of the corresponding side sweeping disc lifting cylinder pressure difference is 1.9, the hydraulic oil temperature is 29, and the sweeping disc action duration is 8.2544.

[0045] Table 1. Data table of sweeping action duration values

[0046] like Figure 3 As shown in the figure, the correspondence between the motion adjustment composite item, the constraint correction composite item, and the sweeping disc motion duration value is illustrated. The horizontal axis represents the motion adjustment composite item, which is obtained by adding the corresponding sweeping disc ground clearance adjustment amount and the corresponding sweeping disc lifting cylinder stroke adjustment amount; the vertical axis represents the constraint correction composite item, which is composed of the absolute value of the corresponding sweeping disc lifting cylinder pressure after logarithmic transformation and the hydraulic oil temperature value after square root transformation; the color scale on the right represents the sweeping disc motion duration value. From Figure 3It can be seen that the sweeping action duration is affected by both the motion adjustment term and the constraint correction term, and their effects on the sweeping action duration are opposite: when the constraint correction term is similar, the larger the motion adjustment term, the larger the sweeping action duration; conversely, when the motion adjustment term is similar, the larger the constraint correction term, the smaller the sweeping action duration. The dots corresponding to sampling periods 1 to 5 in the figure are distributed within different equal value regions, indicating that the combined changes in the ground clearance adjustment of the corresponding side sweeping disc, the stroke adjustment of the corresponding side sweeping disc lifting cylinder, the absolute value of the pressure difference of the corresponding side sweeping disc lifting cylinder, and the hydraulic oil temperature under different sampling periods will cause corresponding adjustments to the sweeping action duration. This demonstrates that the present invention does not use a fixed duration to control the sweeping disc lifting, but rather dynamically determines the sweeping action duration based on the current motion adjustment requirements and hydraulic constraint state.

[0047] Optionally, the specific steps for generating corresponding side sweeping disc lifting and lowering control commands based on linkage strategy data, executing timing control according to the sweeping disc action duration value, and outputting a corresponding side solenoid valve disconnection command at the end of the timing are as follows: Figure 4As shown, the linkage strategy data is read in the following order: The sweeping disc lifting action template sequence, timer combination sequence, template timing configuration sequence, and sweeping action duration value are read sequentially according to the controller system timestamp value. Action template entries, timer template entries, and duration configuration entries within the same sampling period are written into the same control record unit. A corresponding side solenoid valve trigger command is generated based on the sweeping disc lifting action template sequence. Specifically, the action template type corresponding to the sweeping disc lifting action template sequence is determined within the current sampling period. When the action template is the corresponding side lowering action template, a corresponding side sweeping disc lowering solenoid valve trigger command is generated. Specifically, the corresponding side sweeping disc lowering solenoid valve set flag is written into the lowering drive field of the current control record unit, and the corresponding side sweeping disc... The lifting solenoid valve remains closed. The technical principle is that the corresponding side's downward motion template indicates that the corresponding side's sweeping disc needs to transition from a retracted posture to a working posture. The current control output must uniquely point to the descent execution loop to ensure that the hydraulic flow direction is consistent with the target motion direction. When the motion template is the corresponding side's retraction motion template, a trigger command for the corresponding side's sweeping disc lifting solenoid valve is generated. Specifically, the corresponding side's sweeping disc lifting solenoid valve set flag is written to the lifting drive field of the current control record unit, keeping the corresponding side's sweeping disc descent solenoid valve closed. The technical principle is that the corresponding side's retraction motion template indicates that the corresponding side's sweeping disc needs to transition from a working posture to a retracted posture. The current control output must uniquely point to the lifting execution loop to ensure that the hydraulic flow direction is consistent with the target motion direction. When the action template is a double-sided retraction action template, trigger commands for the left and right sweeping disc rising solenoid valves are generated. Specifically, the set flags for the left and right sweeping disc rising solenoid valves are simultaneously written into the double-sided synchronous retraction drive field of the current control recording unit, while the left and right sweeping disc lowering solenoid valves remain closed. The technical principle is that the double-sided retraction action template corresponds to the synchronous retraction scenario after the wash-suction cut-in matrix shift flag is triggered. Only by simultaneously triggering the left and right sweeping disc rising solenoid valves within the same sampling period can the consistent edges of the double-sided retraction be guaranteed. A corresponding timer trigger command is generated based on the timer combination sequence. Specifically, within the current sampling period, the timer template type corresponding to the timer combination sequence is read. When the timer template type is left... When the sweeping disk descending timer template is used, a left sweeping disk descending timer trigger instruction is generated; when the timer template type is a left sweeping disk rising timer template, a left sweeping disk rising timer trigger instruction is generated; when the timer template type is a right sweeping disk descending timer template, a right sweeping disk descending timer trigger instruction is generated; when the timer template type is a right sweeping disk rising timer template, a right sweeping disk rising timer trigger instruction is generated; when the timer template type is a wash-suction mode rising edge triggered timer template, a wash-suction mode rising edge triggered timer instruction is generated. The technical principle is that the timer combination sequence has already mapped the action template category to the time execution category. Currently, it is only necessary to complete the unique timer selection based on the template type to transform the action semantics into a time constraint entry point.The corresponding solenoid valve trigger command and the corresponding timer trigger command are output synchronously. Specifically, the sampling period corresponding to the current controller system timestamp value is used as the synchronous output time. Within the same output period, the command is first written to the solenoid valve drive register area, and then written to the timer start register area. This ensures that the moment when the corresponding solenoid valve on the upper and lower sides of the sweeping disk enters the conducting state is consistent with the start time of the corresponding timer. This drives the corresponding solenoid valve on the upper or lower side of the sweeping disk to enter the conducting state and starts the corresponding timer to begin the timing process. The technical principle is that if the trigger edge of the solenoid valve and the start edge of the timer are not established in the same output period, it will cause the timing start point to shift, thereby weakening the effect of the sweeping action duration value on the timer start time. The execution process is constrained in terms of precision. After the corresponding timer enters the timing process, it continuously reads the hydraulic pump output pressure, the rodless chamber pressure of the corresponding side sweeping disc lifting cylinder, and the rod chamber pressure of the corresponding side sweeping disc lifting cylinder. When the hydraulic pump output pressure exceeds the upper pressure threshold, or the rodless chamber pressure of the corresponding side sweeping disc lifting cylinder exceeds the upper chamber pressure threshold, or the rod chamber pressure of the corresponding side sweeping disc lifting cylinder exceeds the upper chamber pressure threshold, a corresponding solenoid valve disconnection command is generated and the corresponding timer is terminated. The technical principle is that an abnormal increase in hydraulic pressure indicates that the execution circuit may experience jamming, impact, blockage, or abnormal load. Timely disconnection of the corresponding solenoid valve can prevent continuous pressure during the sweeping disc lifting process. When the corresponding timer reaches... When determining the duration of the sweeping action, specifically, the current timer's accumulated count is read within each sampling period. This accumulated count is compared with the sweeping action duration value corresponding to the current sampling period in the template timing configuration sequence. If the current timer's accumulated count is greater than or equal to the sweeping action duration value, the current action is deemed to have reached the timing termination condition, and a corresponding side solenoid valve disconnection command is generated. Specifically, when the corresponding side sweeping lower solenoid valve trigger command of the current control recording unit is valid, a corresponding side sweeping lower solenoid valve disconnection command is output; when the corresponding side sweeping upper solenoid valve trigger command of the current control recording unit is valid, a corresponding side sweeping upper solenoid valve disconnection command is output; when the current... When the control recording unit is in the state corresponding to the double-sided retraction action template, it simultaneously outputs the left sweeping disc lifting solenoid valve disconnect command and the right sweeping disc lifting solenoid valve disconnect command, causing the corresponding side solenoid valves to exit the conducting state, and outputs sweeping disc lifting linkage control data. Specifically, it writes the corresponding side solenoid valve trigger command, the corresponding timer trigger command, the corresponding side solenoid valve disconnect command, the timing completion mark, and the action template execution mark within the current sampling period into the unified control result recording unit, forming sweeping disc lifting linkage control data. The technical principle is that by uniformly encapsulating the conduction start point, timing process, and disconnection end point into a continuous control result record, the corresponding side sweeping disc lifting control can smoothly transition from the action template matching result to the executable control result.

[0048] In this implementation scheme, by uniformly mapping the sweeping disc lifting action template sequence, timer combination sequence, template timing configuration sequence, and sweeping disc action duration value to the corresponding side solenoid valve trigger command, the corresponding timer trigger command, and the corresponding side solenoid valve disconnect command, the corresponding side sweeping disc lifting control process can form a continuous closed execution link under the constraint of the timestamp value of the same controller system. This improves the constraint accuracy of the sweeping disc action duration value on the conduction interval of the corresponding side solenoid valve, the consistency of the execution rhythm of the double-sided retraction action template, and the ability of the sweeping disc lifting linkage control data to fully represent the actual control process.

[0049] like Figure 2 As shown, another aspect of the present invention provides a sweeper truck sweeping disc lifting linkage operation control device. This device is applied to a sweeper truck sweeping disc lifting linkage operation control method. The device includes: a timing acquisition and normalization module, used to periodically acquire sweeping disc linkage monitoring data, perform preprocessing on the sweeping disc linkage monitoring data, and output preprocessed sweeping disc linkage monitoring data; a matrix shift analysis module, used to combine and encode the operation mode and side operation status based on the preprocessed sweeping disc linkage monitoring data, generate a sweeping disc linkage state matrix sequence, perform adjacent sampling period difference on the sweeping disc linkage state matrix sequence, extract matrix shift markers, and generate a sweeping disc linkage judgment based on the sweeping disc motion state. The system comprises: a data and a linkage strategy construction module, which matches matrix displacement markers to corresponding sweeping disc lifting action templates based on sweeping disc linkage judgment data, executes timer combination matching, and constructs a gated loop unit regression model to output the corresponding side sweeping disc ground clearance adjustment amount and the corresponding side sweeping disc lifting cylinder stroke adjustment amount. It also calculates the sweeping disc action duration value by combining the absolute value of the pressure difference between the corresponding side sweeping disc lifting cylinder and the hydraulic oil temperature value, generating linkage strategy data; and a timing execution control module, which generates corresponding side sweeping disc lifting control commands based on the linkage strategy data, executes timing control according to the sweeping disc action duration value, and outputs a corresponding side solenoid valve disconnection command when the timing ends, completing the sweeping disc lifting linkage control.

[0050] In this implementation plan, by integrating sweeping disc linkage monitoring data, sweeping disc linkage state matrix sequence, matrix displacement markers, sweeping disc linkage judgment data, sweeping disc lifting action template, corresponding side sweeping disc ground clearance adjustment amount, corresponding side sweeping disc lifting cylinder stroke adjustment amount, sweeping disc action duration value, linkage strategy data, and corresponding side sweeping disc lifting control commands into a continuously connected processing link, the sweeping disc lifting linkage operation control process of the sweeper truck can achieve closed-loop connection from state perception, state judgment, strategy generation to execution control. This improves the overall coordination of the sweeping disc lifting linkage control process, the action response accuracy during the operation mode switching process, and the adaptability of the linkage control results to the current hydraulic state and current action requirements.

[0051] The following points need to be explained: (1) The accompanying drawings of the embodiments of the present invention only involve the structures involved in the embodiments of the present invention. Other structures can refer to the general design.

[0052] (2) For clarity, the thickness of layers or regions is enlarged or reduced in the drawings used to describe embodiments of the invention, i.e., these drawings are not drawn to scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being “above” or “below” another element, the element may be “directly” located “above” or “below” the other element or there may be intermediate elements.

[0053] (3) Where there is no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to obtain new embodiments.

[0054] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling the lifting and lowering of sweeping discs in a sweeper truck, characterized in that, The method includes: S1 periodically collects scanning linkage monitoring data, performs preprocessing on the scanning linkage monitoring data, and outputs the preprocessed scanning linkage monitoring data. S2, based on the preprocessed sweeping linkage monitoring data, the operation mode and side operation status are combined and encoded to generate a sweeping linkage status matrix sequence, and adjacent sampling period difference is performed on the sweeping linkage status matrix sequence to extract matrix displacement markers, and sweeping linkage judgment data is generated by combining the sweeping motion status. S3, based on the sweeping disc linkage judgment data, the matrix displacement marker is matched to the corresponding sweeping disc lifting action template, the timer combination matching is executed, and the gate control cycle unit regression model is constructed to output the corresponding side sweeping disc ground clearance adjustment amount and the corresponding side sweeping disc lifting cylinder stroke adjustment amount. Combined with the absolute value of the pressure difference of the corresponding side sweeping disc lifting cylinder and the hydraulic oil temperature value, the sweeping disc action duration value is calculated to generate linkage strategy data; S4 generates corresponding side sweeping disc lifting and lowering control commands based on linkage strategy data, and performs timing control according to the sweeping disc action duration value. When the timing ends, it outputs a corresponding side solenoid valve disconnection command to complete the sweeping disc lifting and lowering linkage control.

2. The method for controlling the lifting and lowering of the sweeping disc of a sweeper truck according to claim 1, characterized in that, The specific steps for periodically collecting the scanning linkage monitoring data, performing preprocessing on the scanning linkage monitoring data, and outputting the preprocessed scanning linkage monitoring data are as follows: A fixed-duration sliding time window is set as a sampling period to periodically collect sweeping disc linkage monitoring data during the sweeper's lifting and lowering operation. The sweeping disc linkage monitoring data includes: the voltage value of the one-button operation button signal, the output voltage value of the sweeping mode selection switch, the output voltage value of the sweeping and vacuuming mode selection switch, the output voltage value of the dry sweeping mode selection switch, the output voltage value of the left operation selection switch, the output voltage value of the right operation selection switch, the voltage value of the sweeping disc lowering solenoid valve coil, the voltage value of the sweeping disc raising solenoid valve coil, the current value of the sweeping disc lowering solenoid valve coil, the current value of the sweeping disc raising solenoid valve coil, the output pressure value of the hydraulic oil pump, the pressure value of the rodless chamber of the sweeping disc lifting cylinder, the pressure value of the rod chamber of the sweeping disc lifting cylinder, the hydraulic oil temperature value, the stroke displacement value of the sweeping disc lifting cylinder, the sweeping disc ground clearance value, and the controller system timestamp value. For the collected scanning linkage monitoring data, the Network Time Protocol (NTP) time synchronization algorithm is used to perform multi-node time base alignment and time synchronization correction on the scanning linkage monitoring data; the parity check consistency detection algorithm is used to perform sampling data integrity detection and abnormal record identification on the scanning linkage monitoring data; the three Sigma anomaly detection algorithm is used to perform abnormal sampling value identification and abnormal record removal on the scanning linkage monitoring data; the first-order exponential weighted moving average filtering algorithm is used to perform instantaneous jitter suppression and noise smoothing on the scanning linkage monitoring data; and the vector normalization algorithm is used to perform dimensional unification and numerical scale standardization on the scanning linkage monitoring data, outputting the preprocessed scanning linkage monitoring data.

3. The method for controlling the lifting and lowering of the sweeping disc of a sweeper truck according to claim 1, characterized in that, The specific steps for combining and encoding the operation mode and side operation status based on the preprocessed sweeping linkage monitoring data to generate a sweeping linkage status matrix sequence are as follows: Read the pre-processed sweeping linkage monitoring data, compare the voltage value of the one-button operation signal and the output pressure value of the hydraulic oil pump with the corresponding thresholds, and synchronize and pair the comparison results according to the controller system timestamp value to build an operation access linkage group; Perform sampling-per-cycle logic synthesis on the operation access linkage group to generate an operation access status sequence; Within the sampling period corresponding to the operation access state sequence, the output voltage values ​​of the sweeping mode selection switch, the sweeping and vacuuming mode selection switch, and the dry sweeping mode selection switch are mutually exclusive combination encoded to generate the operation mode code value. The output voltage values ​​of the left-side operation selection switch and the right-side operation selection switch are combined and encoded to generate the side operation code value; then the operation mode code value and the side operation code value are concatenated according to the controller system timestamp value to generate the sweeping linkage state matrix sequence.

4. The method for controlling the lifting and lowering of the sweeping disc of a sweeper truck according to claim 3, characterized in that, The specific steps for performing adjacent sampling period difference on the sweeping linkage state matrix sequence to extract matrix shift markers are as follows: Perform adjacent sampling period difference operation on the sweeping linkage state matrix sequence to extract the transformation result of matrix elements; when the operation mode code value changes from non-washing and suction code to washing and suction code, generate washing and suction entry matrix transformation mark; When the side operation code value changes from left-side open code to left-side closed code, a left-side exit matrix shift marker is generated; When the side operation code value changes from right-side open code to right-side closed code, a right-side exit matrix shift marker is generated; When the voltage value of the one-click operation button signal changes from the on state to the off state, an operation stop matrix change mark is generated, and each matrix change mark is arranged according to the controller system timestamp value to generate a matrix change event sequence.

5. The method for controlling the lifting and lowering of the sweeping disc of a sweeper truck according to claim 4, characterized in that, The specific steps for generating sweeping linkage determination data by combining the sweeping motion state are as follows: Within the sampling period corresponding to the operational entry state sequence, the pressure difference between the rodless chamber pressure and the rod chamber pressure of the lifting cylinders of the left and right sweeping disks is calculated. The displacement change of the lifting cylinder stroke displacement values ​​of the left and right sweeping disks in adjacent sampling periods, as well as the height change of the sweeping disk ground clearance values ​​of the left and right sweeping disks in adjacent sampling periods, are also calculated. When the voltage and current values ​​of the rising solenoid valve coil of the left sweeping disk meet the conduction conditions, and the corresponding side pressure difference, displacement change, and height change satisfy the upward direction relationship, a left sweeping disk rising motion state mark is generated. When the voltage and current values ​​of the descending solenoid valve coil of the left sweeping disk meet the conduction conditions, and the corresponding side pressure difference, displacement change, and height change satisfy the descending direction relationship, a left sweeping disk descending motion state mark is generated. The right sweeping disk uses the same method to generate right sweeping disk rising motion state marks and right sweeping disk descending motion state marks, forming a left and right sweeping disk motion state sequence. The matrix displacement event sequence and the left and right sweeping motion state sequence are associated with the controller system timestamp value. The left and right sweeping motion states corresponding to different matrix displacement markers are classified to generate a matrix displacement action category sequence and output sweeping linkage judgment data.

6. The method for controlling the lifting and lowering of the sweeping disc of a sweeper truck according to claim 5, characterized in that, The specific steps for matching the matrix displacement markers with the corresponding sweeping lifting and lowering action templates based on the sweeping linkage judgment data, and for performing timer combination matching, are as follows: Read the sweeping linkage judgment data, match the washing and suction entry matrix position change mark as the double-sided retraction action template, match the left exit matrix position change mark as the left retraction action template, match the right exit matrix position change mark as the right retraction action template, match the matrix state that is not a washing and suction code and whose corresponding side operation code is in the open state as the corresponding side lowering action template, and form a sweeping lifting action template sequence. The timer combination matching is performed on the sweeping disc lifting action template sequence: when the sweeping disc lifting action template sequence is a left lowering action template, the left sweeping disc lowering timer template is matched; when the sweeping disc lifting action template sequence is a left retraction action template, the left sweeping disc rising timer template is matched; when the sweeping disc lifting action template sequence is a right lowering action template, the right sweeping disc lowering timer template is matched; when the sweeping disc lifting action template sequence is a right retraction action template, the right sweeping disc rising timer template is matched; when the sweeping disc lifting action template sequence is a double retraction action template and is triggered by the washing and suction entry matrix displacement mark, the washing and suction mode rising edge trigger timer template is matched, and a timer combination sequence is formed.

7. The method for controlling the lifting and lowering of the sweeping disc of a sweeper truck according to claim 6, characterized in that, The specific steps for constructing the gated loop unit regression model to output the corresponding side sweeping disc ground clearance adjustment amount and the corresponding side sweeping disc lifting cylinder stroke adjustment amount are as follows: A gated cyclic unit regression model is constructed based on preprocessed sweeping disc linkage monitoring data and sweeping disc linkage judgment data. A training sample set is constructed by extracting corresponding time-series data segments around each matrix displacement marker in the matrix displacement event sequence. The matrix displacement marker, sweeping disc lifting action template, corresponding side sweeping disc ground clearance value, corresponding side sweeping disc lifting cylinder stroke displacement value, corresponding side sweeping disc lifting cylinder two-chamber pressure difference value, hydraulic oil temperature value, corresponding side solenoid valve coil voltage value, and corresponding side solenoid valve coil current value are used as input features. The corresponding side sweeping disc ground clearance adjustment amount and the corresponding side sweeping disc lifting cylinder stroke adjustment amount are used as output labels. The gated cyclic unit network algorithm is used to perform regression training on the training sample set. The input features corresponding to the current sampling period are input into the trained gated cyclic unit regression model, and the corresponding side sweeping disc ground clearance adjustment amount and the corresponding side sweeping disc lifting cylinder stroke adjustment amount are output.

8. The method for controlling the lifting and lowering of the sweeping disc of a sweeper truck according to claim 7, characterized in that, The specific steps for calculating the sweeping action duration by combining the absolute value of the pressure difference between the corresponding side sweeping disc lifting cylinder and the hydraulic oil temperature value, and generating the linkage strategy data are as follows: Add the ground clearance adjustment amount of the corresponding side sweeping disc to the stroke adjustment amount of the corresponding side sweeping disc lifting cylinder to obtain the motion adjustment composite term; add one to the absolute value of the pressure difference of the corresponding side sweeping disc lifting cylinder and take the natural logarithm to obtain the pressure response constraint term; add one to the hydraulic oil temperature value and take the square root to obtain the temperature correction term. Divide the motion adjustment synthesis term by the sum of the pressure response constraint term and the temperature correction term to obtain the sweeping motion duration value; then write the sweeping motion duration value into the timer combination sequence to form the template timing configuration sequence; The sweeping lifting action template sequence, timer combination sequence, and template timing configuration sequence are associated according to the controller system timestamp value to output linkage strategy data.

9. A method for controlling the lifting and lowering of the sweeping disc of a sweeper truck according to claim 1, characterized in that, The specific steps for generating the corresponding side sweeping disc lifting control command based on the linkage strategy data, executing timing control according to the sweeping disc action duration value, and outputting the corresponding side solenoid valve disconnection command when the timing ends are as follows: Read the linkage strategy data and generate corresponding side solenoid valve trigger commands based on the sweeping disc lifting and lowering action template sequence: when the action template is the corresponding side lowering action template, generate the corresponding side sweeping disc lowering solenoid valve trigger command; when the action template is the corresponding side retracting action template, generate the corresponding side sweeping disc raising solenoid valve trigger command; when the action template is the double-sided retracting action template, generate the left and right sweeping disc raising solenoid valve trigger commands. The corresponding timer trigger command is generated according to the timer combination sequence, and the corresponding side solenoid valve trigger command and the corresponding timer trigger command are output synchronously to drive the corresponding side sweeping disk rising solenoid valve or falling solenoid valve into the conduction state and start the corresponding timer to enter the timing process. The system continuously reads the hydraulic pump output pressure, the pressure in the rodless chamber of the corresponding side sweeping disc lifting cylinder, and the pressure in the rod chamber of the corresponding side sweeping disc lifting cylinder. When the hydraulic pump output pressure exceeds the upper pressure threshold, or when either the rodless or rod chamber pressure of the corresponding side sweeping disc lifting cylinder exceeds the upper pressure threshold, a solenoid valve disconnection command is generated and the corresponding timer is terminated. When the corresponding timer reaches the sweeping disc action duration value, a solenoid valve disconnection command is generated, causing the solenoid valve to exit the conducting state and outputting sweeping disc lifting linkage control data.

10. A sweeper disc lifting and linkage operation control device for a sweeper truck, characterized in that, The device includes: The timing acquisition and conditioning module is used to periodically acquire scanning linkage monitoring data, perform preprocessing on the scanning linkage monitoring data, and output the preprocessed scanning linkage monitoring data. The matrix displacement parsing module is used to combine and encode the operation mode and side operation status based on the preprocessed sweeping linkage monitoring data, generate a sweeping linkage status matrix sequence, perform adjacent sampling period difference on the sweeping linkage status matrix sequence, extract matrix displacement markers, and generate sweeping linkage judgment data in combination with the sweeping motion status. The linkage strategy construction module is used to match the matrix displacement markers with the corresponding sweeping disc lifting action templates based on the sweeping disc linkage judgment data, execute timer combination matching, and construct a gated loop unit regression model to output the corresponding side sweeping disc ground clearance adjustment amount and the corresponding side sweeping disc lifting cylinder stroke adjustment amount. It also calculates the sweeping disc action duration value by combining the absolute value of the pressure difference of the corresponding side sweeping disc lifting cylinder and the hydraulic oil temperature value, and generates linkage strategy data. The timing execution control module is used to generate corresponding side sweeping disc lifting and lowering control commands based on linkage strategy data, and execute timing control according to the sweeping disc action duration value. When the timing ends, it outputs a corresponding side solenoid valve disconnect command to complete the sweeping disc lifting and lowering linkage control.

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