A compression garbage truck control method and garbage truck

Abstract

This invention relates to the field of compressed garbage truck technology, specifically to a compressed garbage truck control method and a garbage truck. After receiving a loading signal, the controller executes the following steps: It controls the tipping electric actuator to extend, and simultaneously a time relay starts timing; after a preset time, the tipping electric actuator stops extending. The controller then controls the tipping electric actuator to retract. The controller controls the scraper electric actuator to retract, and after a preset time, the scraper electric actuator stops retracting. The controller controls the sliding plate electric actuator to extend, and after a preset time, the sliding plate electric actuator stops extending. The controller controls the scraper electric actuator to extend, and after a preset time, the scraper electric actuator stops extending. Finally, the controller controls the sliding plate electric actuator to retract, and after a preset time, the sliding plate electric actuator stops retracting. Using electric actuators instead of hydraulic cylinders reduces energy efficiency and achieves precise timing control.

Description

Technical Field

[0001] This invention relates to the field of compressed garbage truck technology, specifically to a compressed garbage truck control method and a garbage truck. Background Technology

[0002] Compactor garbage trucks mainly use mechanisms such as sliding plates and scrapers in the rear filler to continuously press the garbage dumped from the garbage bins into the truck compartment, thus achieving loading and compression.

[0003] The actuators of existing garbage compactors mostly use hydraulic cylinders, which present the following technical problems: 1. Hydraulic oil is prone to leakage. With increased vehicle usage, factors such as aging hydraulic pipes, loose screws, aging seals, clogged valves, and acidification of the hydraulic oil can lead to hydraulic malfunctions and leaks. Leaking hydraulic oil adheres to the vehicle body, leaving oil stains that are difficult to clean.

[0004] 2. Small garbage bin space. The vehicle uses a hydraulic motor, hydraulic oil tank, hydraulic valve group, hydraulic control pipeline, and hydraulic cylinder working scheme. The hydraulic oil tank, hydraulic valve group, and hydraulic motor are all placed behind the cab. Space must be reserved in the design of the garbage bin, which reduces the effective volume of the garbage bin.

[0005] 3. High energy consumption. The hydraulic pump station provides centralized power, and every action requires the pump station to operate at full power, resulting in 30% higher energy consumption compared to a distributed power system. The hydraulic control pipeline has a conveying distance of more than ten meters, and is winding in the middle, resulting in high conveying resistance and high pressure loss, which leads to high energy consumption.

[0006] 4. Difficult to control intelligently. Traditional hydraulic cylinders adopt open-loop coarse control, which lacks precise position, precise speed, and status feedback, has lag in response, and poor consistency. It cannot meet the five core requirements of autonomous driving: high-precision positioning, controllable action, closed-loop feedback, safety redundancy, and automatic fault diagnosis. Summary of the Invention

[0007] The purpose of this invention is to provide a control method and garbage truck for a compressed garbage truck that addresses the above-mentioned problems. This control method and garbage truck use an electric push rod instead of a hydraulic electric push rod, which solves the problems of high energy consumption, difficulty in precise control, and small garbage bin space of existing actuators.

[0008] To achieve the above objectives, this invention discloses a method for controlling a compressed garbage truck. After receiving a loading signal, the controller performs the following steps: Step S1: The controller controls the tipping rod to extend, and the time relay starts timing. After the preset time is reached, the tipping rod stops extending; the controller controls the tipping rod to retract to its original position. Step S2: The controller controls the scraper electric push rod to start retracting, and at the same time the time relay starts timing. After the preset time is reached, the scraper electric push rod stops retracting. Step S3: The controller controls the electric push rod of the skateboard to start extending, and at the same time the time relay starts timing. After the preset time is reached, the electric push rod of the skateboard stops extending. Step S4: The controller controls the scraper electric push rod to start extending, and at the same time the time relay starts timing. After the preset time is reached, the scraper electric push rod stops extending. Step S5: The controller controls the electric push rod of the skateboard to start retracting, and at the same time the time relay starts timing. After the preset time is reached, the electric push rod of the skateboard stops retracting.

[0009] By replacing hydraulic cylinders with electric actuators, energy efficiency is reduced, the garbage bin space is increased, and precise timing control is achieved by using time relays to precisely control the timing of each action.

[0010] Preferably, after the tipping rod retracts to its position, the pressure sensor PS1 sends a signal, and the controller triggers step S2 upon receiving the signal. The pressure signal from PS1 automatically triggers the next action, ensuring that compression only begins after the tipping rod drives the tipping mechanism to flip and descend, thus avoiding interference.

[0011] Preferably, during step S5, the pusher rod is in a floating state. As the garbage is pressed into the garbage bin, the pusher rod is gradually pushed back. The pusher rod is gradually pushed back until the pressure rises. When the pressure sensor PS2 sends a signal, the controller determines that the garbage bin is full. PS2 automatically detects the pressure to determine full load, realizing status feedback and precise control.

[0012] Preferably, the controller receives the lid opening signal and controls the electric push rod of the filler lid to retract. At the same time, the time relay starts timing, and the electric push rod of the filler lid stops retracting after the preset time is reached. The opening duration of the lid electric push rod is precisely controlled by the controller and the time relay according to the preset time, with timely response and realizing automated and orderly control.

[0013] Preferably, the controller receives a capping signal and controls the electric push rod of the filler cap to extend, causing the filler cap to close. Once closed, the limit switch on the electric push rod is triggered, stopping the electric push rod's movement. The limit switch on the electric push rod ensures the filler cap is fully closed, providing status feedback.

[0014] Preferably, after receiving the unloading signal, the controller performs the following steps: Step S6: The controller controls the locking hook electric push rod to start extending, and at the same time the time relay starts timing. After the preset time is reached, the locking hook electric push rod stops extending. Step S7: The controller controls the lifting electric push rod to start extending, and at the same time the time relay starts timing. After the preset time is reached, the lifting electric push rod stops extending. Step S8: The controller controls the electric push rod of the pusher to start extending, and at the same time the time relay starts timing. After the preset time is reached, the electric push rod of the pusher stops extending. Step S9: The controller controls the push rod to start retracting, and at the same time the time relay starts timing. After the preset time is reached, the push rod stops retracting. Step S10: The controller controls the lifting electric push rod to retract, so that the filler is reset; Step S11: The controller controls the locking hook electric push rod to retract, locking the filler.

[0015] The entire unloading process is automatically controlled by the controller in sequence, ensuring the precise and orderly execution of each unloading action.

[0016] Preferably, when the filler is reset to the correct position, position sensor SQ4 sends a signal, stopping the retraction of the lifting electric actuator; when the locking hook is engaged, position sensor SQ5 sends a signal, stopping the retraction of the locking hook electric actuator. By providing real-time feedback on the filler reset status and locking hook engagement status through position sensors SQ4 and SQ5, the controller precisely stops the corresponding electric actuator based on the feedback signals.

[0017] Preferably, the controller employs a progressive interlocking logic, allowing the next action to be triggered only after the current action is completed. Progressive interlocking can prevent incorrect sequence and malfunctions, avoiding equipment damage caused by chaotic actions.

[0018] Preferably, when any one of the electric actuators fails, the controller only locks the faulty branch, while the other branches continue to operate normally. Single-path fault isolation can prevent a single point of failure from paralyzing the entire system, improving system reliability and availability.

[0019] A garbage truck includes: Trash can body; The filler is installed at the rear of the garbage container. The lifting electric push rod is connected to the filler drive and is used to drive the filler to rise and fall. The filler cover is installed on top of the filler. The filler cover electric actuator is connected to the filler cover drive to drive the filler cover to open and close. The tipping mechanism is mounted on the filler, and the tipping electric actuator is used to drive the tipping mechanism to flip. The skateboard is movably mounted on the infiller. The electric push rod of the skateboard is connected to the skateboard drive and is used to drive the skateboard to slide up and down. The scraper is mounted on the slide plate, and the scraper electric actuator is connected to the scraper drive to drive the scraper to open and close. The pusher is movably installed inside the garbage bin. The pusher's electric actuator is connected to the pusher drive and is used to drive the pusher to move back and forth. The locking hook is installed at the rear of the garbage container. The electric push rod of the locking hook is connected to the locking hook drive, which is used to drive the locking hook to engage with the lock on the filler and lock the filler to the garbage container. And a controller, which is connected to each electric actuator and is used to execute the above-mentioned compressed garbage truck control method.

[0020] Applying the above control methods to garbage trucks enables electrification and intelligent control, solving problems such as easy leakage, small space, high energy consumption, difficulty in intelligent control, and large range of impact from malfunctions in hydraulic systems.

[0021] In summary, the beneficial effects of the present invention are as follows: Electric actuators replace hydraulic cylinders, avoiding hydraulic oil leakage caused by hydraulic cylinders, eliminating maintenance and reducing energy consumption; combined with time relays, precise timing control of each action is achieved; sequential action control avoids mechanical interference caused by multiple mechanisms operating simultaneously. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the material feeding process in Example 1; Figure 2 This is a flowchart of the unloading process in Example 1; Figure 3 This is a schematic diagram of the material feeding process in Example 2; Figure 4 This is a flowchart of the unloading process in Example 2; Figure 5 This is a schematic diagram of the main structure of a garbage truck; Figure 6 This is a partial structural diagram of a garbage truck; Figure 7 for Figure 5 A schematic diagram of the cross-sectional structure along the AA direction; Figure 8 This is a schematic diagram of the three-dimensional structure of the rear of the trash can.

[0023] In the diagram: 1. Tipping bucket electric push rod, 10. Tipping mechanism, 11. Scraper electric push rod, 2. Scraper, 20. Slide plate electric push rod, 3. Slide plate, 30. Push shovel electric push rod, 4. Push shovel, 40. Locking hook electric push rod, 5. Locking hook, 50. Lifting electric push rod, 6. Filler, 60. Lock, 61. Filler cover electric push rod, 7. Filler cover, 70. Garbage container body. Detailed Implementation

[0024] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0025] The following is a description of preferred embodiments of the present invention in conjunction with the accompanying drawings. Example 1:

[0026] like Figure 1 and Figure 2 As shown, a method for controlling a compressed garbage truck includes a loading and compression stage and an unloading stage.

[0027] When loading and compressing waste, first press the open cover button. The controller receives the open cover signal and controls the electric push rod 7 of the filler cover to retract. At the same time, the time relay starts timing. After the preset time is reached, the electric push rod 7 of the filler cover stops retracting. The opening duration of the cover push rod is precisely controlled by the controller and the time relay according to the preset time, with timely response and realizing automated and orderly control.

[0028] Then press the load button, which is a continuously active button. After receiving the load signal, the controller performs the following steps: Step S1: The controller controls the tipping rod 1 to extend, and at the same time the time relay starts timing. After the preset time is reached, the tipping rod 1 stops extending; the controller controls the tipping rod 1 to retract back to its original position. Step S2: The controller controls the scraper electric push rod 2 to start retracting, and at the same time the time relay starts timing. After the preset time is reached, the scraper electric push rod 2 stops retracting. Step S3: The controller controls the electric push rod 3 of the skateboard to start extending, and at the same time the time relay starts timing. After the preset time is reached, the electric push rod 3 of the skateboard stops extending. Step S4: The controller controls the scraper electric push rod 2 to start extending, and at the same time the time relay starts timing. After the preset time is reached, the scraper electric push rod 2 stops extending. Step S5: The controller controls the electric push rod 3 of the skateboard to start retracting, and at the same time the time relay starts timing. After the preset time is reached, the electric push rod 3 of the skateboard stops retracting.

[0029] Repeat the above steps until garbage collection at this collection point is complete or the garbage bin is full. Once garbage collection at this collection point is complete, press the stop feeding button. The controller will receive the stop feeding signal, ending the feeding cycle. The feeding process will resume when the garbage truck moves to the next collection point.

[0030] In actual use, in step S1, when the controller controls the tipping rod 1 to retract, a time relay can also be used to time the retraction. A preset time can be set by measuring the retraction time of the tipping rod. After the preset time is reached, it is determined that the tipping rod has retracted to the end. The preset retraction and extension times of each rod are set according to the actual situation and can be obtained through multiple trial runs and adjustments.

[0031] Once the waste container is full, pressing the lid-sealing button triggers the controller to receive a sealing signal. This signal causes the electric push rod 7 of the filler lid to extend, closing the filler lid 70. Once fully closed, the limit switch on the electric push rod 7 is triggered, stopping its operation. The limit switch on the electric push rod 7 ensures the filler lid 70 is fully closed, providing status feedback.

[0032] Among them, the tipping electric push rod 1 is used to drive the tipping mechanism 10 to tip the trash can; the scraper electric push rod 2 is used to drive the scraper to open and close; the slide electric push rod 3 is used to drive the slide to slide up and down; the push shovel electric push rod 4 is used to drive the push shovel 40 to move back and forth; the locking hook electric push rod 5 is used to drive the filler locking hook 50 to lock or unlock; the lifting electric push rod 6 is used to drive the filler 60 to lift up and down; and the filler cover electric push rod 7 is used to drive the filler cover 70 to open and close.

[0033] The extension and retraction of the bucket tipping electric actuator 1, scraper electric actuator 2, slide plate electric actuator 3, push shovel electric actuator 4, locking hook electric actuator 5, lifting electric actuator 6, and filler cover electric actuator 7 are all achieved by time relays in conjunction with a controller.

[0034] Among them, the electric actuator adopts a servo electric actuator, which has a built-in encoder and a built-in travel limit switch. It has a full closed-loop position + speed + thrust, which can accurately control pressure and time.

[0035] By replacing hydraulic cylinders with electric actuators, each action requires only the operation of a single electric actuator, eliminating the need for a high-power motor. There are no long-distance hydraulic control pipelines, resulting in no energy loss during transmission. Electrical energy is directly converted into linear mechanical motion, without the need for secondary conversion through a hydraulic system, leading to high efficiency and low energy consumption. Combined with time relays, precise timing control of each action is achieved, ensuring accurate sequence control and avoiding mechanical interference caused by simultaneous actions of multiple mechanisms. By eliminating the hydraulic motor, hydraulic tank, hydraulic valve group, and hydraulic control pipelines, the space behind the driver's cab in the garbage bin design no longer needs to be reserved for the hydraulic control system, increasing the garbage bin's capacity.

[0036] When unloading waste, press the unload button. After receiving the unload signal, the controller will execute the following steps: Step S6: The controller controls the locking hook electric push rod 5 to start extending, and at the same time the time relay starts timing. After the preset time is reached, the locking hook electric push rod 5 stops extending and the filler locking hook is opened.

[0037] Step S7: The controller controls the lifting electric push rod 6 to start extending, and at the same time the time relay starts timing. After the preset time is reached, the lifting electric push rod 6 stops extending and the filler is lifted.

[0038] Step S8: The controller controls the electric push rod 4 of the pusher to extend, and at the same time, the time relay starts timing. After the preset time is reached, the electric push rod 4 of the pusher stops extending. The pusher pushes the garbage in the garbage bin outward until the garbage in the bin is completely discharged.

[0039] Step S9: The controller controls the electric push rod 4 of the pusher to start retracting, and at the same time the time relay starts timing. After the preset time is reached, the electric push rod 4 of the pusher stops retracting and the pusher is reset.

[0040] Step S10: The controller controls the lifting electric push rod 6 to retract, so that the filler 60 is reset; Step S11: The controller controls the locking hook electric push rod 5 to retract, locking the filler 60.

[0041] The entire unloading process is automatically controlled by the controller in sequence, ensuring the precise and orderly execution of each unloading action.

[0042] The retraction of the lifting electric actuator 6 and the locking electric actuator 5 can also be controlled by preset timers via time relays, thereby achieving the reset and locking of the filler 60 respectively. Example 2:

[0043] like Figure 3 and Figure 4 As shown, a method for controlling a compressed garbage truck involves the controller receiving a loading signal and then executing the following steps: Step S1: The controller controls the tipping rod 1 to extend, and at the same time the time relay starts timing. After the preset time is reached, the tipping rod 1 stops extending; the controller controls the tipping rod 1 to retract back to its original position. After the tipping rod 1 retracts into its position, the pressure sensor PS1 sends a signal, and the controller, upon receiving the signal, triggers step S2.

[0044] Step S2: The controller controls the scraper electric push rod 2 to start retracting, and at the same time the time relay starts timing. After the preset time is reached, the scraper electric push rod 2 stops retracting. Step S3: The controller controls the electric push rod 3 of the skateboard to start extending, and at the same time the time relay starts timing. After the preset time is reached, the electric push rod 3 of the skateboard stops extending. Step S4: The controller controls the scraper electric push rod 2 to start extending, and at the same time the time relay starts timing. After the preset time is reached, the scraper electric push rod 2 stops extending. Step S5: The controller controls the electric push rod 3 of the skateboard to start retracting, and at the same time the time relay starts timing. After the preset time is reached, the electric push rod 3 of the skateboard stops retracting.

[0045] During step S5, the pusher rod 4 is in a floating state. As the garbage is pressed into the garbage bin, the pusher rod 4 is gradually pushed back. The pusher rod 4 is gradually pushed back until the pressure rises. When the pressure sensor PS2 sends a signal, the controller determines that the garbage bin is full.

[0046] Repeat the above steps until garbage collection at this collection point is complete or the garbage bin is full. Once garbage collection at this collection point is complete, press the stop feeding button. The controller will receive the stop feeding signal, ending the feeding cycle. The feeding process will resume when the garbage truck moves to the next collection point.

[0047] By replacing hydraulic cylinders with electric actuators, each action requires only the operation of a single electric actuator, eliminating the need for a high-power motor. There are no long-distance hydraulic control pipelines, resulting in no energy loss during transmission. Electrical energy is directly converted into linear mechanical motion, without the need for secondary conversion through a hydraulic system, leading to high efficiency and low energy consumption. Combined with time relays, precise timing control of each action is achieved, ensuring accurate sequence control and avoiding mechanical interference caused by simultaneous actions of multiple mechanisms. By eliminating the hydraulic motor, hydraulic tank, hydraulic valve group, and hydraulic control pipelines, the space behind the driver's cab in the garbage bin design no longer needs to be reserved for the hydraulic control system, increasing the garbage bin's capacity.

[0048] The tipping rod extends, lifting and tipping the trash can, allowing trash to be poured into the filler's inlet. The tipping rod retracts, resetting the tipping mechanism and lowering the trash can. The scraper rod retracts, opening the scraper, and the sliding plate rod extends, moving the scraper downwards until it reaches the trash at the bottom of the filler. The scraper rod extends again, closing the scraper and catching the trash at the bottom of the filler. The sliding plate rod retracts, moving the scraper upwards and pushing the trash into the trash can.

[0049] The pressure signal from PS1 automatically triggers the next action, ensuring that compression only begins after the tipping mechanism 10 has been tilted and lowered by the tipping rod 1, thus avoiding interference. PS2 automatically detects pressure to determine full load, achieving status feedback and precise control.

[0050] The extension and retraction of the bucket tipping electric actuator 1, scraper electric actuator 2, slide plate electric actuator 3, push shovel electric actuator 4, locking hook electric actuator 5, lifting electric actuator 6, and filler cover electric actuator 7 are all achieved by time relays in conjunction with a controller.

[0051] The tipping rod 1 and the pusher rod 4 are servo electric pushers with integrated force sensors to detect the pressure on the pushers in real time. When the tipping rod 1 retracts, it resets the tipping mechanism 10. When the tipping mechanism 10 is in its reset position, it can no longer move, and the pusher continues to retract, compressing the pusher head and increasing the pressure on the pusher. When the force sensor built into the tipping rod 1 detects the increased pressure, the controller determines that the tipping rod 1 has retracted and sends a PS1 signal. The controller then cuts off the power output of the tipping rod 1, stopping its retraction, and simultaneously triggers the scraper rod 2 to begin retracting. During the process of the pusher rod 4 retracting and pressing the garbage into the garbage bin, the pusher rod 4 is in a floating state. When the pressure on the pusher rod 4 exceeds the limit (the limit can be set according to the actual situation), the controller controls the pusher rod 4 to passively retreat, maintaining a certain back pressure. As the garbage is gradually pressed into the garbage bin and compacted, the pusher lever 4 is gradually pushed back. When the garbage is compacted to its limit and the pusher lever 4 can no longer retract, the pressure on the pusher lever 4 increases, and PS2 sends a signal. Upon receiving this signal, the controller determines that the garbage bin is full and stops the feeding cycle.

[0052] The controller receives an opening signal and controls the electric push rod 7 of the filler cover to retract. Simultaneously, a time relay starts timing, and the electric push rod 7 stops retracting after a preset time. The opening duration of the cover push rod is precisely controlled by the controller and time relay according to the preset time, ensuring timely response and achieving automated and orderly control.

[0053] The controller receives a capping signal and controls the extension of the filler cap electric push rod 7, which in turn closes the filler cap 70. Once fully closed, the limit switch on the filler cap electric push rod 7 is triggered, stopping its movement. The limit switch on the filler cap electric push rod 7 ensures that the filler cap 70 is fully closed, providing status feedback. Alternatively, a time relay and a preset time can be used to control the extension time of the filler cap electric push rod, thereby ensuring the filler cap is closed.

[0054] After receiving the unloading signal, the controller executes the following steps: Step S6: The controller controls the locking hook electric push rod 5 to start extending, and at the same time the time relay starts timing. After the preset time is reached, the locking hook electric push rod 5 stops extending and the filler locking hook is opened.

[0055] Step S7: The controller controls the lifting electric push rod 6 to start extending, and at the same time the time relay starts timing. After the preset time is reached, the lifting electric push rod 6 stops extending and the filler is lifted.

[0056] Step S8: The controller controls the electric push rod 4 of the pusher to extend, and at the same time, the time relay starts timing. After the preset time is reached, the electric push rod 4 of the pusher stops extending. The pusher pushes the garbage in the garbage bin outward until the garbage in the bin is completely discharged.

[0057] Step S9: The controller controls the electric push rod 4 of the pusher to start retracting, and at the same time the time relay starts timing. After the preset time is reached, the electric push rod 4 of the pusher stops retracting and the pusher is reset.

[0058] Step S10: The controller controls the lifting electric push rod 6 to retract, so that the filler 60 is reset. When the filler 60 is reset to the position, the position sensor SQ4 sends a signal and the lifting electric push rod 6 stops retracting. Step S11: The controller controls the locking hook electric push rod 5 to retract, locking the filler 60. When the locking hook is locked in place, the position sensor SQ5 sends a signal, and the locking hook electric push rod 5 stops retracting.

[0059] The entire unloading process is automatically controlled sequentially by the controller, ensuring precise and orderly execution of each unloading action. SQ4 and SQ5 can be configured as position sensors built into the electric push rods. The position sensors can use built-in encoders. Alternatively, for more accurate position determination, position sensor SQ4 can be positioned on the garbage container, at the contact point between the filler 60 and the container when it is lowered. When the filler 60 resets and contacts the container, the SQ4 signal is triggered. SQ5 is positioned at the locking hook; when the hook rotates to the locked position, the SQ5 signal is triggered. The position sensors SQ4 and SQ5 provide real-time feedback on the reset status of the filler 60 and the locking status of the hook, allowing the controller to precisely stop the corresponding electric push rod based on the feedback signals. Example 3:

[0060] The difference between this embodiment and Embodiment 1 is that, in order to prevent incorrect sequence and malfunctions, and to avoid equipment damage caused by chaotic actions, the controller adopts a progressive interlocking logic, allowing the next action to be triggered only after the current action is completed.

[0061] To prevent a single point of failure from paralyzing the entire system and to improve system reliability and availability, when any one of the electric actuators fails, the controller only locks the faulty branch, while the other branches continue to operate normally.

[0062] Before executing any actuator movement, the controller first performs an interlock condition check. Interlock conditions include: no emergency stop signal in the system, normal voltage in the target branch, no overload fault, and the pre-action limit signal required for the target branch's movement being in place. Only when all of the above conditions are met will the controller output a drive signal through the corresponding DO port to trigger the time relay of the target branch. The relays in other branches remain open, and the actuators remain stationary, achieving precise single-path triggering. After the target branch's time relay completes its delay, the internal main power contact closes, and DC24V power is supplied separately to the corresponding actuator, which then extends or retracts according to preset logic. Once the actuator reaches its limit position, the built-in limit switch is triggered independently, and the limit signal is transmitted separately to the corresponding independent DI port of the VCU. The system only determines that the currently operating branch has completed its work; the status of other branches remains unaffected. After the VCU detects that the limit signal of the current action branch is valid, it immediately cancels the corresponding DO control output, the coil of the time relay in that branch is de-energized, the main contacts open, the power supply to the single push rod is cut off, the corresponding push rod stops and locks, and returns to standby state. The interlock condition is automatically released, and subsequent branch actions can be triggered at any time.

[0063] After the system is powered on, the controller first performs a global self-test, checking the continuity of each electric actuator branch, the status of limit switches, the operating condition of the corresponding time relay coil, and the power supply voltage. If a branch fails the self-test, the controller marks it as faulty and locks it, preventing subsequent actions from being triggered. A fault indication is also issued. The remaining branches that pass the self-test enter a standby ready state and can be triggered independently at any time via manual switch commands or CAN control commands. During system operation, if any branch experiences overload, overcurrent, open circuit, limit switch failure, or abnormal voltage, the controller determines that the branch has a malfunction. It only disconnects the control circuit of the faulty branch, de-energizes the corresponding relay, stops the system, and locks the fault status. The remaining normal branches can continue to respond to manual switch commands or CAN control commands, maintaining normal operation and preventing a single-circuit failure from paralyzing the entire system. Example 4:

[0064] like Figures 5 to 8 As shown, a garbage truck includes: a garbage container body 8, a filler 60, a filler cover 70, a tipping mechanism 10, a sliding plate 30, a scraper 20, a pusher 40, and a filler locking hook 50; a lifting electric actuator 6, a filler cover electric actuator 7, a scraper electric actuator 2, a sliding plate electric actuator 3, a pusher electric actuator 4, a locking hook electric actuator 5, and a tipping electric actuator 1; and a controller. The controller is connected to each electric actuator and is used to execute the compressed garbage truck control method in Embodiment 1, 2, or 3.

[0065] The filler 60 is installed at the rear of the garbage container 8. The garbage container 8 is equipped with a lifting electric push rod 6, which is driven to connect to the filler 60 and is used to drive the filler 60 to lift.

[0066] The filler cover 70 is installed on the top of the filler 60. The filler 60 is provided with a filler cover electric push rod 7, which is driven to connect with the filler cover 70 and is used to drive the filler cover 70 to open and close.

[0067] The tipping mechanism 10 is installed on the filler 60, and the garbage container 8 is provided with a tipping electric push rod 1, which is used to drive the tipping mechanism 10 to flip.

[0068] The slide plate 30 is movably mounted on the filler 60, and the filler 60 is provided with a slide plate electric push rod 3. The slide plate electric push rod 3 is driven to drive the slide plate 30 to slide up and down.

[0069] The scraper 20 is mounted on the slide plate 30, and the slide plate 30 is provided with a scraper electric push rod 2. The scraper electric push rod 2 is driven to drive the scraper 20 to open and close.

[0070] The pusher 40 is movably installed inside the garbage container 8. The garbage container 8 is equipped with a pusher electric actuator 4, which is driven by the pusher 40 to drive the pusher 40 to move back and forth. The locking hook 50 is installed at the rear of the garbage container 8. The garbage container 8 is provided with a locking hook electric push rod 5. The locking hook electric push rod 5 is driven to connect with the locking hook 50 and is used to drive the locking hook 50 to cooperate with the locking buckle 61 on the filler 60 to lock the filler 60 to the garbage container 8.

[0071] Specifically, the filler 60 is hinged to the garbage container 8, and the two ends of the lifting electric push rod 6 are respectively hinged to the filler 60 and the garbage container 8. Preferably, a lifting electric push rod is provided on both sides of the garbage container. The filler cover 70 is connected to the filler 60 through upper and lower support legs, and the two ends of the upper and lower support legs are respectively hinged to the filler cover 70 and the filler 60. The two ends of the filler cover electric push rod 7 are respectively hinged to the filler 60 and the upper support leg. Preferably, a filler cover electric push rod 7 is provided on both sides of the filler 60. Of course, the filler cover 70 can also be directly hinged to the filler, and driven to swing open and close by the filler cover electric push rods with their two ends hinged to the filler and the filler cover respectively. The tipping mechanism 10 is connected to the linkage mechanism 11, and the tipping electric push rod 1 drives the tipping mechanism 10 to flip through the linkage mechanism 11. Preferably, a tilting electric actuator 1 and a linkage mechanism 11 are provided on both sides of the filler. In one embodiment of the linkage mechanism 11, it includes a first rod, a second rod, and a third rod. The first rod can be an L-shaped rod, with the corner of the L-shape hinged to one end of the second rod, and this end of the second rod is fixed to the tilting mechanism 10. The two ends outside the corner are respectively hinged to the tilting electric actuator 1 and the filler 60. One end of the second rod is hinged to one end of the third rod, and the other end of the third rod is hinged to the filler. The second end of the third rod is also hinged to the filler. A slide plate 30 is slidably mounted on the filler 60. The two ends of the slide plate electric actuator are respectively hinged to the slide plate 30 and the filler 60. A scraper 20 is hinged to the slide plate, and the two ends of the scraper electric actuator are respectively hinged to the scraper 20 and the slide plate 30. Preferably, two slide plate electric actuators and two scraper electric actuators are provided. The pusher 40 is slidably installed inside the garbage container 8, and the two ends of the pusher electric actuator 4 are hinged to the pusher 40 and the garbage container 8, respectively. The locking hook 50 is hinged to the garbage container 8, and the two ends of the locking hook electric actuator 5 are hinged to the locking hook 50 and the garbage container 8, respectively. A latch 61 is fixedly connected to the filler 60. After the filler 60 is reset, the locking hook electric actuator 5 drives the locking hook 50 to swing until the locking hook 50 hooks the latch 61. The filler 60, filler cover 70, tipping mechanism 10, slide plate 30, scraper 20, pusher 40, and filler locking hook 50 adopt a conventional structure, which will not be described in detail here.

[0072] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling a compressed garbage truck, characterized in that, After receiving the loading signal, the controller performs the following steps: Step S1: The controller controls the tipping rod (1) to extend, and at the same time the time relay starts timing. After the preset time is reached, the tipping rod (1) stops extending; the controller controls the tipping rod (1) to retract back to its original position. Step S2: The controller controls the scraper electric push rod (2) to start retracting, and at the same time the time relay starts timing. After the preset time is reached, the scraper electric push rod (2) stops retracting. Step S3: The controller controls the electric push rod (3) of the skateboard to start extending, and at the same time the time relay starts timing. After the preset time is reached, the electric push rod (3) of the skateboard stops extending. Step S4: The controller controls the scraper electric push rod (2) to start extending, and at the same time the time relay starts timing. After the preset time is reached, the scraper electric push rod (2) stops extending. Step S5: The controller controls the electric push rod (3) of the skateboard to start retracting, and at the same time the time relay starts timing. After the preset time is reached, the electric push rod (3) of the skateboard stops retracting.

2. The method for controlling a compressed garbage truck as described in claim 1, characterized in that, After the electric push rod (1) retracts back into place, the pressure sensor PS1 sends a signal, and the controller triggers step S2 after receiving the signal.

3. The method for controlling a compressed garbage truck as described in claim 1, characterized in that, During step S5, the pusher rod (4) is in a floating state. As the garbage is pressed into the garbage bin, the pusher rod (4) is gradually pushed back until the pressure rises. When the pressure sensor PS2 sends a signal, the controller determines that the garbage bin is full.

4. The method for controlling a compressed garbage truck as described in claim 1, characterized in that, The controller receives the opening signal and controls the electric push rod (7) of the filler cover to retract. At the same time, the time relay starts timing. After the preset time is reached, the electric push rod (7) of the filler cover stops retracting.

5. The method for controlling a compressed garbage truck as described in claim 1, characterized in that, The controller receives the capping signal and controls the electric push rod (7) of the filler cap to extend, thereby closing the filler cap (70).

6. The method for controlling a compressed garbage truck as described in claim 1, characterized in that, After receiving the unloading signal, the controller performs the following steps: Step S6: The controller controls the locking hook electric push rod (5) to start extending, and at the same time the time relay starts timing. After the preset time is reached, the locking hook electric push rod (5) stops extending. Step S7: The controller controls the lifting electric push rod (6) to start extending, and at the same time the time relay starts timing. After the preset time is reached, the lifting electric push rod (6) stops extending. Step S8: The controller controls the electric push rod (4) of the pusher to start extending, and at the same time the time relay starts timing. After the preset time is reached, the electric push rod (4) of the pusher stops extending. Step S9: The controller controls the electric push rod (4) of the pusher to start retracting, and at the same time the time relay starts timing. After the preset time is reached, the electric push rod (4) of the pusher stops retracting. Step S10: The controller controls the lifting electric push rod (6) to retract, so that the filler (60) is reset; Step S11: The controller controls the locking hook electric push rod (5) to retract, locking the filler (60).

7. A method for controlling a compressed garbage truck as described in claim 6, characterized in that, When the filler (60) is reset to the position, the position sensor SQ4 sends a signal and the lifting electric push rod (6) stops retracting; when the locking hook is locked to the position, the position sensor SQ5 sends a signal and the locking hook electric push rod (5) stops retracting.

8. The method for controlling a compressed garbage truck as described in claim 1, characterized in that, The controller uses a progressive interlocking logic, which allows the next action to be triggered only after the current action is completed.

9. The method for controlling a compressed garbage truck as described in claim 1, characterized in that, When any one of the electric actuators fails, the controller will only lock the faulty branch, while the other branches will continue to operate normally.

10. A garbage truck, characterized in that, include: Trash can body (8); Filler (60) is installed at the rear of the garbage container (8). The lifting electric push rod (6) is connected to the filler (60) for driving the filler (60) to lift. The filler cover (70) is installed on top of the filler (60). The filler cover electric push rod (7) is driven to the filler cover (70) to drive the filler cover (70) to open and close. The tipping mechanism (10) is mounted on the filler (60), and the tipping electric push rod (1) is used to drive the tipping mechanism (10) to flip. The slide (30) is movably mounted on the filler (60), and the slide electric push rod (3) is driven to drive the slide (30) to slide up and down. Scraper (20) is mounted on slide plate (30). Scraper electric push rod (2) is connected to scraper (20) for driving scraper (20) to open and close. Pusher (40) is movably installed inside the garbage bin. The pusher electric push rod (4) is connected to the pusher (40) for driving the pusher (40) to move back and forth. Locking hook (50) is installed at the tail of the garbage container (8). The locking hook electric push rod (5) is connected to the locking hook (50) to drive the locking hook (50) to engage with the latch (61) on the filler (60) to lock the filler (60) to the garbage container (8). And a controller, which is connected to each electric actuator, and is used to execute the compressed garbage truck control method according to any one of claims 1 to 9.

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