A self-loading and unloading garbage truck outrigger control method and system

Abstract

The application discloses a self-loading and unloading garbage truck supporting leg control method and system, and the method comprises the following steps: when a box body lifting button is operated, a supporting leg extending action is preferentially executed, a supporting leg extending time To is timed and memorized, the To remains unchanged when the supporting leg extending is stopped in the middle, the To continues to be accumulated when the operation continues, and repeated timing is avoided; a box body lifting time Tu and a descending time Td are timed respectively, and the increase is stopped when a set box body lifting value T is reached; if |Tu-Td|≤a system set value Ts and a box body descending in place signal is triggered, the supporting leg retracting action is allowed to be executed; after the box body descends in place, the box body descending button is continuously operated to make the supporting leg retract, when the continuous operation time exceeds a set threshold value, an automatic supporting leg retracting action is triggered, the system automatically executes the supporting leg retracting according to a set automatic supporting leg retracting time, and a state prompt of the supporting leg not being retracted is performed. The application can effectively improve the safety and operation convenience of the self-loading and unloading garbage truck unloading operation.

Description

Technical Field

[0001] This invention relates to the field of control technology for self-loading and unloading garbage trucks, specifically, to a method and system for controlling the outriggers of a self-loading and unloading garbage truck. Background Technology

[0002] Self-loading garbage trucks are widely used for garbage transfer in urban streets and residential areas. Their unloading operation typically includes four steps: outrigger extension, container lifting, container lowering, and outrigger retraction. As a key component for operational and driving safety, the outriggers must reliably extend before the container is lifted and fully retract after the container is lowered. Otherwise, they may cause tipping on sloping ground or interference between the outriggers and the road surface when the vehicle is moving, resulting in an accident.

[0003] Currently, there are two main methods for outrigger control in the industry: one is manual operation with a separate button, which is cumbersome and relies on human judgment, making it easy to misoperate due to negligence; the other is linkage with the housing, using a timer to control the action time, but releasing the button midway will interrupt the action, and the timer will restart when restarting, which can easily cause the outrigger to continue outputting even after it has reached the position, resulting in pressure buildup, or the operator forgetting to retract the outrigger when it is in the middle position, allowing the vehicle to drive directly, which poses a significant safety hazard.

[0004] Furthermore, the limited installation space for outriggers makes it difficult to place position sensors. Even when installed, the high failure rate and poor reliability under harsh working conditions have resulted in a long-standing lack of effective means to accurately determine the outrigger's position. Existing technologies also lack proactive alerts and automatic safety interlocking schemes for outriggers not retracted, hindering further improvements in operational efficiency and safety. Summary of the Invention

[0005] To address the aforementioned technical problems, the present invention aims to provide a method and system for controlling the outriggers of a self-loading and unloading garbage truck. This method employs a linkage control approach between the outriggers and the container's lifting mechanism. During this process, the extension time is timed to determine if the outriggers have fully extended. Furthermore, if the outriggers fail to retract, a text message indicating the outrigger status is displayed on the screen. Simultaneously, after the container descends, the outriggers are controlled in parallel using both manual and automatic retraction methods to ensure complete retraction. The outrigger status is also assessed during this process; if the outriggers fail to retract, voice and text prompts are provided to the operator, ensuring vehicle operation and driving safety.

[0006] The present invention solves the above problems through the following technical solution:

[0007] A method for controlling the outriggers of a self-loading garbage truck includes the following steps:

[0008] S1. Outrigger extension timing and memory storage: When the box lifting button is operated, the outrigger extension action is executed first, and the outrigger extension time To is timed; When the box lifting button operation stops, To remains unchanged, and when the operation continues, To continues to accumulate on the original basis; When To is greater than or equal to the system set outrigger extension value Tos, To stops increasing, it is determined that the outrigger is fully extended, and the box lifting action is executed.

[0009] S2. Box lifting and lowering timing; timing the box lifting time Tu and the box lowering time Td. When the box lifting time Tu or the box lowering time Td reaches the set box lifting value T, the timing stops.

[0010] S3. Fault tolerance judgment of the enclosure lowering position signal: When the absolute value of the difference between the enclosure lifting time Tu and the enclosure lowering time Td is less than or equal to the system set value Ts, and the enclosure lowering position signal is triggered, the outrigger retraction action is allowed.

[0011] S4. Automatic outrigger retraction control: After the box is lowered to the position, continuously operate the box lowering button to retract the outriggers. When the continuous operation time exceeds the set threshold, the automatic outrigger retraction action is triggered. The system automatically retracts the outriggers according to the set automatic outrigger retraction time Tls.

[0012] S5. Outrigger not retracted status prompt: When the operation stops during the extension of the outrigger, and / or when the operation stops during the retraction of the outrigger and the automatic retraction action of the outrigger is not triggered, a status prompt will be displayed indicating that the outrigger has not retracted.

[0013] As a further improvement, in S1, if the box lifting button is stopped and the box lowering button is operated during the outrigger extension process to make the outrigger retract, the outrigger extension time To begins to decrease, and the time when the outrigger has retracted is recorded. The difference between the outrigger extension time and the outrigger retraction time is the updated outrigger extension time. The next time the outrigger is extended, the timing will continue to accumulate based on the updated outrigger extension time.

[0014] As a further improvement, in S4, after the box has descended to its position, the set threshold for continuously operating the box descent button is not less than 1 second.

[0015] As a further improvement, in S4, if the box lifting button is operated during the automatic retraction of the outriggers, the automatic retraction of the outriggers will immediately stop, and the outriggers will be extended instead.

[0016] As a further improvement, in S5, when the box lifting button operation stops during the outrigger extension process, a text prompt is displayed on the screen; when the box lifting button operation stops during the outrigger retraction process and the automatic outrigger retraction action is not triggered, both a text prompt on the screen and a voice prompt are displayed simultaneously.

[0017] As a further improvement, the control method further includes:

[0018] S6. State matrix generation and recording;

[0019] Generate and record the state matrix T[3×3] of each action state during the unloading process:

[0020] ;

[0021] Among them, T 11 Indicates the outrigger extension timer status; T 12 Indicates the status of the enclosure lifting timer; T 13 This indicates the comparison status between the time difference of the cabinet's lifting and lowering and the set cabinet lifting value Ts, i.e., the state where |Tu-Td|≤Ts; T 21 Indicates the status of the enclosure's descent into position; T 22 This indicates the state after the automatic retraction of the outriggers is triggered; T 23 Indicates the status of the outrigger automatic retraction timer; T 31 The text message indicates that the outrigger has not retracted during the extension process; T 32 This indicates that the outriggers have not retracted after the box has descended; T 33 This indicates that the outriggers have retracted and are in the output state after the housing has descended to its final position.

[0022] Furthermore, the present invention also solves the above problems through the following technical solutions:

[0023] A self-loading garbage truck outrigger control system includes:

[0024] The controller is used to execute the outrigger control method for a self-loading garbage truck as described above;

[0025] The enclosure lifting button is electrically connected to the controller and is used to input the enclosure lifting operation command;

[0026] The enclosure lowering button is electrically connected to the controller and is used to input the enclosure lowering operation command;

[0027] The timing module, located inside the controller or electrically connected to the controller, is used to time the outrigger extension time, the box lifting time, the box lowering time, and the automatic outrigger retraction time.

[0028] A storage module, located inside the controller or electrically connected to the controller, is used to store the time To when the outrigger has extended.

[0029] The enclosure descent detection device is electrically connected to the controller and is used to detect whether the enclosure has descended to the correct position.

[0030] The display device, electrically connected to the controller, is used to display a warning message indicating that the outriggers have not been retracted.

[0031] A voice prompt device, electrically connected to the controller, is used to broadcast voice prompts indicating that the outriggers have not been retracted.

[0032] The hydraulic control valve assembly, electrically connected to the controller, is used to control the movement of the outrigger cylinders and lifting cylinders according to the controller's instructions.

[0033] As a further improvement, the controller is equipped with a state matrix module, which is used to generate and record the state matrix of each action state during the unloading process.

[0034] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0035] (1) The present invention solves the problem of repeated timing caused by operation interruption and reoperation during the outrigger extension process by using the memory storage function of outrigger extension timing. It avoids hydraulic system pressure buildup caused by delay in outrigger positioning due to inaccurate timing, which is beneficial to reduce system noise and extend the service life of various components of hydraulic system.

[0036] (2) By combining the time difference between lifting and lowering of the box with the signal of the box descent sensor, the present invention realizes the fault-tolerant design of the signal of the box descent sensor, effectively preventing the sensor from being mistriggered by interference, causing the outriggers to retract prematurely before the box has descended to a safe height, thus avoiding the risk of box tipping over.

[0037] (3) By setting an automatic retraction control for the outriggers, the outriggers are automatically retracted after the operator has continuously operated the box descent button for more than a set time. This reduces the operator's operation steps and time, improves work efficiency, and avoids the problem of the outriggers not being fully retracted due to the operator letting go halfway.

[0038] (4) By accurately judging the outriggers not retracted and simultaneously providing on-screen text prompts and voice broadcasts, this invention forms a second safety line of defense against outriggers not retracted, effectively reminding operators to pay attention to the outrigger status and avoiding safety accidents caused by driving the vehicle before the outriggers are fully retracted, thereby improving the overall operational and driving safety of the vehicle. Attached Figure Description

[0039] Figure 1 This is a flowchart of a self-loading and unloading garbage truck outrigger control method according to the present invention. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Explanation of relevant terms:

[0042] Unloading: Self-loading garbage trucks unload garbage by lifting the container body and dumping the garbage out of the truck;

[0043] Outrigger extension: Before lifting the enclosure, the outriggers need to be extended. Only after they are fully extended can the enclosure be lifted to ensure safety.

[0044] Outrigger retraction: The outriggers provide support for the enclosure and can only be retracted after the enclosure has been lowered into position.

[0045] Support leg not retracted: The support leg is in an extended position and has not fully returned to its original non-extended position;

[0046] Linkage control: The outriggers are no longer operated by separate control buttons. Instead, the outriggers and the housing are linked together in a certain sequence by operating the housing lifting and lowering buttons.

[0047] Manual retraction: This means that after pressing the lowering button, once the box has descended to the designated position, continue pressing the lowering button to begin retracting the outriggers.

[0048] Automatic retraction: After pressing the lowering button, wait for the box to descend into place, and then press the button for another second to trigger the automatic retraction of the outriggers.

[0049] Example 1:

[0050] Combined with appendix Figure 1 As shown, a method for controlling the outriggers of a self-loading and unloading garbage truck includes the following steps:

[0051] Step 1: Timing and memory storage of outrigger extension;

[0052] In unloading mode, when the box lifting button is operated, the outrigger extension action is performed first, and the outrigger extension time To is recorded; when the box lifting button is released to stop the operation, the outrigger extension time To remains unchanged.

[0053] If the box lifting button is pressed again, the outrigger extension time To will continue to accumulate. When the outrigger extension time To is greater than or equal to the system-set outrigger extension value Tos, the outrigger extension time To will stop increasing, indicating that the outrigger is fully extended and the box lifting action can begin.

[0054] Meanwhile, if during the extension of the outriggers, the user not only releases the lifting button of the housing but also operates the lowering button to retract the outriggers, the outrigger extension time To will begin to decrease. That is, the time that the outriggers have retracted is recorded to obtain the updated outrigger extension time To. The next time the outriggers are extended, the timing will continue to accumulate based on the updated outrigger extension time To.

[0055] Step 2: Timing of box lifting and lowering;

[0056] During normal lifting of the enclosure, the lifting time Tu is timed. Once the lifting time exceeds the set lifting value T, Tu stops increasing. During lowering of the enclosure, the descent time is timed and recorded as Td. Once the sensor signal for the enclosure has reached its lowered position is triggered, i.e., after the enclosure has reached its lowered position, Td stops increasing.

[0057] Step 3: Error tolerance judgment of the box descending to the bottom position signal;

[0058] The outrigger retraction action will only begin when the absolute value of the difference between the lifting time Tu and the lowering time Td is less than or equal to the set lifting value Ts, i.e., when |Tu-Td|≤Ts, and the lowering-to-position signal is triggered. By combining the lifting time difference with the lowering-to-position sensor signal, the outrigger retraction is prevented from being prematurely retracted due to sensor interference.

[0059] Step 4: Automatic retraction and extension leg control;

[0060] After the enclosure is lowered into position, continue operating the lowering button to retract the outriggers. If this operation continues for more than 1 second (a preset threshold), an automatic outrigger retraction action is triggered. The system automatically retracts the outriggers according to the preset retraction time Tls. If the lifting button is operated during the automatic outrigger retraction process, the automatic outrigger retraction action immediately stops, and the outriggers are extended instead. When the automatic outrigger retraction action reaches the preset retraction time Tls, the automatic outrigger retraction is considered complete and automatically stops.

[0061] Step 5: Outrigger not retracted status indicator;

[0062] If the operation suddenly stops during the extension of the outriggers, i.e. before the housing is lifted, and the outriggers are actually in the extended state, the system will detect whether the operation stopped during this process. If so, after detecting the interruption of the operation, the system will display the text message "Outriggers not retracted" on the screen.

[0063] If the operation is stopped during the outrigger retraction process after the vehicle body has descended to its position, and the automatic outrigger retraction action is not triggered at this time, the system will detect this. If the system detects that the operation was stopped and the automatic outrigger retraction action was not triggered, the system will provide a text prompt on the screen and a voice prompt saying "Outrigger not retracted". This ensures that the operator notices the status of the outriggers and avoids the safety risks caused by starting to drive the vehicle with the outriggers not retracted.

[0064] Step Six: State Matrix Generation and Recording;

[0065] A state matrix T[3×3] (three rows and three columns) is generated and recorded to represent the state of each action during the unloading process. This matrix records the situation under different states for each action, enabling the determination of the state of each action. There are only two possible states: 1 or 0. The state matrix is ​​as follows:

[0066] ;

[0067] Among them, T 11 Indicates the outrigger extension timer status, T 12 Indicates the status of the enclosure lifting timer, T 13 This indicates the comparison status between the time difference of the lifting and lowering of the enclosure and the set lifting value Ts, i.e., the state where |Tu-Td|≤Ts, where T... 21 Indicates the status of the enclosure's descent into position, T 22 This indicates the state after the automatic retraction of the outriggers is triggered; T 23 Indicates the status of the outrigger automatic retraction timer, T 31 The text message indicates that the outrigger has not retracted during the extension process. (T) 32 This indicates that the outriggers have not retracted after the box has descended, and the status is indicated by T. 33 This indicates the output state after the housing has descended to its final position and the outriggers have retracted. Each state has a value of 1 indicating normal operation and 0 indicating an abnormal operation.

[0068] The above methods mainly address the following issues:

[0069] 1. The system adopts a linkage control between the box body movement and the outrigger movement, avoiding the need for separate operation of box body lifting and outrigger extension, reducing the number of operation steps for operators, reducing operational complexity, and improving work efficiency;

[0070] 2. If the outrigger extension process is suddenly stopped and then resumed, repeated timing will occur, leading to misjudgment of the outrigger extension position signal. This is to avoid the noise caused by system pressure buildup due to repeated output and to extend the service life of various components of the hydraulic system.

[0071] 3. During the descent of the enclosure, prevent the descent positioning sensor from being falsely triggered by interference sources, which could cause the outriggers to retract during descent and pose a risk of the enclosure tipping over;

[0072] 4. After the box body is lowered into position, while manually operating the box body lowering button to retract the outriggers, an automatic outrigger retraction action is added. At the same time, the system adds text and voice prompts for when the outriggers are not retracted, achieving dual protection. This can effectively prevent the situation where the operator releases their hands and leaves the machine midway through operation, resulting in the outriggers not being fully retracted, thereby avoiding the driving safety risks caused by the outriggers not being retracted into position.

[0073] Example 2:

[0074] To achieve the above method, this embodiment also provides a self-loading and unloading garbage truck outrigger control system, including:

[0075] The controller is used to execute the above control methods;

[0076] The enclosure lifting button is electrically connected to the controller and is used to input the enclosure lifting operation command;

[0077] The enclosure lowering button is electrically connected to the controller and is used to input the enclosure lowering operation command;

[0078] The timing module, located inside the controller or electrically connected to the controller, is used to time the outrigger extension time, the box lifting time, the box lowering time, and the automatic outrigger retraction time.

[0079] A storage module, located inside the controller or electrically connected to the controller, is used to store the time To when the outrigger has extended.

[0080] The enclosure descent detection device is electrically connected to the controller and is used to detect whether the enclosure has descended to the correct position.

[0081] The display device, electrically connected to the controller, is used to display text prompts indicating that the outriggers have not been retracted.

[0082] A voice prompt device, electrically connected to the controller, is used to broadcast voice prompts indicating that the outriggers have not been retracted.

[0083] The hydraulic control valve assembly, electrically connected to the controller, is used to control the movement of the outrigger cylinders and lifting cylinders according to the controller's instructions.

[0084] When the controller executes the above control method, the specific steps are as follows:

[0085] (a) Control by extending the outrigger;

[0086] When the operator presses the lifting button for the outrigger box, the controller receives the lifting command and prioritizes controlling the hydraulic control valve group to drive the outrigger cylinders to extend the outriggers. Simultaneously, the timing module starts timing the outrigger extension time, recording it as "To," and the storage module stores this time value in real time.

[0087] If the operator releases the lifting button during outrigger extension, the outrigger extension pauses, the timing module stops timing, and the current value of To is stored in the storage module. When the operator presses the lifting button again, the controller reads the To value stored in the storage module, and the timing module continues to increment the timer based on To, instead of restarting the timing from zero.

[0088] When To accumulates to a value greater than or equal to the system-set outrigger extension value Tos, the controller determines that the outrigger has fully extended and To stops increasing. At this point, the controller controls the hydraulic control valve group to switch the oil circuit and begin the lifting action of the housing.

[0089] If the operator releases the outrigger during extension and then presses the lowering button to retract the outrigger, the timing module decrements the time from the initial "To" value, recording the time the outrigger has retracted and storing it in the storage module. When the outrigger extends again subsequently, the timing is incremented based on the updated "To" value. This memory storage mechanism effectively avoids the pressure buildup problem caused by repeated timing.

[0090] (II) Fault-tolerant control of the box body descending into position;

[0091] During the lifting process of the enclosure, the timing module times the lifting time and records it as Tu. Tu will stop increasing when the lifting time exceeds the system set value. During the lowering process of the enclosure, the timing module times the lowering time and records it as Td. Td will stop increasing after the enclosure has lowered to the correct position.

[0092] The controller calculates the difference between the lifting time Tu and the lowering time Td of the enclosure in real time, and determines whether |Tu-Td| is less than or equal to the system-set lifting value Ts. The controller only allows the outrigger retraction action when |Tu-Td|≤Ts and the enclosure lowering detection device triggers the enclosure lowering signal.

[0093] Based on the above dual conditions, even if the detection device for the container's descent to the designated position is mistakenly triggered by factors such as vibration or foreign object interference, the controller will not execute the outrigger retraction action because the time difference condition for the container's lifting and lowering is not met. This avoids the risk of the container tipping over due to the outrigger retracting prematurely before the container has descended to a safe height.

[0094] (III) Automatic retraction and extension leg control;

[0095] Once the platform has descended to its designated position and the outriggers have retracted, the operator continues to press and hold the platform descent button. The controller then activates the hydraulic control valve group to drive the outrigger cylinders to retract. The timing module tracks the continuous operation time; when the continuous operation time exceeds one second, the controller triggers an automatic outrigger retraction.

[0096] Once the automatic outrigger retraction action is triggered, even if the operator releases the lowering button of the enclosure, the controller will still automatically control the outriggers to continue retracting according to the automatic outrigger retraction time Tls set by the system, until the set time Tls is reached and then it will automatically stop.

[0097] During the automatic retraction of the outriggers, if the operator presses the lifting button of the housing, the controller will immediately stop the automatic retraction of the outriggers and instead extend the outriggers to meet the operational needs in emergency situations.

[0098] The automatic retraction of the outriggers reduces the time operators need to continuously press the button, thus reducing operator fatigue. It also avoids the problem of the outriggers not retracting completely due to the operator releasing the button midway.

[0099] (iv) Outrigger not retracted status indication;

[0100] If the operator releases the lifting button to stop the operation during the extension of the outriggers (i.e. before the housing is lifted), and the outriggers are actually in the extended state at this time, the controller will detect the interruption of the operation and display the text message "Outriggers not retracted" on the screen through the display device.

[0101] If the operator releases the platform descent button to stop the operation during the outrigger retraction process after the platform has descended to its position, and the automatic outrigger retraction action is not triggered at this time, the controller will detect the interruption and, on the one hand, display the text message "Outrigger not retracted" on the display screen, and on the other hand, broadcast the voice message "Outrigger not retracted" through the voice prompt device, thus reminding the operator to pay attention to the current status of the outriggers in a dual manner.

[0102] By combining the above-mentioned text prompts with voice prompts, a second safety line is formed when the outriggers are not retracted, effectively preventing safety accidents caused by operators starting the vehicle directly due to negligence.

[0103] Furthermore, the controller includes a state matrix module for generating and recording a state matrix T[3×3] (three rows and three columns) of each action state during the unloading process. This matrix records the situation under different states corresponding to each action, enabling the determination of the state of each action. There are only two possible states: 1 or 0. The state matrix is ​​as follows:

[0104] ;

[0105] Among them, T 11 Indicates the outrigger extension timer status, T 12 Indicates the status of the enclosure lifting timer, T 13This indicates the comparison status between the time difference of the lifting and lowering of the enclosure and the set lifting value Ts, i.e., the state where |Tu-Td|≤Ts, where T... 21 Indicates the status of the enclosure's descent into position, T 22 This indicates the state after the automatic retraction of the outriggers is triggered; T 23 Indicates the status of the outrigger automatic retraction timer, T 31 The text message indicates that the outrigger has not retracted during the extension process. (T) 32 This indicates that the outriggers have not retracted after the box has descended, and the status is indicated by T. 33 This indicates the output state after the housing has descended to its final position and the outriggers have retracted. Each state has a value of 1 indicating normal operation and 0 indicating an abnormal operation.

[0106] In a complete unloading process, if the following state matrix occurs, 1 represents a normal situation and 0 represents an abnormal situation:

[0107] ;

[0108] The above matrix illustrates that during the unloading process, after the box descends to its position, the automatic retraction of the outriggers is indeed triggered, but it is interrupted before it is fully retracted. This indicates that during the automatic retraction of the outriggers, the box lifting button was pressed to extend the outriggers, and then the button was immediately released to stop the extension action.

[0109] If the following state matrix exists:

[0110] ;

[0111] The above matrix indicates that when the outriggers were extended, the operation was not continuous. Instead, the action was stopped abruptly during the extension process, before the housing was raised and a warning message appeared indicating that the outriggers had not retracted.

[0112] If the following state matrix exists:

[0113] ;

[0114] The above state matrix illustrates that during the unloading process, if the outriggers retract too quickly after the box has descended to the correct position and the automatic retraction of the outriggers is not triggered before releasing the device, this is a relatively extreme case. In this situation, the screen will display a message indicating that the outriggers have not retracted and a voice prompt will be given.

[0115] Furthermore, the set values ​​Tos, Ts, and Tls can be calibrated and adjusted according to different vehicle models and operating conditions.

[0116] Although the present invention has been described herein with reference to illustrative embodiments, the above embodiments are merely preferred embodiments of the present invention, and the implementation of the present invention is not limited to the above embodiments. It should be understood that those skilled in the art can devise many other modifications and implementations, which will fall within the scope and spirit of the principles disclosed in this application.

Claims

1. A method for controlling the outriggers of a self-loading and unloading garbage truck, characterized in that, Includes the following steps: S1. Timing and memory storage of outrigger extension; When the box-lifting button is pressed, the outrigger extension action is executed first, and the outrigger extension time To is timed. When the box-lifting button is stopped, To remains unchanged. When the operation is resumed, To continues to accumulate on the original value. When To is greater than or equal to the system-set outrigger extension value Tos, To stops increasing, it is determined that the outrigger is fully extended, and the box-lifting action is executed. S2, timing of box lifting and lowering; The lifting time Tu and the lowering time Td of the enclosure are timed. When the lifting time Tu or the lowering time Td reaches the set lifting value T, the timing stops. S3, fault-tolerant judgment of the box body descending to the position signal; When the absolute value of the difference between the lifting time Tu and the lowering time Td of the enclosure is less than or equal to the system set value Ts, and the lowering signal of the enclosure is triggered, the outrigger retraction action is allowed. S4. Automatic retractable leg control; After the enclosure is lowered into position, continue to operate the enclosure lowering button to retract the outriggers. When the continuous operation time exceeds the set threshold, the automatic retraction of the outriggers is triggered. The system automatically retracts the outriggers according to the set automatic retraction time Tls. S5, Outrigger not retracted status indication; When the operation stops during the extension of the outriggers, and / or when the operation stops during the retraction of the outriggers and the automatic retraction of the outriggers is not triggered, a status prompt indicating that the outriggers have not been retracted will be displayed.

2. The method for controlling the outriggers of a self-loading and unloading garbage truck according to claim 1, characterized in that, In step S1, if during the extension of the outrigger, the lifting button of the housing is stopped and the lowering button of the housing is operated to cause the outrigger to retract, the extension time To of the outrigger begins to decrease. The time during which the outrigger has retracted is recorded. The difference between the extension time and the retraction time of the outrigger is the updated extension time of the outrigger. The next time the outrigger is extended, the timing will continue to accumulate based on the updated extension time of the outrigger.

3. The method for controlling the outriggers of a self-loading and unloading garbage truck according to claim 1, characterized in that, In step S4, after the box has descended to its final position, the set threshold for continuously operating the box descent button is not less than 1 second.

4. The method for controlling the outriggers of a self-loading and unloading garbage truck according to claim 1, characterized in that, In S4, if the box lifting button is operated during the automatic retraction of the outriggers, the automatic retraction of the outriggers will stop immediately and the outriggers will be extended instead.

5. The method for controlling the outriggers of a self-loading and unloading garbage truck according to claim 1, characterized in that, In S5, when the box lifting button operation stops during the outrigger extension process, a text prompt is displayed on the screen; when the box lifting button operation stops during the outrigger retraction process and the automatic outrigger retraction action is not triggered, both a text prompt on the screen and a voice prompt are displayed simultaneously.

6. A method for controlling the outriggers of a self-loading and unloading garbage truck according to any one of claims 1-5, characterized in that, The control method further includes: S6. State matrix generation and recording; Generate and record the state matrix T[3×3] of each action state during the unloading process: ； Among them, T 11 Indicates the outrigger extension timer status; T 12 Indicates the status of the enclosure lifting timer; T 13 This indicates the comparison status between the time difference of the cabinet's lifting and lowering and the set cabinet lifting value Ts, i.e., the state where |Tu-Td|≤Ts; T 21 Indicates the status of the enclosure's descent into position; T 22 This indicates the state after the automatic retraction of the outriggers is triggered; T 23 Indicates the status of the outrigger automatic retraction timer; T 31 The text message indicates that the outrigger has not retracted during the extension process; T 32 This indicates that the outriggers have not retracted after the box has descended; T 33 This indicates that the outriggers have retracted and are in the output state after the housing has descended to its final position.

7. A self-loading and unloading garbage truck outrigger control system, characterized in that, include: A controller is configured to execute a self-loading and unloading garbage truck outrigger control method as described in any one of claims 1-6; The enclosure lifting button is electrically connected to the controller and is used to input the enclosure lifting operation command; The enclosure lowering button is electrically connected to the controller and is used to input the enclosure lowering operation command; The timing module, located inside the controller or electrically connected to the controller, is used to time the outrigger extension time, the box lifting time, the box lowering time, and the automatic outrigger retraction time. A storage module, located inside the controller or electrically connected to the controller, is used to store the time To when the outrigger has extended. The enclosure descent detection device is electrically connected to the controller and is used to detect whether the enclosure has descended to the correct position. The display device, electrically connected to the controller, is used to display a warning message indicating that the outriggers have not been retracted. A voice prompt device, electrically connected to the controller, is used to broadcast voice prompts indicating that the outriggers have not been retracted. The hydraulic control valve assembly, electrically connected to the controller, is used to control the movement of the outrigger cylinders and lifting cylinders according to the controller's instructions.

8. The self-loading and unloading garbage truck outrigger control system according to claim 7, characterized in that, The controller is equipped with a state matrix module, which is used to generate and record the state matrix of each action state during the unloading process.

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