CN105129296A - Reversing control method, device and system as well as refuse transfer truck - Google Patents
Reversing control method, device and system as well as refuse transfer truck Download PDFInfo
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- CN105129296A CN105129296A CN201510618513.3A CN201510618513A CN105129296A CN 105129296 A CN105129296 A CN 105129296A CN 201510618513 A CN201510618513 A CN 201510618513A CN 105129296 A CN105129296 A CN 105129296A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000010813 municipal solid waste Substances 0.000 claims description 244
- 239000000463 material Substances 0.000 claims description 71
- 238000003032 molecular docking Methods 0.000 claims description 16
- 238000010586 diagram Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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Abstract
The invention discloses a reversing control method, device and system as well as a refuse transfer truck in order to accurately butt the refuse transfer truck and a refuse compressor port, reduce collision and improve the reversing efficiency. The reversing control method comprises steps as follows: a first distance and a second distance are acquired in the reversing process, wherein the first distance is between a truck body and a right side assisting handrail and detected by a first distance measuring sensor mounted on the right side of the refuse transfer truck, and the second distance is between the truck body and a left side assisting handrail and detected by a second distance measuring sensor mounted on the left side of the refuse transfer truck; according to the first distance and the second distance, the refuse transfer truck is controlled to steer in the direction facing the refuse compressor port.
Description
Technical field
The present invention relates to environmental sanitation field of mechanical technique, particularly relate to a kind of reversing control method, device, system and rubbish van.
Background technology
Rubbish van, before material loading, needs accurately to dock with the material mouth of trash compactor, promotes compression material material loading in the casing of rubbish van to realize trash compactor.At present, enter after between two auxiliary railings when rubbish van is straight, operating personal is moveed backward mainly through viewing light deflector, and the casing of rubbish van is docked with the material mouth of trash compactor.
The defect that prior art exists is; accurately rubbish van is docked with trash compactor material mouth; depend on the subjective experience of operating personal; if operating personal misjudgment or lack experience; rubbish van and auxiliary railing often can be caused to bump against, thus damage rubbish van and auxiliary railing.In addition, the operating efficiency of artificial reversing is also lower.
Summary of the invention
Embodiments provide a kind of reversing control method, device, system and rubbish van, to make rubbish van accurately dock with trash compactor material mouth, reduce collision and occur, and improve the efficiency of reversing.
The reversing control method that the embodiment of the present invention provides, comprising:
In reversing process, obtain the first Distance geometry second distance; Wherein, the distance of railing is assisted on the car body that described first distance detects for the first distance measuring sensor be installed on the right side of rubbish van and right side, and the distance of railing is assisted in the car body that described second distance detects for the second distance measuring sensor be installed on the left of rubbish van and left side;
According to described first Distance geometry second distance, control rubbish van towards the directional steering aiming at trash compactor material mouth.
Preferably, described according to described first Distance geometry second distance, control rubbish van towards the directional steering aiming at trash compactor material mouth, comprising: according to described first Distance geometry second distance, determine to make rubbish van aim at the adjustment angle of trash compactor material mouth; Control rubbish van to turn to according to described adjustment angle.
Preferably, according to described first Distance geometry second distance, control rubbish van towards the directional steering aiming at trash compactor material mouth, comprise: according to described first Distance geometry second distance, determine to make rubbish van aim at the step by step modulating direction information of trash compactor material mouth, described step by step modulating direction information comprises step by step modulating and turns left or step by step modulating right-hand rotation; Control rubbish van to turn to according to described step by step modulating direction information; Return the step of described acquisition first Distance geometry second distance.
More excellent, described according to described first Distance geometry second distance, determine to make rubbish van aim at the step by step modulating direction information of trash compactor material mouth, comprising:
When the first distance is greater than second distance and distance difference is greater than the redundancy difference of setting, controls rubbish van step by step modulating and turn right;
When second distance is greater than the first distance and distance difference is greater than the redundancy difference of setting, controls rubbish van step by step modulating and turn left.
Preferably, when the first distance to be not more than the redundancy difference of setting with the absolute value of the distance difference of second distance, to control rubbish van and retreat.
In the technical scheme of the embodiment of the present invention, the first distance of railing is assisted on the car body detected according to the first distance measuring sensor and right side, and second the car body that detects of distance measuring sensor and left side assist the second distance of railing, control rubbish van turns to, and makes rubbish van aim at trash compactor material mouth.Adopt this technical scheme to control rubbish van to move backward in auxiliary railing, rubbish van can be greatly reduced when moveing backward and the collision of auxiliary railing, realize accurate docking of rubbish van and trash compactor material mouth, and intelligence degree is higher, is conducive to improving reversing efficiency.
Based on identical inventive concept, the embodiment of the present invention additionally provides a kind of astern controls, comprising:
Acquiring unit, in reversing process, to be installed on for obtaining the first distance that railing is assisted on the first distance measuring sensor on the right side of rubbish van detects car body and right side, and to be installed on the second distance that railing is assisted in car body that the second distance measuring sensor on the left of rubbish van detects and left side;
Control unit, for according to described first Distance geometry second distance, controls rubbish van towards the directional steering aiming at trash compactor material mouth.
Preferably, described control unit, specifically for according to described first Distance geometry second distance, determines to make rubbish van aim at the adjustment angle of trash compactor material mouth; Control rubbish van to turn to according to described adjustment angle.
Preferably, described control unit, specifically for according to described first Distance geometry second distance, determine to make rubbish van aim at the step by step modulating direction information of trash compactor material mouth, described step by step modulating direction information comprises step by step modulating and turns left or step by step modulating right-hand rotation;
Control rubbish van to turn to according to described step by step modulating direction information;
Return the step of described acquisition first Distance geometry second distance.
More excellent, described control unit, is further used for when the first distance is greater than second distance and distance difference is greater than the redundancy difference of setting, controls rubbish van step by step modulating and turns right;
When second distance is greater than the first distance and distance difference is greater than the redundancy difference of setting, controls rubbish van step by step modulating and turn left.
Preferably, described control unit, time also for be not more than the redundancy difference of setting with the absolute value of the distance difference of second distance when the first distance, controls rubbish van and retreats.
In like manner, adopt this reversing gear, can greatly reduce rubbish van when moveing backward with the collision of auxiliary railing, realize accurate docking of rubbish van and trash compactor material mouth, and intelligence degree is higher, is conducive to raising and moves backward efficiency.
Based on identical inventive concept, the embodiment of the present invention additionally provides a kind of reversing control system, comprising:
Being installed on the first distance measuring sensor on the right side of rubbish van, assisting the first distance of railing for obtaining car body and right side;
Being installed on the second distance measuring sensor on the left of rubbish van, assisting the second distance of railing for obtaining car body and left side;
Control convenience, is connected with the first distance measuring sensor and the second distance measuring sensor signal respectively, for obtaining second distance described in described first Distance geometry; According to described first Distance geometry second distance, control rubbish van towards the directional steering aiming at trash compactor material mouth.
Preferably, described reversing control system, also comprises at least one pier for stopping vehicle being arranged at rubbish van and trash compactor material mouth docking location.
Preferably, described control convenience, specifically for according to described first Distance geometry second distance, determines to make rubbish van aim at the adjustment angle of trash compactor material mouth; Control rubbish van to turn to according to described adjustment angle.
Preferably, described control convenience, specifically for according to described first Distance geometry second distance, determine to make rubbish van aim at the step by step modulating direction information of trash compactor material mouth, described step by step modulating direction information comprises step by step modulating and turns left or step by step modulating right-hand rotation;
Control rubbish van to turn to according to described step by step modulating direction information;
Return the step of described acquisition first Distance geometry second distance.
More excellent, described control convenience, is further used for:
When the first distance is greater than second distance and distance difference is greater than the redundancy difference of setting, controls rubbish van step by step modulating and turn right;
When second distance is greater than the first distance and distance difference is greater than the redundancy difference of setting, controls rubbish van step by step modulating and turn left.
Preferably, described control convenience, time also for be not more than the redundancy difference of setting with the absolute value of the distance difference of second distance when the first distance, controls rubbish van and retreats.
In like manner, adopt this reversing control system, can greatly reduce rubbish van when moveing backward with the collision of auxiliary railing, realize accurate docking of rubbish van and trash compactor material mouth, and intelligence degree is higher, is conducive to raising and moves backward efficiency.
The embodiment of the present invention additionally provides a kind of rubbish van, comprises the reversing control system described in aforementioned arbitrary technical scheme.This rubbish van can accurate docking of automatic backing and trash compactor material mouth, and intelligence degree is higher, thus improves the efficiency of reversing.
Accompanying drawing explanation
Fig. 1 is that embodiment of the present invention rubbish van docks schematic diagram with trash compactor;
Fig. 2 is embodiment of the present invention reversing control method schematic flow sheet;
Fig. 3 a is that the reversing of embodiment of the present invention rubbish van enters auxiliary railing aftercarriage schematic diagram to the left;
Fig. 3 b is that the reversing of embodiment of the present invention rubbish van enters auxiliary railing aftercarriage schematic diagram to the right;
Fig. 3 c is that the reversing of embodiment of the present invention rubbish van enters auxiliary railing aftercarriage and aligns schematic diagram;
Fig. 4 is embodiment of the present invention astern controls schematic diagram.
Detailed description of the invention
In order to make rubbish van accurately dock with trash compactor material mouth, reducing collision and occurring, and improving the efficiency of reversing, embodiments provide a kind of reversing control method, device, system and rubbish van.
As shown in Figure 2, the reversing control method that one embodiment of the invention provides, comprises the steps:
Step 101: in reversing process, obtains the first Distance geometry second distance;
Wherein, the distance of railing is assisted on the car body that described first distance detects for the first distance measuring sensor be installed on the right side of rubbish van and right side, and the distance of railing is assisted in the car body that described second distance detects for the second distance measuring sensor be installed on the left of rubbish van and left side;
Step 102: according to described first Distance geometry second distance, controls rubbish van towards the directional steering aiming at trash compactor material mouth.
In following embodiment of the present invention, described left side can be understood as the side, left-hand side of chaufeur in rubbish van operator's compartment, and described right side can be understood as the right-hand side side of chaufeur in rubbish van operator's compartment.
As shown in Fig. 1 and Fig. 3 a, railing 32 and right side is assisted to assist in railing 31 when rubbish van 2 enters left side, and when car body is basic parallel with two auxiliary railings, after the turning to and aims at the material mouth of trash compactor 1 of adjustment rubbish van 2, continue to retreat to move backward and can realize and the docking of trash compactor material mouth.
In an embodiment of the present invention, when rubbish van enters in two auxiliary railings, after car body is basic parallel with two auxiliary railings, according to the first Distance geometry second distance that first sensor and the second sensor detect, determine to make rubbish van aim at the adjustment angle of trash compactor material mouth, according to this adjustment angle, car body being adjusted, rubbish van can being made just can to aim at trash compactor material mouth through once adjusting.
In still another embodiment of the process, when rubbish van enters in two auxiliary railings, after car body is basic parallel with two auxiliary railings, according to the first Distance geometry second distance, determine to make rubbish van aim at the step by step modulating direction information of trash compactor material mouth, wherein, step by step modulating direction information comprises step by step modulating and turns left or step by step modulating right-hand rotation, when the first distance is greater than second distance and distance difference is greater than the redundancy difference of setting, controls rubbish van step by step modulating and turn right; When second distance is greater than the first distance and distance difference is greater than the redundancy difference of setting, control rubbish van step by step modulating to turn left, after to the adjustment of step by step modulating direction information, return the step of acquisition first Distance geometry second distance, again the first Distance geometry second distance is detected, circulation above-mentioned steps, as of late one-time detection to the first distance and the distance difference absolute value of second distance be not more than the redundancy difference of setting, can think that rubbish van is aimed at trash compactor material mouth, continue to retreat reversing and carry out docking.
More than of the present invention in two embodiments, when the first distance to be not more than the redundancy difference of setting with the absolute value of the distance difference of second distance, without the need to adjusting, directly can to control rubbish van and retreating, until dock with trash compactor material mouth.
Wherein, the redundancy difference of setting that above-described embodiment is mentioned can rule of thumb be determined in conjunction with the particular case of auxiliary railing, trash compactor material mouth and rubbish van.
In the technical scheme of various embodiments of the present invention, the particular type of the first distance measuring sensor and the second distance measuring sensor is not limit, and can be magnetic displacement transducer, laser displacement sensor and ultrasonic distance-measuring sensor etc.As shown in Fig. 1 and Fig. 3 a, first distance measuring sensor 51 can be installed on the right side of the bottom of the car body of rubbish van 2, and car body horizontal center is arranged relatively, accordingly, second distance measuring sensor 52 is installed on the bottom left of the car body of rubbish van 2, and car body horizontal center is arranged relatively.
In one embodiment of the invention, as shown in Fig. 3 a to Fig. 3 c, assist railing 32 and right side to assist railing 31 for reference data with left side, solid line L is the line of centers of two auxiliary railings, and the distance between two dotted lines is the redundancy difference of setting.The first distance d1 of railing 31 is assisted on the car body utilizing the first distance measuring sensor 51 to detect and right side, and second the car body that detects of distance measuring sensor 52 and left side assist the second distance d2 of railing 32, according to the magnitude relationship of the distance difference of the first distance d1 and second distance d2 and the redundancy difference of setting, determine that rubbish van turns to:
Concrete, as shown in Figure 3 a, when the first distance d1 is greater than second distance d2, and the difference of the first distance d1 and second distance d2 is when being greater than the redundancy difference of setting, can think that rubbish van car body is to the left, now carry out adjustment car body by two kinds of approach, the first approach directly determines to make rubbish van aim at the adjustment angle of trash compactor material mouth, by means of only adjustment of once turning right, rubbish van just can be made to adjust to and to aim at trash compactor material mouth; The second approach determines the stepping right-hand rotation adjustment information of rubbish van, if this stepping right-hand rotation adjustment information is right-hand rotation 1 degree, rubbish van is then made to turn right 1 degree, turn right after 1 degree and again obtain the first Distance geometry second distance again, again circulation performs above-mentioned steps, and the first distance of one-time detection is not more than redundancy difference with the absolute value of the distance difference of second distance as of late, can think that trash compactor material mouth aimed at by rubbish van, stop repeating above-mentioned steps, carry out retrogressing reversing.
As shown in Figure 3 b, when second distance d2 is greater than the first distance d1, and the difference of second distance d2 and the first distance d1 is when being greater than the redundancy difference of setting, can think that rubbish van car body is to the right, now carry out adjustment car body by two kinds of approach, the first approach directly determines to make rubbish van aim at the adjustment angle of trash compactor material mouth, by means of only adjustment of once turning left, rubbish van just can be made to adjust to and aim at trash compactor material mouth; The second approach determines the stepping left-hand rotation adjustment information of rubbish van, if this stepping left-hand rotation adjustment information is left-hand rotation 1 degree, rubbish van is then made to turn left 1 degree, turn left after 1 degree and again obtain the first Distance geometry second distance again, again circulation performs above-mentioned steps, and the first distance of one-time detection is not more than redundancy difference with the absolute value of the distance difference of second distance as of late, can think that trash compactor material mouth aimed at by rubbish van, stop repeating above-mentioned steps, carry out retrogressing reversing.
As shown in Figure 3 c, when the absolute value of the distance difference of the first distance d1 and second distance d2 is not more than the redundancy difference of setting, shows that rubbish van is aimed at trash compactor material mouth, rubbish van can be made directly to retreat.
In the embodiment above, after rubbish van is aimed at trash compactor material mouth, rubbish van retreats extremely with the whole process of trash compactor material mouth docking location, can according to the information of the first distance measuring sensor and the second distance measuring sensor Real-time Collection, dynamically update rubbish van fine setting to turn to, accomplish real-time feedback control.When the first distance to be not more than the redundancy difference of setting with the absolute value of the distance difference of second distance, to control rubbish van and retreat, realize accurate docking of rubbish van and trash compactor material mouth.
In the technical scheme of the embodiment of the present invention, the first distance of railing is assisted on the car body detected according to the first distance measuring sensor and right side, and second the car body that detects of distance measuring sensor and left side assist the second distance of railing, control rubbish van turns to, and makes rubbish van aim at trash compactor material mouth.Adopt this technical scheme to control rubbish van to move backward in auxiliary railing, rubbish van can be greatly reduced when moveing backward and the collision of auxiliary railing, realize accurate docking of rubbish van and trash compactor material mouth, and intelligence degree is higher, is conducive to improving reversing efficiency.
As shown in Figure 4, based on identical inventive concept, the embodiment of the present invention additionally provides a kind of astern controls, comprising:
Acquiring unit 21, in reversing process, to be installed on for obtaining the first distance that railing is assisted on the first distance measuring sensor on the right side of rubbish van detects car body and right side, and to be installed on the second distance that railing is assisted in car body that the second distance measuring sensor on the left of rubbish van detects and left side;
Control unit 22, for according to described first Distance geometry second distance, controls rubbish van towards the directional steering aiming at trash compactor material mouth.
Preferably, control unit 22, specifically for according to the first Distance geometry second distance, determines to make rubbish van aim at the adjustment angle of trash compactor material mouth; Control rubbish van to turn to according to adjustment angle.
Preferably, control unit 22, specifically for according to the first Distance geometry second distance, determines to make rubbish van aim at the step by step modulating direction information of trash compactor material mouth, and step by step modulating direction information comprises step by step modulating and turns left or step by step modulating right-hand rotation;
Control rubbish van to turn to according to step by step modulating direction information;
Return the step of acquisition first Distance geometry second distance.
More excellent, control unit 22, is further used for when the first distance is greater than second distance and distance difference is greater than the redundancy difference of setting, controls rubbish van step by step modulating and turns right; When second distance is greater than the first distance and distance difference is greater than the redundancy difference of setting, controls rubbish van step by step modulating and turn left.
Preferably, control unit 22, time also for be not more than the redundancy difference of setting with the absolute value of the distance difference of second distance when the first distance, controls rubbish van and retreats.
In like manner, adopt this astern controls, can greatly reduce rubbish van when moveing backward with the collision of auxiliary railing, realize accurate docking of rubbish van and trash compactor material mouth, and intelligence degree is higher, is conducive to raising and moves backward efficiency.
Can with reference to shown in figure 1 and Fig. 3 a, based on identical inventive concept, the embodiment of the present invention additionally provides a kind of reversing control system, comprising:
Being installed on the first distance measuring sensor 51 on the right side of rubbish van 2, assisting the first distance of railing 31 for obtaining car body and right side;
Being installed on the second distance measuring sensor 52 on the left of rubbish van 2, assisting the second distance of railing 32 for obtaining car body and left side;
Control convenience 4, is connected, for obtaining the first Distance geometry second distance with the first distance measuring sensor 51 and the second distance measuring sensor 52 signal respectively; According to described first Distance geometry second distance, control rubbish van 2 towards the directional steering aiming at trash compactor 1 material mouth.
In the technical scheme of the embodiment of the present invention, first distance measuring sensor 51 can be installed on the right side of the bottom of the car body of rubbish van 2, and car body horizontal center is arranged relatively, second distance measuring sensor 52 can be installed on the bottom left of the car body of rubbish van 2, and car body horizontal center is arranged relatively.
Preferably, reversing control system also comprises at least one pier for stopping vehicle 6 being arranged at rubbish van 2 and trash compactor 1 material mouth docking location.
The quantity of pier for stopping vehicle 6 is not limit, be preferably by two, the position of pier for stopping vehicle is arranged on the docking location of rubbish van and trash compactor material mouth, when rubbish van reversing is to contact pier for stopping vehicle, rubbish van can send alerting signal and brake to point out chaufeur, or rubbish van automatic train stop after touching pier for stopping vehicle obstacle.
Preferably, control convenience 4, specifically for according to the first Distance geometry second distance, determines to make rubbish van aim at the adjustment angle of trash compactor material mouth; Control rubbish van to turn to according to adjustment angle.
Preferably, control convenience 4, specifically for according to the first Distance geometry second distance, determines to make rubbish van aim at the step by step modulating direction information of trash compactor material mouth, and step by step modulating direction information comprises step by step modulating and turns left or step by step modulating right-hand rotation; Control rubbish van to turn to according to step by step modulating direction information; Return the step of acquisition first Distance geometry second distance.
More excellent, control convenience 4, is further used for when the first distance is greater than second distance and distance difference is greater than the redundancy difference of setting, controls rubbish van step by step modulating and turns right; When second distance is greater than the first distance and distance difference is greater than the redundancy difference of setting, controls rubbish van step by step modulating and turn left.
Preferably, control convenience 4, time also for be not more than the redundancy difference of setting with the absolute value of the distance difference of second distance when the first distance, controls rubbish van and retreats.
In like manner, adopt this reversing control system, can greatly reduce rubbish van when moveing backward with the collision of auxiliary railing, realize accurate docking of rubbish van and trash compactor material mouth, and intelligence degree is higher, is conducive to raising and moves backward efficiency.
The embodiment of the present invention additionally provides a kind of rubbish van, comprises the reversing control system of aforementioned arbitrary technical scheme.This rubbish van can accurate docking of automatic backing and trash compactor material mouth, and intelligence degree is higher, thus improves the efficiency of reversing.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (17)
1. a reversing control method, is characterized in that, comprising:
In reversing process, obtain the first Distance geometry second distance; Wherein, the distance of railing is assisted on the car body that described first distance detects for the first distance measuring sensor be installed on the right side of rubbish van and right side, and the distance of railing is assisted in the car body that described second distance detects for the second distance measuring sensor be installed on the left of rubbish van and left side;
According to described first Distance geometry second distance, control rubbish van towards the directional steering aiming at trash compactor material mouth.
2. the method for claim 1, is characterized in that, described according to described first Distance geometry second distance, controls rubbish van towards the directional steering aiming at trash compactor material mouth, comprising:
According to described first Distance geometry second distance, determine to make rubbish van aim at the adjustment angle of trash compactor material mouth;
Control rubbish van to turn to according to described adjustment angle.
3. the method for claim 1, is characterized in that, described according to described first Distance geometry second distance, controls rubbish van towards the directional steering aiming at trash compactor material mouth, comprising:
According to described first Distance geometry second distance, determine to make rubbish van aim at the step by step modulating direction information of trash compactor material mouth, described step by step modulating direction information comprises step by step modulating and turns left or step by step modulating right-hand rotation;
Control rubbish van to turn to according to described step by step modulating direction information;
Return the step of described acquisition first Distance geometry second distance.
4. method as claimed in claim 3, is characterized in that, described according to described first Distance geometry second distance, determines to make rubbish van aim at the step by step modulating direction information of trash compactor material mouth, comprising:
When the first distance is greater than second distance and distance difference is greater than the redundancy difference of setting, controls rubbish van step by step modulating and turn right;
When second distance is greater than the first distance and distance difference is greater than the redundancy difference of setting, controls rubbish van step by step modulating and turn left.
5. the method as described in claim 3 or 4, is characterized in that, when the first distance to be not more than the redundancy difference of setting with the absolute value of the distance difference of second distance, to control rubbish van and retreats.
6. an astern controls, is characterized in that, comprising:
Acquiring unit, in reversing process, to be installed on for obtaining the first distance that railing is assisted on the first distance measuring sensor on the right side of rubbish van detects car body and right side, and to be installed on the second distance that railing is assisted in car body that the second distance measuring sensor on the left of rubbish van detects and left side;
Control unit, for according to described first Distance geometry second distance, controls rubbish van towards the directional steering aiming at trash compactor material mouth.
7. device as claimed in claim 6, is characterized in that, described control unit, specifically for according to described first Distance geometry second distance, determines to make rubbish van aim at the adjustment angle of trash compactor material mouth; Control rubbish van to turn to according to described adjustment angle.
8. device as claimed in claim 6, it is characterized in that, described control unit, specifically for according to described first Distance geometry second distance, determine to make rubbish van aim at the step by step modulating direction information of trash compactor material mouth, described step by step modulating direction information comprises step by step modulating and turns left or step by step modulating right-hand rotation;
Control rubbish van to turn to according to described step by step modulating direction information;
Return the step of described acquisition first Distance geometry second distance.
9. device as claimed in claim 8, is characterized in that, described control unit, is further used for when the first distance is greater than second distance and distance difference is greater than the redundancy difference of setting, controls rubbish van step by step modulating and turns right;
When second distance is greater than the first distance and distance difference is greater than the redundancy difference of setting, controls rubbish van step by step modulating and turn left.
10. as claimed in claim 7 or 8 device, is characterized in that, described control unit, time also for be not more than the redundancy difference of setting with the absolute value of the distance difference of second distance when the first distance, controls rubbish van retrogressing.
11. 1 kinds of reversing control systems, is characterized in that, comprising:
Being installed on the first distance measuring sensor on the right side of rubbish van, assisting the first distance of railing for obtaining car body and right side;
Being installed on the second distance measuring sensor on the left of rubbish van, assisting the second distance of railing for obtaining car body and left side;
Control convenience, is connected with the first distance measuring sensor and the second distance measuring sensor signal respectively, for according to described first Distance geometry second distance, controls rubbish van towards the directional steering aiming at trash compactor material mouth.
12. systems as claimed in claim 11, is characterized in that, also comprise at least one pier for stopping vehicle being arranged at rubbish van and trash compactor material mouth docking location.
13. systems as claimed in claim 11, is characterized in that, described control convenience, specifically for according to described first Distance geometry second distance, determine to make rubbish van aim at the adjustment angle of trash compactor material mouth; Control rubbish van to turn to according to described adjustment angle.
14. systems as claimed in claim 11, it is characterized in that, described control convenience, specifically for according to described first Distance geometry second distance, determine to make rubbish van aim at the step by step modulating direction information of trash compactor material mouth, described step by step modulating direction information comprises step by step modulating and turns left or step by step modulating right-hand rotation;
Control rubbish van to turn to according to described step by step modulating direction information;
Return the step of described acquisition first Distance geometry second distance.
15. systems as claimed in claim 14, it is characterized in that, described control convenience, is further used for:
When the first distance is greater than second distance and distance difference is greater than the redundancy difference of setting, controls rubbish van step by step modulating and turn right;
When second distance is greater than the first distance and distance difference is greater than the redundancy difference of setting, controls rubbish van step by step modulating and turn left.
16. systems as described in claim 12 or 13, is characterized in that, described control convenience, time also for be not more than the redundancy difference of setting with the absolute value of the distance difference of second distance when the first distance, control rubbish van and retreat.
17. 1 kinds of rubbish vans, is characterized in that, comprise the reversing control system as described in any one of claim 11 ~ 16.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112606209A (en) * | 2020-09-07 | 2021-04-06 | 厦门天润锦龙建材有限公司 | Alignment leak prevention system |
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