CN110980066B - Garbage classification collection method based on FPGA controller and control system thereof - Google Patents
Garbage classification collection method based on FPGA controller and control system thereof Download PDFInfo
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- CN110980066B CN110980066B CN201911185645.6A CN201911185645A CN110980066B CN 110980066 B CN110980066 B CN 110980066B CN 201911185645 A CN201911185645 A CN 201911185645A CN 110980066 B CN110980066 B CN 110980066B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F9/00—Transferring of refuse between vehicles or containers with intermediate storage or pressing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F3/00—Vehicles particularly adapted for collecting refuse
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion
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Abstract
The invention relates to a garbage classification collection method based on an FPGA controller and a control system thereof, belonging to the technical field of garbage classification collection control based on the FPGA controller; the technical problems to be solved are as follows: the garbage classification collection method based on the FPGA controller and the improvement of the hardware structure of the control system thereof are provided; the technical scheme adopted for solving the technical problems is as follows: the garbage collection station comprises a license plate camera and a radio frequency tag reader which are arranged at the entrance of the garbage collection station, wherein the entrance of the garbage collection station is connected with a wagon balance room, a dynamic truck scale is arranged in the wagon balance room, and the license plate camera and the radio frequency tag reader are also arranged at the exit of the wagon balance room; a transfer workshop is further arranged in the garbage collection station, a traffic light and a rapid door are arranged at the entrance of the transfer workshop, a hydraulic butt joint control device is arranged in the transfer workshop, a full truck box loading space is arranged at the outer side of the exit of the transfer workshop, and a truck box filled with garbage to be transferred is placed on the full truck box loading space; the invention is applied to a garbage collection station.
Description
Technical Field
The invention discloses a garbage classification collection method based on an FPGA controller and a control system thereof, and belongs to the technical field of garbage classification collection control based on the FPGA controller.
Background
In order to respond to the garbage classification policy, in recent years, the implementation or layout planning of supporting facilities for responding to various national metropolitan areas has been started successively, and in order to realize the control of the household garbage collection, the reasonable allocation of resources and the high efficiency of system operation, the control of the garbage classification collection equipment is digitalized and intelligent by means of a digital sanitation information management platform is imperative.
At present, most of garbage station systems provided in the market adopt a mixed collection mode, so that the system cannot adapt to the general trend and social requirements of domestic garbage classification collection, and as the traditional garbage transfer stations mostly adopt conventional electric control or industrial controllers such as PLC (programmable logic controller), DCS (distributed control system) and the like, if unified collection of information in the garbage station is required to be completed and corresponding feedback control is executed, industrial computers and networks are required to be independently configured to control all equipment in the garbage station.
On the other hand, the traditional garbage station control system cannot effectively manage vehicles entering the garbage station, the information of the garbage truck still depends on manual registration, the upper and lower levels report that the data exchange is performed by adopting interphones, the scheduling and data acquisition efficiency of the vehicles is low, the labor cost is high, and a certain error rate exists, and the defects are caused by the limitation of the existing hardware control system, so that the corresponding garbage classification collection method and control system are to be improved.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and solves the technical problems that: the garbage classification collection method based on the FPGA controller and the improvement of the hardware structure of the control system thereof are provided.
In order to solve the technical problems, the invention adopts the following technical scheme: a garbage classification collection method based on an FPGA controller comprises the following steps:
step one: when a driver drives a detachable garbage truck for loading a truck box into a garbage collection station, a license plate camera arranged at an entrance is used for collecting license plate numbers of the detachable garbage truck, if the truck box is loaded on the detachable garbage truck, a radio frequency tag reader arranged at an entrance gate is used for reading radio frequency tags on the truck box, and the radio frequency tags store the number, the volume and the garbage component information of the truck box; the license plate camera and the radio frequency tag reader send the acquired information data to the FPGA controller in real time for analysis and processing;
step two: the method comprises the steps that a detachable garbage truck enters a wagon balance room after passing through an entrance, a driver drives the detachable garbage truck to weigh through a dynamic truck scale, the dynamic truck scale sends collected weight data to an FPGA controller in real time, the FPGA controller binds license plate number information and weighing information of the vehicle, and preset parameters are used for judging whether a carriage loaded by the detachable garbage truck is full, empty or not; the FPGA controller uploads the analyzed and processed data to a monitoring center computer through an Ethernet communication module for data updating;
step three: the monitoring center computer judges the state of the carriage and makes corresponding operations according to different judgments:
step 3.1: if the carriage is judged to be an empty carriage, the monitoring center computer feeds back a control instruction to the FPGA controller, determines the types of the garbage components according to the acquired carriage radio frequency tag, sends a traffic command guide signal to the detachable garbage truck, guides the detachable garbage truck to the front of a transfer workshop of the garbage collection station for corresponding type of garbage, and then the FPGA controller sends an action signal to each control module of the transfer workshop to enable the transfer workshop to be in butt joint with the carriage and execute loading operation;
step 3.2: if the truck carriage is judged to be empty without pulling the truck carriage, the monitoring center computer feeds back a control instruction to the FPGA controller, determines the number and the volume according to the acquired truck carriage radio frequency tag, sends a traffic command guide signal to the truck carriage, guides the truck carriage to a truck carriage full area of a garbage collection station, and the FPGA controller controls the transfer workshop to butt joint the truck carriage full of garbage with the truck carriage full of garbage, and pulls the truck carriage full of garbage away by the truck carriage full of garbage;
step 3.3: if the truck carriage is judged to be full of the truck carriage, the monitoring center computer feeds back a control instruction to the FPGA controller, sends a traffic command guiding signal to the detachable garbage truck, guides the detachable garbage truck to the exit of the garbage collection station, acquires the license plate number again through the license plate camera and the radio frequency tag reader arranged at the exit of the wagon balance room, feeds back radio frequency tag data on the truck carriage to the FPGA controller for data storage, and then sends the data to the database of the monitoring center computer for data update.
Each control module of the transfer workshop comprises a traffic light, a rapid door and a hydraulic docking control device;
the FPGA controller sends a signal to the traffic light to control on/off;
the FPGA controller sends a signal to the rapid door to control the opening and closing;
and the FPGA controller sends a signal to the hydraulic docking control device to control docking with the carriage.
The transfer workshops comprise a dry garbage transfer workshop, a wet garbage transfer workshop, a harmful garbage transfer workshop and a recyclable garbage transfer workshop.
The control system comprises a license plate camera and a radio frequency tag reader which are arranged at the inlet of a garbage collection station, wherein the inlet of the garbage collection station is connected with a wagon balance room, a dynamic truck scale is arranged in the wagon balance room, and the license plate camera and the radio frequency tag reader are also arranged at the outlet of the wagon balance room;
a transfer workshop is further arranged in the garbage collection station, a traffic light and a rapid door are arranged at the entrance of the transfer workshop, a hydraulic butt joint control device is arranged in the transfer workshop, a full-truck-box loading space is arranged at the outer side of the exit of the transfer workshop, and a truck box filled with garbage to be transferred is placed on the full-truck-box loading space;
the garbage collection station is internally provided with a control room, the control room is internally provided with an FPGA controller, and the FPGA controller is respectively connected with a license plate camera, a radio frequency tag reader, a dynamic truck scale, a traffic light, a rapid door and a hydraulic docking control device through wires;
the FPGA controller is also connected with a monitoring center computer through an industrial Ethernet;
the outlet of the wagon balance room is respectively communicated with the inlet of the transfer workshop, the parking space filled in the wagon box and the outlet of the garbage collection station through a guide line;
the entrance of the garbage collection station is driven in by a detachable garbage truck, a carriage can be loaded on the detachable garbage truck, and a radio frequency tag is further arranged on the carriage.
The FPGA controller is internally provided with a microcontroller which is respectively connected with the license plate camera, the radio frequency tag reader, the traffic light, the rapid door and the hydraulic docking control device through CAN bus cables;
the microcontroller is connected with the dynamic truck scale through a serial port communication cable.
And the model of the microcontroller arranged in the FPGA controller is Kintex-7.
Compared with the prior art, the invention has the following beneficial effects: the invention uniformly controls and manages garbage classification collection work of the garbage station based on the FPGA controller, has the advantages of high flexibility, large storage capacity, high control precision and the like compared with the traditional PLC and DCS controllers, can simultaneously complete the functions of garbage truck box information code scanning, classification collection, action control, in-station vehicle scheduling and the like by adopting the FPGA controller, and can complete information exchange with a management platform without reconfiguration of an industrial computer, thereby simplifying the system, reducing the operation failure rate of the system, effectively improving the garbage classification collection efficiency of the garbage station, and having good practical value and market use prospect.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a flow chart of steps of the garbage classification and collection method of the present invention;
in the figure: the system comprises a detachable garbage truck 1, a truck carriage 2, a license plate camera 3, a radio frequency tag reader 4, a radio frequency tag 5, an FPGA controller 6, a dynamic truck scale 7, a monitoring center computer 8, a transfer workshop 9, a traffic light 10, a rapid door 11 and a hydraulic docking control device 12.
Detailed Description
As shown in fig. 1, the garbage classification and collection method based on the FPGA controller of the present invention includes the following steps:
step one: when a driver drives a detachable garbage truck (1) to load a truck box (2) into a garbage collection station, a license plate camera (3) arranged at an entrance collects license plate numbers of the detachable garbage truck (1), a radio frequency tag reader (4) arranged at an entrance gate reads radio frequency tags (5) on the truck box (2), and the radio frequency tags (5) store serial numbers, volumes and garbage component information of the truck box (2); the license plate camera (3) and the radio frequency tag reader (4) send the acquired information data to the FPGA controller (6) in real time for analysis and processing;
step two: the method comprises the steps that a detachable garbage truck (1) enters a wagon balance room after entering an entrance, a driver drives the detachable garbage truck (1) to weigh through a dynamic truck scale (7), the dynamic truck scale (7) sends collected weight data to an FPGA controller (6) in real time, the FPGA controller (6) binds license plate number information of the vehicle with weighing information, and preset parameters are used for judging whether a carriage (2) loaded by the detachable garbage truck (1) is full, empty or not; the FPGA controller (6) uploads the analyzed and processed data to the monitoring center computer (8) through the Ethernet communication module for data updating;
step three: the monitoring center computer (8) judges the state of the carriage (2) and makes corresponding operations according to different judgments:
step 3.1: if the carriage (2) is judged to be an empty carriage, a control command is fed back to the FPGA controller (6) by the monitoring center computer (8), the type of the garbage components is determined according to the collected carriage radio frequency tag (5), a traffic command guide signal is sent to the detachable garbage truck (1), the detachable garbage truck (1) is guided to the front of a transfer workshop (9) of the garbage of the corresponding type of the garbage collection station, and then the FPGA controller (6) sends an action signal to each control module of the transfer workshop (9) so that the transfer workshop (9) is in butt joint with the carriage (2) and loading operation is carried out;
step 3.2: if the truck bed (2) is judged to be absent, the detachable garbage truck (1) is an empty truck without a box pulling, the monitoring center computer (8) feeds back a control instruction to the FPGA controller (6), the number and the volume are determined according to the collected truck bed radio frequency tag (5), a traffic guidance signal is sent to the detachable garbage truck (1), the detachable garbage truck (1) is guided to a truck bed full area, the FPGA controller (6) controls the transfer workshop (9) to butt joint the full truck bed with the detachable garbage truck (1), and the truck bed (2) full of garbage is pulled away by the detachable garbage truck (1);
step 3.3: if the carriage (2) is judged to be full of the carriage, the monitoring center computer (8) feeds back a control instruction to the FPGA controller (6), sends a traffic command guide signal to the detachable garbage truck (1), guides the detachable garbage truck (1) to a garbage collection station outlet, acquires the license plate number again through the license plate camera (3) and the radio frequency tag reader (4) arranged at the wagon balance room outlet, feeds back radio frequency tag data on the carriage to the FPGA controller (6) for data storage, and then sends the data to a database of the monitoring center computer (8) for data update.
Each control module of the transfer workshop (9) comprises a traffic light (10), a rapid door (11) and a hydraulic butt joint control device (12);
the FPGA controller (6) sends a signal to the traffic light (10) to control the on/off;
the FPGA controller (6) sends a signal to the quick door (11) to control the opening and closing;
the FPGA controller (6) sends a signal to the hydraulic docking control device (12) to control docking with the carriage (2).
The transfer workshop (9) comprises a dry garbage transfer workshop, a wet garbage transfer workshop, a harmful garbage transfer workshop and a recyclable garbage transfer workshop.
The garbage classification collection control system based on the FPGA controller comprises a license plate camera (3) and a radio frequency tag reader (4) which are arranged at the entrance of a garbage collection station, wherein the entrance of the garbage collection station is connected with a wagon balance (7) arranged in a wagon balance room, and the license plate camera (3) and the radio frequency tag reader (4) are also arranged at the exit of the wagon balance room;
a transfer workshop (9) is further arranged in the garbage collection station, a traffic light (10) and a quick door (11) are arranged at the entrance of the transfer workshop (9), a hydraulic butt joint control device (12) is arranged in the transfer workshop (9), a full truck loading position is arranged at the outer side of the exit of the transfer workshop (9), and a truck bed (2) filled with garbage to be transferred is placed on the full truck loading position;
a control room is further arranged in the garbage collection station, an FPGA controller (6) is arranged in the control room, and the FPGA controller (6) is respectively connected with the license plate camera (3), the radio frequency tag reader (4), the dynamic truck scale (7), the traffic light (10), the rapid door (11) and the hydraulic docking control device (12) through wires;
the FPGA controller (6) is also connected with a monitoring center computer (8) through an industrial Ethernet;
the outlet of the wagon balance room is respectively communicated with the inlet of the transfer workshop (9), the loading space of the full wagon box and the outlet of the garbage collection station through guide lines;
the garbage collection station entrance is driven in by a detachable garbage truck (1), a truck box (2) is loaded on the detachable garbage truck (1), and a radio frequency tag (5) is further arranged on the truck box (2).
The FPGA controller (6) is internally provided with a microcontroller which is respectively connected with the license plate camera (3), the radio frequency tag reader (4), the traffic light (10), the quick door (11) and the hydraulic docking control device (12) through CAN bus cables;
the microcontroller is connected with the dynamic truck scale (7) through a serial port communication cable.
The model of the microcontroller arranged in the FPGA controller (6) is Kintex-7.
The invention provides a garbage classification collection station based on an FPGA controller, which mainly comprises garbage station collection equipment, a traffic guidance system, a carriage radio frequency tag reader, license plate recognition, a console with the FPGA controller, a dynamic truck scale and other devices; the FPGA controller uploads the data of the equipment running condition and the garbage collection condition to the monitoring center computer, and all devices such as sensors, a power system, traffic guidance, carriage code scanning, license plate recognition, dynamic truck scale and the like in the control system are connected to the FPGA controller through an industrial communication network, and the FPGA controller dynamically manages garbage trucks and garbage workshops in the garbage station according to the sensor information and instruction information fed back by the monitoring center computer.
The invention uses the FPGA controller arranged in the garbage collection station to complete the functions of information collection, garbage truck box information code scanning, garbage classification collection, action control, in-station vehicle dispatching and the like, and completes information exchange with a monitoring computer, adopts a truck box radio frequency tag reader to read the preset tag information on the truck box, combines the dynamic truck scale weighing information and license plate identification information, and realizes the functions of vehicle dispatching, truck box management, garbage station transfer quantity statistics and the like.
Compared with the current common PLC and DCS controllers, the controller of the garbage sorting station has the advantages of high flexibility, large storage capacity, high precision and the like, is matched with corresponding management and control software and a controller storage unit to realize Ethernet connection with an upper monitoring computer, stores acquired data and control instructions in a cloud computer, can reduce data exchange links, and solves the problem that a large amount of data transmission is possibly delayed.
The operation flow of the garbage station provided by the invention is shown in figure 1, the whole operation flow consists of garbage trucks loading the carriages, various areas in the garbage station and traffic command systems arranged among the areas, and the data acquisition module mainly consists of license plate recognition cameras, carriage radio frequency tag readers and dynamic truck scales; when the garbage truck is in operation, the whole garbage station needs to transport the truck carriage, the full truck carriage filled with garbage is pulled away, the empty truck carriage dumped with garbage is pulled back into the station and is in butt joint with garbage station collecting equipment, the dynamic truck scale mainly scans and weighs license plates of the garbage truck which enters and exits the station, and whether the truck carriage is pulled or not is judged, so that whether the truck carriage is pulled away or the garbage truck which is conveyed to the empty truck carriage is judged, and the discharged garbage truck is weighed, and the quantity and weight of the garbage which exits the station are mainly recorded; the radio frequency tag reader is mainly used for reading radio frequency tags on the garbage truck carriage and managing the daily garbage feeding amount and the truck carriage and the running condition of the garbage truck by matching with the weighing system; the traffic guidance system mainly guides garbage trucks in the station to carry out scheduling management, and the FPGA controller is mainly used for completing scheduling work so that each device in the garbage collection station can normally operate.
The invention uses FPGA controller to connect communication with sanitation intelligent management platform through Ethernet, the platform data is stored in the upper monitoring computer, the two are exchanged, each device in the garbage station and the detachable garbage truck are scheduled and managed, the normal operation of the device and the vehicle is ensured, the FPGA controller is connected and communicated with the dynamic truck scale through serial ports, the dynamic truck scale measures and records the quantity of each vehicle entering and exiting the garbage station and the quantity of the transportation garbage, and simultaneously the weighing result is uploaded to the FPGA controller in real time, the FPGA controller judges the vehicle state according to the weighing result, whether the vehicle is full, empty or not, and whether the vehicle is not pulled to the appointed area, and the vehicle is guided to the appointed area through the traffic command system; the FPGA controller is specifically arranged in a control console of the control room, is connected with each unit of the in-station garbage collection equipment through a CAN bus, and is used for uploading signals of all sensors, controlling a power system of the equipment, controlling the action of the equipment and conducting traffic command, and collecting information and transmitting action commands through the CAN bus.
In order to realize centralized management and unified scheduling of garbage collection, a plurality of functional areas are drawn in a garbage classification collection station, wherein power supply equipment is arranged in a power distribution room, and power supply can be provided for all electric equipment in the station; the garbage collection equipment is installed in the transfer workshop, the equipment quantity and the configuration state can be installed and planned according to the specific situations of users, the garbage collection equipment can be conveniently classified and treated subsequently, the transfer workshop can be divided into a plurality of garbage collection equipment such as dry garbage, wet garbage and the like, the rapid door is installed at the gate of the transfer workshop, the carriage loading and unloading operation is carried out by docking with a garbage truck, or when people or vehicles with dumping garbage enter the workshop, the door can be rapidly opened, and after people or vehicles leave, the door can be rapidly closed again, so that the ambient environment can be prevented from being polluted by harmful gas or dust in the station.
Furthermore, the FPGA controller provided by the invention exchanges information with the sanitation intelligent management platform through the Ethernet; the FPGA controller is connected with the in-station garbage collection equipment sensor, the power unit, the action control and the quick door through the CAN bus to finish signal acquisition of the equipment sensor, command issuing, action execution control and quick door opening or closing control; the method comprises the steps of carrying out connection communication with a dynamic truck scale through a serial port, reading weighing information and license plate identification information of the truck scale, and updating related data information by combining truck box radio frequency tag information read by a truck box radio frequency tag reader to finish dispatching of truck boxes and vehicles, statistics of the quantity of transported garbage and the like;
when the FPGA controller is used, an input signal of the FPGA controller enters the A/D converter to perform data conversion after passing through the signal processing circuit, an analog signal is converted into data with 23-bit mantissas and one symbol bit, the FPGA configures the A/D converter and stores the converted data into the dual-port RAM in sequence, the ARM processor is interrupted after the converted data are stored fully, the ARM processor reads the data from the dual-port RAM to perform operation, and the acquired data are transmitted to the server through the wireless communication module.
Further, the FPGA controller used in the invention comprises a device cabinet body, wherein the front surface of the device cabinet body is provided with a control panel and a display screen, the bottom of the device cabinet body is provided with a junction box, and a CAN bus communication module, a serial port communication module and an Ethernet communication module are arranged in the junction box; the inner side of the control panel is provided with a control device circuit board, a microcontroller is integrated on the control device circuit board, and the microcontroller is respectively connected with the control panel, the display screen, the CAN bus communication module, the serial port communication module and the Ethernet communication module through wires;
the wiring row of the CAN bus communication module is respectively connected with the traffic light, the position sensor, the radio frequency tag reader, the electric control console and the license plate camera through bus cables;
the wiring row of the serial port communication module is connected with the dynamic truck scale through a serial port communication cable;
the Ethernet communication module is connected with the monitoring center computer through an Ethernet communication cable.
The device cabinet body is arranged in a control room of the garbage collection station.
The power input end of the microcontroller is connected with the power module, and the power module is arranged in the power distribution room of the garbage collection station.
The specific structure of the invention needs to be described that the connection relation between the component modules adopted by the invention is definite and realizable, and besides the specific description in the embodiment, the specific connection relation can bring corresponding technical effects, and solves the technical problems of the invention on the premise of not depending on the execution of corresponding software programs.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (6)
1. A garbage classification collection method based on an FPGA controller is characterized by comprising the following steps of: the method comprises the following steps:
step one: when a driver drives a detachable garbage truck (1) for loading a truck box (2) into a garbage collection station, a license plate camera (3) arranged at an entrance collects license plate numbers of the detachable garbage truck (1), if the truck box (2) is loaded on the detachable garbage truck (1), a radio frequency tag reader (4) arranged at the entrance gate reads a radio frequency tag (5) on the truck box (2), and the radio frequency tag (5) stores serial numbers, volumes and garbage component information of the truck box (2); the license plate camera (3) and the radio frequency tag reader (4) send the acquired information data to the FPGA controller (6) in real time for analysis and processing;
step two: the method comprises the steps that a detachable garbage truck (1) enters a wagon balance room after entering an entrance, a driver drives the detachable garbage truck (1) to weigh through a dynamic truck scale (7), the dynamic truck scale (7) sends collected weight data to an FPGA controller (6) in real time, the FPGA controller (6) binds license plate number information of the vehicle with weighing information, and preset parameters are used for judging whether a carriage (2) loaded by the detachable garbage truck (1) is full, empty or not; the FPGA controller (6) uploads the analyzed and processed data to the monitoring center computer (8) through the Ethernet communication module for data updating;
step three: the monitoring center computer (8) judges the state of the carriage (2) and makes corresponding operations according to different judgments:
step 3.1: if the carriage (2) is judged to be an empty carriage, a control command is fed back to the FPGA controller (6) by the monitoring center computer (8), the type of the garbage components is determined according to the collected carriage radio frequency tag (5), a traffic command guide signal is sent to the detachable garbage truck (1), the detachable garbage truck (1) is guided to the front of a transfer workshop (9) of the garbage of the corresponding type of the garbage collection station, and then the FPGA controller (6) sends an action signal to each control module of the transfer workshop (9) so that the transfer workshop (9) is in butt joint with the carriage (2) and loading operation is carried out;
step 3.2: if the truck carriage (2) is judged to be absent, the truck carriage (1) is an empty truck without a pulling box, a monitoring center computer (8) feeds back a control instruction to an FPGA controller (6), a number and a volume are determined according to the collected truck carriage radio frequency tag (5), a traffic guidance signal is sent to the truck carriage (1), the truck carriage (1) is guided to a truck carriage full area, the FPGA controller (6) controls a transfer workshop (9) to butt joint the truck carriage (2) filled with garbage with the truck carriage full of the garbage, and the truck carriage (2) filled with the garbage is pulled away by the truck carriage with the truck carriage full of the garbage;
step 3.3: if the carriage (2) is judged to be full of the carriage, the monitoring center computer (8) feeds back a control instruction to the FPGA controller (6), sends a traffic command guide signal to the detachable garbage truck (1), guides the detachable garbage truck (1) to a garbage collection station outlet, acquires the license plate number again through the license plate camera (3) and the radio frequency tag reader (4) arranged at the wagon balance room outlet, feeds back radio frequency tag data on the carriage to the FPGA controller (6) for data storage, and then sends the data to a database of the monitoring center computer (8) for data update.
2. The garbage classification and collection method based on the FPGA controller according to claim 1, wherein the garbage classification and collection method is characterized by comprising the following steps of: each control module of the transfer workshop (9) comprises a traffic light (10), a rapid door (11) and a hydraulic butt joint control device (12);
the FPGA controller (6) sends a signal to the traffic light (10) to control the on/off;
the FPGA controller (6) sends a signal to the quick door (11) to control the opening and closing;
the FPGA controller (6) sends a signal to the hydraulic docking control device (12) to control docking with the carriage (2).
3. The garbage classification and collection method based on the FPGA controller according to claim 2, wherein the garbage classification and collection method is characterized by comprising the following steps of: the transfer workshop (9) comprises a dry garbage transfer workshop, a wet garbage transfer workshop, a harmful garbage transfer workshop and a recyclable garbage transfer workshop.
4. A control system applied to the garbage classification collection method based on the FPGA controller as claimed in claim 1, characterized in that: the garbage collection station comprises a license plate camera (3) and a radio frequency tag reader (4) which are arranged at the entrance of the garbage collection station, wherein the entrance of the garbage collection station is connected with a wagon balance room, a dynamic truck scale (7) is arranged in the wagon balance room, and the license plate camera (3) and the radio frequency tag reader (4) are also arranged at the exit of the wagon balance room;
a transfer workshop (9) is further arranged in the garbage collection station, a traffic light (10) and a quick door (11) are arranged at the entrance of the transfer workshop (9), a hydraulic butt joint control device (12) is arranged in the transfer workshop (9), a full truck loading position is arranged at the outer side of the exit of the transfer workshop (9), and a truck bed (2) filled with garbage to be transferred is placed on the full truck loading position;
a control room is further arranged in the garbage collection station, an FPGA controller (6) is arranged in the control room, and the FPGA controller (6) is respectively connected with the license plate camera (3), the radio frequency tag reader (4), the dynamic truck scale (7), the traffic light (10), the rapid door (11) and the hydraulic docking control device (12) through wires;
the FPGA controller (6) is also connected with a monitoring center computer (8) through an industrial Ethernet;
the outlet of the wagon balance room is respectively communicated with the inlet of the transfer workshop (9), the loading space of the full wagon box and the outlet of the garbage collection station through guide lines;
the garbage collection station entrance is driven in by a detachable garbage truck (1), a truck box (2) can be loaded on the detachable garbage truck (1), and a radio frequency tag (5) is further arranged on the truck box (2).
5. A control system according to claim 4, wherein: the FPGA controller (6) is internally provided with a microcontroller which is respectively connected with the license plate camera (3), the radio frequency tag reader (4), the traffic light (10), the quick door (11) and the hydraulic docking control device (12) through CAN bus cables;
the microcontroller is connected with the dynamic truck scale (7) through a serial port communication cable.
6. A control system according to claim 5, wherein: the model of the microcontroller arranged in the FPGA controller (6) is Kintex-7.
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| CN111703792B (en) * | 2020-06-15 | 2022-05-24 | 北京鸿程嘉信机械设备有限公司 | Intelligent garbage classification transfer station and control method thereof |
| CN112407706A (en) * | 2020-11-05 | 2021-02-26 | 湖南林宇科技发展有限公司 | Control method of garbage transfer device |
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