CN112429443A - Push shovel unloading control method of compression type garbage truck, medium and electronic equipment - Google Patents
Push shovel unloading control method of compression type garbage truck, medium and electronic equipment Download PDFInfo
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- CN112429443A CN112429443A CN202011310616.0A CN202011310616A CN112429443A CN 112429443 A CN112429443 A CN 112429443A CN 202011310616 A CN202011310616 A CN 202011310616A CN 112429443 A CN112429443 A CN 112429443A
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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
- B65F3/24—Vehicles particularly adapted for collecting refuse with devices for unloading the tank of a refuse vehicle
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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
- B65F3/14—Vehicles particularly adapted for collecting refuse with devices for charging, distributing or compressing refuse in the interior of the tank of a refuse vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/04—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with pick-up shovels
Abstract
The invention discloses a push shovel unloading control method, a medium and electronic equipment of a compression type garbage truck, wherein the method comprises the following steps: acquiring switch counting signals generated by a displacement sensor in the moving process of the shovel and the interval time delta t of the two adjacent switch counting signals in real time; determining the current position of the push shovel according to the acquired switch counting signal, and controlling the working state of a hydraulic system based on the current position of the push shovel to enable the push shovel and the push plate to carry out compound motion, so as to ensure that the lower edge of the push plate is always tightly attached to the bottom plate of the garbage can; and if the interval time delta t of the two adjacent switch counting signals is greater than the set condition, determining that the pushing shovel is blocked in the unloading process, and adjusting the working state of the hydraulic system until the interval time delta t meets the set condition. The invention can accurately position the real-time position of the push shovel during extension and retraction, solve the problem of push shovel clamping stagnation in the unloading process, and improve the unloading efficiency and quality, thereby efficiently and quickly completing the unloading operation; low cost, high reliability and low maintenance rate.
Description
Technical Field
The invention relates to the field of compression-type garbage trucks, in particular to a push shovel unloading control method, a medium and electronic equipment of a compression-type garbage truck.
Background
The compression type garbage truck has no water drip or throwing in the garbage collecting and transporting process, is suitable for classified collection and transportation of wet garbage, and belongs to a high-level loading truck type, as shown in figure 1. The rear-loading compression garbage truck adopts a bidirectional compression technology, can improve the compression capacity and the use efficiency of the box body, is easy to drip during collection and transportation, and belongs to a low-level loading truck type. Novel low level material loading compression car has combined the advantage of these two motorcycle types through structural improvement. But the key lies in that when unloading: 1. whether the position of the push shovel can be accurately positioned or not is realized, and the dynamic speed control of the push shovel/rotating plate mechanism is controlled; 2. the problem of pushing shovel clamping stagnation in the unloading process can be solved, so that the unloading operation can be efficiently and quickly completed. For this reason, the prior art adopts the following solutions:
the first scheme is as follows: an iron induction sheet is arranged at the root part of the pushing shovel oil cylinder of the dustbin, and a common proximity switch is arranged on the dustbin body. The induction sheet is controlled to change through the extension and retraction of the push shovel, so that the signal of the proximity switch is changed.
Scheme II: the displacement sensor, the laser sensor, the ultrasonic sensor and the like can accurately measure the real-time position of the push shovel, so that the dynamic control of the push shovel/the rotating plate is realized.
However, in the first scheme, the movement distance of the push shovel extending out of the groove edge to the tail end of the garbage can body is as long as about 1.7 meters, but the variation range of the induction sheet at the root part of the push shovel oil cylinder is only about 5 mm. The change amplitude of about 5mm needs to make the proximity switch complete twice switching of signals, the difficulty of field installation and debugging is very high, and the point of descending of the rotating plate is difficult to accurately position. Therefore, the key for restricting the successful unloading of the scheme is formed, and the garbage in the arc-shaped sewage collecting tank can not be unloaded completely. And the displacement sensor, the laser sensor, the ultrasonic sensor and other sensors of the second scheme are expensive, the environment in the dustbin is severe and dusty throughout the year, the precision and the service life of the sensors are seriously influenced, and the maintenance workload of the sensors is large. Novel low-order material loading compression garbage truck because of its unique integral type bilge pit design, when pushing away the shovel and unloading, because the irregular resistance of a large amount of rubbish deposits overstock formation in the afterbody recess, the process of unloading in the second half section very easily appears pushing away the circumstances that the shovel jamming, no matter what kind of scheme of use above-mentioned, all face how to solve the problem of unloading efficiency and quality, pushing away the shovel jamming.
Disclosure of Invention
The invention provides a push shovel unloading control method of a compression type garbage truck, and aims to solve the technical problems of unloading efficiency and quality and push shovel clamping stagnation of the existing low-level loading compression type garbage truck.
The technical scheme adopted by the invention is as follows:
a push shovel unloading control method of a compression type garbage truck is based on a position measuring device arranged outside a garbage can box body, and the push shovel triggers the position measuring device to generate a switch counting signal every time the push shovel moves a set distance, and comprises the following steps:
acquiring switch counting signals generated by a displacement sensor in the moving process of the shovel and the interval time delta t of the two adjacent switch counting signals in real time;
determining the current position of the push shovel according to the acquired switch counting signal, and controlling the working state of a hydraulic system based on the current position of the push shovel to enable the push shovel and the push plate to carry out compound motion, so as to ensure that the lower edge of the push plate is always tightly attached to the bottom plate of the garbage can;
and if the interval time delta t of the two adjacent switch counting signals is greater than the set condition, determining that the pushing shovel is blocked in the unloading process, and adjusting the working state of the hydraulic system until the interval time delta t meets the set condition.
Further, the determining the current position of the blade according to the obtained switch counting signal specifically includes the steps of:
when the push shovel extends out, increasing the real-time position of the push shovel by a set distance to obtain the current position of the push shovel every time a switch counting signal is obtained;
when the push shovel retracts, reducing the real-time position of the push shovel by a set distance to obtain the current position of the push shovel every time a switch counting signal is obtained;
and recording and storing the current position of the push shovel in a memory to realize power-off storage.
Further, the method for determining the current position of the blade according to the acquired switch counting signal further comprises the following steps:
when the push shovel retracts, if the push shovel retracts to the limit position and triggers the related detection switch, the current position of the push shovel is set to be zero.
Further, the working state of the hydraulic system is controlled based on the current position of the push shovel to enable the push shovel and the push plate to perform compound motion, and the situation that the lower edge of the push plate is always attached to the bottom plate of the garbage can is ensured to specifically comprise the following steps:
when the push shovel is pushed out, the working state of the hydraulic system is controlled to enable the push shovel to push materials at a set speed;
when the push shovel reaches the initial position of the sewage groove, the working state of the hydraulic system is controlled to enable the push shovel to decelerate to push materials, and meanwhile, the push plate moves downwards to ensure that the lower edge of the push plate is always attached to the bottom plate of the sewage groove to unload materials.
Further, if the interval time Δ t between two adjacent switch counting signals is greater than a set condition, determining that jamming occurs in the unloading process of the push shovel, and adjusting the working state of the hydraulic system until the interval time Δ t meets the set condition, specifically comprising the following steps:
when the push shovel unloads, if the interval time delta t of the two adjacent switch counting signals is increased, the fact that the push shovel is slightly clamped is determined, the rotating speed of an engine and the current of a proportional valve of a hydraulic system are correspondingly increased, and the thrust of the push shovel is increased.
Further, if the interval time Δ t between two adjacent switch counting signals is greater than the set condition, determining that jamming occurs in the unloading process of the push shovel, and adjusting the working state of the hydraulic system until the interval time Δ t meets the set condition, the method further comprises the following steps:
when the push shovel unloads, if the interval time delta t of the two adjacent switch counting signals is increased and then is larger than the maximum interval time delta t _ max, the working state of the hydraulic system is adjusted, the push shovel is controlled to retract back for a certain distance, and the push shovel is controlled to push out and unload continuously until the interval time delta t is normal.
Further, if the interval time Δ t between two adjacent switch counting signals is greater than the set condition, determining that jamming occurs in the unloading process of the push shovel, and adjusting the working state of the hydraulic system until the interval time Δ t meets the set condition, the method further comprises the following steps:
if the interval time delta t of the two adjacent switch counting signals is larger than the maximum interval time delta t _ max at a certain position of the push shovel, and after repeated discharging through repeated reverse adjustment, the interval time delta t is still larger than the maximum interval time delta t _ max, the clamping stagnation of the push shovel is confirmed, the push shovel and the push plate are controlled to stop moving, the system gives an alarm, and a user is prompted to manually clean the push shovel.
Further, the method also comprises the following steps:
after the push shovel finishes once unloading, if residual garbage still remains in the sewage groove, the working state of the hydraulic system is adjusted, the push shovel is controlled to retract a certain distance in the reverse direction, the push shovel retracts to the front end position of the groove, and then the push shovel is controlled to be pushed out to finish secondary cleaning in the groove.
The invention also provides electronic equipment which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the push shovel unloading control method of the compression type garbage truck.
The invention also provides a storage medium which comprises a stored program, and when the program runs, the device on which the storage medium is positioned is controlled to execute the method for controlling the push shovel unloading of the compression type garbage truck.
The invention has the following beneficial effects:
the invention discloses a push shovel unloading control method of a compression type garbage truck, which comprises the following steps: acquiring switch counting signals generated by a displacement sensor in the moving process of the shovel and the interval time delta t of the two adjacent switch counting signals in real time; determining the current position of the push shovel according to the acquired switch counting signal, and controlling the working state of a hydraulic system based on the current position of the push shovel to enable the push shovel and the push plate to carry out compound motion, so as to ensure that the lower edge of the push plate is always tightly attached to the bottom plate of the garbage can; and if the interval time delta t of the two adjacent switch counting signals is greater than the set condition, determining that the pushing shovel is blocked in the unloading process, and adjusting the working state of the hydraulic system until the interval time delta t meets the set condition. Therefore, the real-time position of the push shovel during stretching can be accurately positioned, the dynamic speed control of the push shovel/rotating plate mechanism is convenient, the problem of push shovel clamping stagnation in the unloading process can be solved, the unloading efficiency and quality are improved, and the unloading operation is efficiently and quickly completed; the cost is low, the installation is convenient, the reliability is high, and the maintenance rate is low.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic flow chart of a method for controlling the discharging of a push shovel of a compression garbage truck according to a preferred embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for controlling the discharging of a push shovel of a compression garbage truck according to another preferred embodiment of the present invention;
FIG. 3 is a schematic view of a position measuring device according to another preferred embodiment of the present invention;
FIG. 4 is a schematic flow chart of a method for controlling the discharging of a push shovel of a compression garbage truck according to another preferred embodiment of the present invention;
FIG. 5 is a schematic flow chart of a method for controlling the discharging of a push shovel of a compression garbage truck according to another preferred embodiment of the present invention;
FIG. 6 is a schematic flow chart of a method for controlling the discharging of a push shovel of a compression garbage truck according to another preferred embodiment of the present invention;
FIG. 7 is a schematic flow chart of a method for controlling the discharging of a push shovel of a compression-type garbage truck according to another preferred embodiment of the present invention;
FIG. 8 is a timing chart of a switch count signal when the discharge is normal;
FIG. 9 is a timing diagram of a switch count signal during a discharge stuck;
FIG. 10 is a schematic flow chart of a method for controlling the discharging of a push shovel of a compression-type garbage truck according to another preferred embodiment of the present invention;
FIG. 11 is a schematic flow chart of a method for controlling the discharging of a push shovel of a compression-type garbage truck according to another preferred embodiment of the present invention;
FIG. 12 is a schematic flow chart of a method for controlling the discharging of a push shovel of a compression-type garbage truck according to another preferred embodiment of the present invention;
fig. 13 is a block diagram of an electronic device entity in accordance with a preferred embodiment of the present invention.
In the figure: 1. an induction sheet; 2. coiling; 3. and a hydraulic hose.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 2, a method for controlling the discharging of a push shovel of a compression type garbage truck, which is based on a position measuring device arranged outside a garbage can body, wherein the push shovel triggers the position measuring device to generate a switch counting signal every time the push shovel moves a set distance, comprises the following steps:
s1, acquiring switch counting signals generated by the displacement sensor in the push shovel moving process and the interval time delta t of the two adjacent switch counting signals in real time;
s2, determining the current position of the push shovel according to the obtained switch counting signal, and controlling the working state of the hydraulic system based on the current position of the push shovel to enable the push shovel and the push plate to perform compound motion, so as to ensure that the lower edge of the push plate is always tightly attached to the bottom plate of the garbage can;
s3, if the interval time delta t of the two adjacent switch counting signals is larger than the set condition, determining that the pushing shovel is blocked in the unloading process, and adjusting the working state of the hydraulic system until the interval time delta t meets the set condition.
As shown in fig. 3, in this embodiment, the position measuring device may utilize the structural characteristics of the vehicle to realize real-time detection of the blade position, specifically:
a reel 2 is arranged on the outer side of the garbage can behind the cab, and a hydraulic hose 3 is wound on the reel 2 and is used for supplying hydraulic oil to the rotating plate mechanism in the moving process. When the push shovel stretches out and draws back, reel 2 can just reverse rotation to the receive and release of 3 lengths of control hydraulic hose, the flexible length of hydraulic hose 3 is corresponding in real time with the flexible length of push shovel.
By fully utilizing the reel, 8 induction sheets 1 are uniformly welded on the reel along the circumferential direction, the reel 2 is evenly divided into 8 equal parts, and then a counting induction proximity switch is arranged near the reel 2 and used for sensing the real-time position of the reel 2 and generating a switch counting signal. Assuming that the change length of the hydraulic hose 3 is 0.8 m per rotation of the reel 2, the change distance corresponding to each sensed switch counting signal is 0.1 m, that is, the current position of the blade can be determined by the number of switch counting signals and the change distance corresponding to each sensed switch counting signal.
According to the push shovel unloading control method of the compression type garbage truck, switch counting signals generated by a displacement sensor in the moving process of the push shovel and the interval time delta t of two adjacent switch counting signals are obtained in real time; determining the current position of the push shovel according to the acquired switch counting signal, and controlling the working state of a hydraulic system based on the current position of the push shovel to enable the push shovel and the push plate to carry out compound motion, so as to ensure that the lower edge of the push plate is always tightly attached to the bottom plate of the garbage can; and if the interval time delta t of the two adjacent switch counting signals is greater than the set condition, determining that the pushing shovel is blocked in the unloading process, and adjusting the working state of the hydraulic system until the interval time delta t meets the set condition. Therefore, the real-time position of the push shovel during stretching can be accurately positioned, the dynamic speed control of the push shovel/push plate is facilitated, so that the composite motion is formed to realize the unloading operation of the compression type garbage truck, the problem of push shovel clamping stagnation in the unloading process can be automatically solved, the unloading efficiency and quality are improved, and the unloading operation is efficiently and quickly completed; the cost is low, the installation is convenient, the reliability is high, and the maintenance rate is low.
As shown in fig. 4, in a preferred embodiment of the present invention, the determining the current position of the blade according to the acquired switch count signal specifically includes the steps of:
s201, when the push shovel extends out, increasing a set distance to the real-time position of the push shovel to obtain the current position of the push shovel when a switch counting signal is obtained;
s202, when the push shovel retracts, reducing the real-time position of the push shovel by a set distance to obtain the current position of the push shovel every time a switch counting signal is obtained;
and S203, recording and storing the current position of the push shovel in a memory to realize power-off storage.
In the embodiment, when the current position of the push shovel is determined according to the acquired switch counting signal, the moving direction of the push shovel needs to be determined firstly, when each switch counting signal is acquired according to the moving direction of the push shovel, whether the set distance is increased or decreased to obtain the current position of the push shovel is determined, the current position of the push shovel is accurately obtained, the unloading efficiency and quality are affected due to errors in the subsequent hydraulic control process caused by position determination errors are avoided, for example, in order to ensure that garbage in a sewage groove is smoothly pushed out and unloaded, when the current position of the push shovel is determined to reach the initial position of the sewage groove, the pushing speed of the push shovel needs to be reduced, the hydraulic system is controlled to enable the push board to move downwards to be kept in contact with the arc-shaped bottom of the sewage groove, and the subsequent action sequence of the hydraulic system needs to take the accurate acquisition of the current position of the push shovel as the premise, only after the current position of the push shovel is accurately obtained, the operation state of the hydraulic system can be accurately controlled, the combined motion of the push shovel and the push plate can be ensured to meet the shape requirement of the bottom plate of the garbage can, and the garbage in the garbage can be quickly pushed out and unloaded with high quality. The current position record that this embodiment will push away the shovel and preserve in the memory of on-vehicle controller, realize that the outage is preserved, the in-process of unloading appears the outage or the compression car position information that also can obtain pushing away the shovel fast after restarting, the operation of conveniently unloading lasts going on to ensure operating efficiency and quality.
In a preferred embodiment of the present invention, as shown in fig. 5, the determining the current position of the blade according to the acquired switch count signal further comprises the steps of:
and S204, when the push shovel retracts, if the push shovel retracts to the limit position and the related detection switch is triggered, setting the current position of the push shovel to be zero.
In this embodiment, when the push shovel retracts, if the push shovel retracts to the extreme position and triggers the relevant detection switch, the current position of the push shovel is set to zero, so that the current position of the push shovel can be accurately determined when the push shovel extends next time, accumulated errors are reduced, the relevant detection switch can adopt a limit switch, a proximity switch and the like, and only if the push shovel retracts to the extreme position, a corresponding signal can be generated, and the current position zero setting operation of the push shovel can be triggered through the signal.
As shown in fig. 6, in a preferred embodiment of the present invention, the step of controlling the operating state of the hydraulic system based on the current position of the push shovel to make the push shovel and the push plate perform a compound motion to ensure that the lower edge of the push plate is always attached to the bottom plate of the trash can specifically comprises the steps of:
s211, when the push shovel is pushed out, controlling the working state of the hydraulic system to enable the push shovel to push materials at a set speed;
s212, when the push shovel reaches the initial position of the sewage groove, the working state of the hydraulic system is controlled to enable the push shovel to decelerate to push materials, and meanwhile, the push plate moves downwards to ensure that the lower edge of the push plate is always attached to the bottom plate of the sewage groove to discharge materials.
In this embodiment, the working state of the hydraulic system is controlled based on the current position of the push shovel to enable the push shovel and the push plate to perform composite motion, and if the push shovel is just pushed out, the reaction force applied to the push shovel is small because the bottom of the garbage can is a plane and the garbage is not compressed yet, the working state of the hydraulic system is controlled to enable the push shovel to push materials at a set speed, the pushing speed of the push shovel is high, and the unloading efficiency is improved; when the current position of the push shovel is detected to reach the initial position of the sewage groove, the garbage is compressed, the reaction force applied to the push shovel is increased, and in addition, because the sewage groove is in a concave arc shape, the push shovel and the push plate are required to perform composite motion, namely, when the push shovel is pushed out, the push plate is controlled to move downwards to keep contact with the arc-shaped bottom plate of the sewage groove, so that the normal pushing of the garbage in the sewage groove can be realized, therefore, when the push shovel reaches the initial position of the sewage groove, the working state of the hydraulic system is controlled to enable the push shovel to decelerate and push materials, and meanwhile, the push plate moves downwards, the lower edge of the push plate is enabled to be always attached to the bottom plate of the sewage groove for discharging, so that garbage in the sewage groove can be pushed out as far as possible, residues are reduced, the garbage discharging quality is improved, and meanwhile, the phenomenon of clamping stagnation in the material pushing process can be reduced to a certain extent.
As shown in fig. 7, in a preferred embodiment of the present invention, if the interval Δ t between two adjacent switch count signals is greater than the set condition, it is determined that the blade is stuck during the discharging process, and the operating state of the hydraulic system is adjusted until the interval Δ t satisfies the set condition, which specifically includes the steps of:
s301, when the push shovel unloads materials, if the interval time delta t of the two adjacent switch counting signals is increased, the fact that the push shovel is slightly clamped is determined, the rotating speed of an engine and the current of a proportional valve of a hydraulic system are correspondingly increased, and the thrust of the push shovel is increased.
The embodiment mainly aims at a processing strategy when slight clamping stagnation occurs in the material pushing process, as shown in fig. 8, when the material is normally pushed, the push shovel moves at a constant speed according to a set speed, at the moment, the interval time delta t of the counting signals of two adjacent switches is basically kept constant, and when the slight clamping stagnation occurs, the push shovel is subjected to resistance to slow the moving speed and is reflected on a position measuring device, as shown in fig. 9, the interval time delta t of the counting signals of two adjacent switches is correspondingly increased, and when the slight clamping stagnation occurs, the rotating speed of an engine and the current of a proportional valve of a hydraulic system are increased through a related vehicle-mounted controller, the hydraulic flow is increased, so that the thrust of the push shovel is increased, and the clamping stagnation phenomenon is eliminated. Since the increase of the engine speed and the current of the proportional valve of the hydraulic system have corresponding limitations, the embodiment mainly aims at the working condition that the clamping stagnation phenomenon is not particularly serious.
As shown in fig. 10, in a preferred embodiment of the present invention, if the interval Δ t between two adjacent switch count signals is greater than the set condition, it is determined that the blade is stuck during the discharging process, and the operating state of the hydraulic system is adjusted until the interval Δ t satisfies the set condition, further including the steps of:
s302, when the push shovel unloads materials, if the interval time delta t of the two adjacent switch counting signals is increased and then is larger than the maximum interval time delta t _ max, the working state of the hydraulic system is adjusted, the push shovel is controlled to retract back for a certain distance, and the push shovel is controlled to push out materials again until the interval time delta t is normal.
Different from the above embodiments, the present embodiment mainly aims at the processing strategy when the heavy jamming occurs in the material pushing process, when the heavy jamming occurs, the moving speed of the blade is slowed again due to the large resistance of the blade, and the moving speed is reflected on the position measuring device, as shown in fig. 9, at this time, the interval time Δ t of the two adjacent switch counting signals is correspondingly increased to exceed the maximum interval time Δ t _ max, because the increase of the engine rotation speed and the hydraulic system proportional valve current have corresponding limitations, the system cannot increase the thrust of the blade to eliminate the jamming phenomenon by increasing the hydraulic flow through the increase of the engine rotation speed and the hydraulic system proportional valve current of the related vehicle-mounted controller. Therefore, in this embodiment, by adjusting the operating state of the hydraulic system, the blade is controlled to retract in the reverse direction for a certain distance, and until the interval time Δ t returns to normal, the blade is controlled to push out and unload. Namely, the serious clamping stagnation is eliminated by controlling the push shovel to successively retreat for a certain distance and then push forwards. Because the jamming is mostly caused by the resistance deviating from the pushing direction between the garbage and the push shovel and the push plate, the mode that the push shovel is controlled to successively retreat for a certain distance and then be pushed out forwards is adopted in the embodiment, the resistance deviating from the pushing direction between the garbage and the push shovel and the push plate is reduced, and the jamming phenomenon is eliminated. Therefore, the present embodiment mainly aims at the working condition with a severe clamping stagnation phenomenon.
As shown in fig. 11, in a preferred embodiment of the present invention, if the interval Δ t between two adjacent switch count signals is greater than the set condition, it is determined that the blade is stuck during the discharging process, and the operating state of the hydraulic system is adjusted until the interval Δ t satisfies the set condition, further including the steps of:
s303, if the interval time delta t of the two adjacent switch counting signals is larger than the maximum interval time delta t _ max at a certain position of the push shovel, and after repeated discharging through multiple times of reverse adjustment, if the interval time delta t is still larger than the maximum interval time delta t _ max, determining that the push shovel is blocked, controlling the push shovel and the push plate to stop moving, and giving an alarm by a system to prompt a user to manually clean.
Different from the above embodiments, the present embodiment mainly aims at a processing strategy when severe jamming occurs in a material pushing process, when severe jamming occurs, even if the working state of the hydraulic system is adjusted, the push shovel is controlled to retract reversely for a certain distance for many times, and then the push shovel is continuously controlled to push out to the same position point, and a phenomenon that the interval time Δ t is greater than the maximum interval time Δ t _ max still occurs, it is determined that the push shovel is severely jammed, at this time, because the processing strategy cannot eliminate the jamming, the present embodiment controls the push shovel and the push board to stop moving and gives an alarm to the system to prompt a user to manually clear the jam. That is, when the serious jamming occurs, the pushing shovel and the pushing plate can stop moving due to the fact that the jamming cannot be eliminated through the method of the embodiment, meanwhile, the user is informed through an audio or visual alarm method, the user intervenes, necessary measures are taken for manual cleaning, and the current jamming phenomenon is eliminated.
Therefore, the clamping stagnation eliminating strategies aiming at three working conditions of slight clamping stagnation, serious clamping stagnation and serious clamping stagnation are respectively provided in the embodiment, the adaptability and comprehensiveness of clamping stagnation treatment are ensured, and different and targeted eliminating strategies are adopted aiming at different clamping stagnation degrees, so that the method has very important practical significance for improving the unloading efficiency and quality and the operation safety.
As shown in fig. 12, in a preferred embodiment of the present invention, the method for controlling the discharging of the push shovel of the compression type garbage truck further includes the steps of:
and S4, after the push shovel finishes once discharging, if residual garbage still exists in the sewage groove, adjusting the working state of the hydraulic system, controlling the push shovel to retract for a certain distance reversely, retracting the push shovel to the front end position of the sewage groove, and then controlling the push shovel to push out to finish secondary cleaning in the groove.
This embodiment is mainly when accomplishing once the back of unloading, when still remaining rubbish in the discovery recess, can push away one section distance of shovel reverse withdrawal through control, will push away the shovel and withdraw to recess front position, and control pushes away the shovel release after that, accomplishes the clearance once more in the recess, ensures that the rubbish in the sewage recess can the clean up, avoids rubbish to stagnate and influences the quality of unloading in the sewage recess. This embodiment mainly triggers by the user and carries out clearance once more in the recess, and when the user started "clearance once more" function, on-vehicle controller will control the shovel of pushing away and backward retract to sewage recess front end position, and then the shovel of controlling pushes away is released and the push pedal moves down, clears up the rubbish in the sewage recess once more.
As shown in fig. 13, in a preferred embodiment of the present invention, there is also provided an electronic device, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the method for controlling the pushing and discharging of the compression-type garbage truck.
The invention also provides a storage medium, which comprises a stored program, and when the program runs, the device where the storage medium is located is controlled to execute the push shovel unloading control method of the compression type garbage truck.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The functionality of the methods of the above embodiments, if implemented in software functional units and sold or used as a stand-alone product, may be stored in one or more computing device readable storage media. Based on such understanding, part of the contribution of the embodiments of the present invention to the prior art or part of the technical solution may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computing device (which may be a personal computer, a server, a mobile computing device, a network device, or the like) to execute all or part of the steps of the method described in the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A push shovel unloading control method of a compression type garbage truck is characterized in that based on a position measuring device arranged outside a garbage can box body, the push shovel triggers the position measuring device to generate a switch counting signal every time the push shovel moves a set distance, and the method comprises the following steps:
acquiring switch counting signals generated by a displacement sensor in the moving process of the shovel and the interval time delta t of the two adjacent switch counting signals in real time;
determining the current position of the push shovel according to the acquired switch counting signal, and controlling the working state of a hydraulic system based on the current position of the push shovel to enable the push shovel and the push plate to carry out compound motion, so as to ensure that the lower edge of the push plate is always tightly attached to the bottom plate of the garbage can;
and if the interval time delta t of the two adjacent switch counting signals is greater than the set condition, determining that the pushing shovel is blocked in the unloading process, and adjusting the working state of the hydraulic system until the interval time delta t meets the set condition.
2. The method for controlling the discharging of the push shovel of the compression type garbage truck according to claim 1, wherein the step of determining the current position of the push shovel according to the obtained switch counting signal comprises the following steps:
when the push shovel extends out, increasing the real-time position of the push shovel by a set distance to obtain the current position of the push shovel every time a switch counting signal is obtained;
when the push shovel retracts, reducing the real-time position of the push shovel by a set distance to obtain the current position of the push shovel every time a switch counting signal is obtained;
and recording and storing the current position of the push shovel in a memory to realize power-off storage.
3. The method for controlling the discharging of the pushing shovel of the compression type garbage truck according to claim 2, wherein the current position of the pushing shovel is determined according to the acquired switch counting signal, further comprising the steps of:
when the push shovel retracts, if the push shovel retracts to the limit position and triggers the related detection switch, the current position of the push shovel is set to be zero.
4. The method for controlling the discharging of the pushing shovel of the compression type garbage truck according to claim 1, wherein the method for controlling the working state of the hydraulic system based on the current position of the pushing shovel to enable the pushing shovel and the push plate to perform combined motion to ensure that the lower edge of the push plate is always attached to the bottom plate of the garbage truck specifically comprises the steps of:
when the push shovel is pushed out, the working state of the hydraulic system is controlled to enable the push shovel to push materials at a set speed;
when the push shovel reaches the initial position of the sewage groove, the working state of the hydraulic system is controlled to enable the push shovel to decelerate to push materials, and meanwhile, the push plate moves downwards to ensure that the lower edge of the push plate is always attached to the bottom plate of the sewage groove to unload materials.
5. The method for controlling the discharging of the push shovel of the compression type garbage truck according to claim 1, wherein if the interval time Δ t between two adjacent switch counting signals is greater than a set condition, it is determined that the push shovel is stuck during the discharging process, and the working state of the hydraulic system is adjusted until the interval time Δ t meets the set condition, which specifically comprises the steps of:
when the push shovel unloads, if the interval time delta t of the two adjacent switch counting signals is increased, the fact that the push shovel is slightly clamped is determined, the rotating speed of an engine and the current of a proportional valve of a hydraulic system are correspondingly increased, and the thrust of the push shovel is increased.
6. The method for controlling the discharging of the pushing shovel of the compression type garbage truck according to claim 5, wherein if the interval time Δ t between two adjacent switch counting signals is greater than the set condition, it is determined that the pushing shovel is stuck during the discharging process, and the working state of the hydraulic system is adjusted until the interval time Δ t meets the set condition, further comprising the steps of:
when the push shovel unloads, if the interval time delta t of the two adjacent switch counting signals is increased and then is larger than the maximum interval time delta t _ max, the working state of the hydraulic system is adjusted, the push shovel is controlled to retract back for a certain distance, and the push shovel is controlled to push out and unload continuously until the interval time delta t is normal.
7. The method for controlling the discharging of the pushing shovel of the compression type garbage truck according to claim 6, wherein if the interval time Δ t between two adjacent switch counting signals is greater than the set condition, it is determined that the pushing shovel is stuck during the discharging process, and the working state of the hydraulic system is adjusted until the interval time Δ t meets the set condition, further comprising the steps of:
if the interval time delta t of the two adjacent switch counting signals is larger than the maximum interval time delta t _ max at a certain position of the push shovel, and after repeated discharging through repeated reverse adjustment, the interval time delta t is still larger than the maximum interval time delta t _ max, the clamping stagnation of the push shovel is confirmed, the push shovel and the push plate are controlled to stop moving, the system gives an alarm, and a user is prompted to manually clean the push shovel.
8. The method of controlling the discharging of a push shovel of a compression garbage truck according to claim 1, further comprising the steps of:
after the push shovel finishes once unloading, if residual garbage still remains in the sewage groove, the working state of the hydraulic system is adjusted, the push shovel is controlled to retract a certain distance in the reverse direction, the push shovel retracts to the front end position of the groove, and then the push shovel is controlled to be pushed out to finish secondary cleaning in the groove.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements the method of controlling the discharging of a blade of a compression-type garbage truck according to any one of claims 1 to 8.
10. A storage medium including a stored program, characterized in that the program, when executed, controls a device in which the storage medium is located to perform the method of controlling a shovel discharge of a compression-type garbage truck according to any one of claims 1 to 8.
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