CN117566282B - Intelligent control method of object bag separation device and object bag separation system - Google Patents
Intelligent control method of object bag separation device and object bag separation system Download PDFInfo
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- CN117566282B CN117566282B CN202410058017.6A CN202410058017A CN117566282B CN 117566282 B CN117566282 B CN 117566282B CN 202410058017 A CN202410058017 A CN 202410058017A CN 117566282 B CN117566282 B CN 117566282B
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- 238000000034 method Methods 0.000 title claims abstract description 115
- 238000000926 separation method Methods 0.000 title description 15
- 230000007306 turnover Effects 0.000 claims description 35
- 230000009471 action Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 abstract description 6
- 239000010813 municipal solid waste Substances 0.000 description 68
- 230000008569 process Effects 0.000 description 16
- 238000009434 installation Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000003578 releasing effect Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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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
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
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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
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/0033—Refuse receptacles; Accessories therefor specially adapted for segregated refuse collecting, e.g. receptacles with several compartments; Combination of receptacles
- B65F1/0053—Combination of several receptacles
- B65F1/006—Rigid receptacles stored in an enclosure or forming part of it
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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
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/0033—Refuse receptacles; Accessories therefor specially adapted for segregated refuse collecting, e.g. receptacles with several compartments; Combination of receptacles
- B65F2001/008—Means for automatically selecting the receptacle in which refuse should be placed
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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
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/168—Sensing means
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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
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/176—Sorting means
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
Abstract
The invention discloses an intelligent control method of a material bag separating device and a material bag separating system, wherein the material bag separating device comprises a control module, a clamping module, a vertical overturning module and a horizontal rotating module, the clamping module is arranged on the vertical overturning module, the vertical overturning module is arranged at the tail end of the horizontal rotating module, the vertical overturning module and the horizontal rotating module both have rotational degrees of freedom in positive and negative directions, and one of the rotational directions of the vertical overturning module and the horizontal rotating module is defined as a default direction during initialization operation; the intelligent control method comprises a vertical module control method and a horizontal module control method, and the object bag separating device can be adaptively adjusted through the horizontal module control method and the vertical module control method, so that the object bag separating device is prevented from being influenced in operation and the influenced module is prevented from being adaptively adjusted.
Description
Technical Field
The application relates to the field of garbage disposal equipment, in particular to an intelligent control method of a material bag separating device.
Background
The garbage bin is common life apparatus in life. The traditional dustbin has a simple structure and is easy to use, but generally has no dry-wet separation function. In the prior art, garbage cans aiming at dry-wet separation function appear in order to protect the environment and improve the waste utilization efficiency.
The prior art dry-wet separation garbage can generally comprises a tray for holding and placing garbage and a driving device for driving the tray to rotate so as to switch the dry-wet garbage storage part.
However, because the relative positions of the dustbin door and the object placing platform are different due to the fact that the relative positions are manually installed, some object placing platforms are lower than the dustbin door, when throwing rubbish, a user throws the rubbish downwards in an arc line, due to the fact that the movement track of the rubbish is long, the falling point of the rubbish is located at one side away from the dustbin door, some object placing platforms are higher than the dustbin door, the rubbish moves to the tray rapidly, and therefore when throwing rubbish, the user falls to one side, close to the dustbin door, of the tray.
In any case, the garbage cannot effectively fall to the central part of the tray, so that the tray needs to consume more energy to overcome the problem of moment increase caused by gravity center deviation when the tray is overturned. In addition, when rubbish is piled up, the rubbish top rises constantly and can not obtain in time to clear up, perhaps put the installation of thing platform and appear the deviation, can all lead to the tray when overturning, its edge and rubbish or bucket wall take place to interfere to bring the problem that can't overturn completely.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an intelligent control method of a material bag separating device, which is used for solving the problems of increased energy consumption and overlarge moment to be overcome when the gravity center of the material bag separating device is deviated from the center of a clamping module in the prior art;
the invention also provides an intelligent control method of the object bag separating device, which comprises a control module, a clamping module, a vertical overturning module and a horizontal rotating module, wherein the clamping module is arranged on the vertical overturning module, and the vertical overturning module is arranged at the tail end of the horizontal rotating module:
the vertical overturning module and the horizontal rotating module are provided with rotational degrees of freedom in the positive and negative directions, and one of the rotational directions of the vertical overturning module and the horizontal rotating module is defined as a default direction during initialization operation; the intelligent control method comprises a vertical module control method and a horizontal module control method, wherein the vertical module control method comprises the following steps:
s1: acquiring the turnover times of the vertical turnover module opposite to the default direction;
s2: judging whether the turnover times are larger than preset critical turnover times or not, if so, changing the opposite direction into a default direction, and if not, maintaining the default direction;
s3: controlling the vertical overturning module to overturn towards a default direction and judging whether overturning is completed, if yes, clearing the overturning times and controlling the vertical overturning module to reset, and if no, executing the step S4;
s4: and controlling the vertical overturning module to overturn towards the opposite direction and judging whether overturning is completed, if yes, adding 1 to the overturning times and controlling the vertical overturning module to reset, and if not, outputting an error reporting signal.
More preferably, in S3 and S4, the method for determining whether the vertical flip module is flipped is completed includes:
s341, presetting a turnover period, wherein the time length of the turnover period is longer than or equal to the time length required by the vertical turnover module to complete one-time complete turnover action;
s342, presetting an angle threshold, acquiring a turnover angle of a vertical turnover module, and judging whether the turnover angle is larger than the angle threshold in the turnover period;
if yes, judging that the vertical overturning module finishes overturning;
if not, judging that the vertical overturning module does not finish overturning.
More preferably, the method for determining whether the vertical flip module is flipped is further includes S343:
returning to S1 when the vertical overturning module is judged to finish overturning;
when the vertical overturning module is judged to not finish overturning, acquiring an angle of the vertical overturning module after a preset overturning period, judging the magnitude of the angle and the preset angle, and if the angle is larger than the preset angle, controlling the vertical overturning module to maintain the current state by using a safety current and outputting an error reporting signal; if not, executing step S4.
More preferably, the horizontal module control method includes:
s5: acquiring a horizontal rotation signal, controlling the horizontal rotation module to drive the vertical overturning module to rotate towards a default direction, and judging whether the rotation is completed or not; if yes, outputting a horizontal rotation completion signal and sequentially controlling the vertical overturning module to overturn and the clamping module to loosen; if not, controlling the horizontal rotation module to drive the vertical overturning module to reversely rotate to an initial position, and sequentially controlling the vertical overturning module to overturn and the clamping module to loosen.
More preferably, the horizontal module control method further includes:
s6: acquiring a horizontal rotation signal, controlling the horizontal rotation module to drive the vertical overturning module to rotate towards a default direction and judging whether the rotation is completed or not, if so, outputting the horizontal rotation completion signal, and sequentially controlling the vertical overturning module to overturn and the clamping module to loosen; if not, executing the step S7;
s7: controlling the horizontal rotation module to rotate in the opposite direction and judging whether the rotation is completed, if so, changing the opposite direction into a default direction and outputting a horizontal rotation completion signal, and sequentially controlling the vertical overturning module to overturn and the clamping module to loosen; if not, executing the step S8 or outputting an error report signal according to a preset rule;
s8: and controlling the horizontal rotation module to drive the vertical overturning module to reversely rotate to an initial position, and sequentially controlling the vertical overturning module to overturn and the clamping module to loosen.
More preferably, S01, when the error signal is output, the vertical flip module continues to flip from the current state until the flip is completed when the error signal is output by the vertical flip module and the failure of the vertical flip module is released.
More preferably, the turnover times, the rotation angle, the turnover time, the completion signal and the error reporting signal of the vertical turnover module and the horizontal rotation module are all stored in an offline log, and the control module is called from the offline log.
More preferably, the intelligent control method further includes a clamping module control method for controlling the clamping module to clamp or unclamp, and the steps of the intelligent control method include:
s9, executing a clamping module control method to control clamping of the clamping module, and outputting a vertical overturning signal after clamping is completed;
s10, executing a vertical module control method to control the vertical overturning module to overturn and reset, and outputting a horizontal rotation signal after the reset is completed;
s11, executing a horizontal module control method to control the rotation of the horizontal rotation module, and outputting a vertical overturning signal after the rotation is completed;
s12, executing a vertical module control method to control the vertical overturning module to overturn and reset, wherein after the vertical overturning module is overturned, executing a clamping module control method to control the clamping module to loosen and then controlling the vertical overturning module to reset;
s13, executing a horizontal module control method to control the horizontal rotation module to reset.
More preferably, the method further comprises step S02, wherein the vertical overturning module is controlled to rotate in the forward and reverse directions for a plurality of times before overturning and resetting the vertical overturning module.
The object bag separating system comprises a box body, at least two object placing barrels and an object bag separating device, wherein the object bag separating device comprises a control module, a clamping module, a vertical overturning module and a horizontal rotating module;
the box body comprises at least one openable box door, the storage barrels are arranged in the box body at intervals, the bottom of the storage bag separating device is fixed between the two storage barrels, and in at least one state, the vertical overturning module corresponds to the openable box door and is correspondingly positioned above one storage barrel;
when the openable door is closed, the object bag separating device is controlled to operate according to the intelligent control method of the object bag separating device.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the vertical overturning module is controlled to flexibly adjust by a vertical module control method, and the overturning direction can be conveniently and adaptively adjusted according to the field environment according to the environment installation size so as to be intelligently adapted to the field environment; meanwhile, the default overturning direction can be automatically and flexibly set.
2. When garbage is piled up, the overturning direction can be flexibly adjusted according to actual conditions, and when any side cannot be effectively overturned, maintenance personnel can be timely reminded to check the problem.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of steps of an intelligent control method of a bag separating device according to the present invention;
FIG. 2 is a flow chart of steps of a vertical module control method;
FIG. 3 is a flow chart of steps of a horizontal module control method;
FIG. 4 is a schematic diagram of the overall structure of a bag separation system according to an embodiment of the present disclosure;
fig. 5 is a schematic overall structure of an object bag separating device according to an embodiment of the present disclosure;
FIG. 6 is a schematic top view of a bag separation apparatus according to an embodiment of the present disclosure;
fig. 7 is a schematic top view illustrating an operating state of the object bag separating apparatus according to the embodiment of the present application.
Reference numerals illustrate:
100. a bag separating device; 200. a storage barrel; 300. a vertical overturning module; 310. a storage tray; 320. a turnover motor; 400. a horizontal rotation module; 410. a forearm; 420. a rotating electric machine; 600. a clamping module; 700. a case; 710. the box door can be opened and closed.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. Based on the embodiments of the present application, all other embodiments that can be obtained by a person of ordinary skill in the art without making any inventive effort are within the scope of protection of the present application. It is to be understood that the drawings are designed solely for the purposes of illustration and not as a definition of the limits of the application. The connection relationships shown in the drawings are for convenience of clarity of description only and are not limiting on the manner of connection.
It is noted that when one component is considered to be "connected" to another component, it may be directly connected to the other component, or intervening components may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It should also be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless otherwise specifically defined and limited; either mechanically or electrically, or by communication between two components. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
The intelligent control method of the object bag separating device is used for controlling the dustbin with the dry and wet garbage separating function in the prior art so as to prevent supervision and control when the device cannot work normally due to excessively high garbage accumulation or other working conditions. In this application, the control method is used for being installed in a garbage can, as shown in fig. 7, the garbage can is provided with a dry garbage storage part and a wet garbage storage part, and the control method controls the object bag separating device 100 to pour wet garbage into the wet garbage storage part first and then empty object bags into the dry garbage storage part.
The process is described in detail below with reference to the accompanying drawings.
As shown in fig. 4, the object bag separating device 100 includes a control module, a clamping module 600, a vertical overturning module 300 and a horizontal rotating module 400, wherein the vertical overturning module 300 includes an object placing tray 310 for carrying an object bag, the clamping module 600 is disposed on the vertical overturning module 300 and is located in the middle of the object placing tray 310 for clamping or releasing the object bag, and the clamping module 600 can be used for fixing and releasing the object bag by means of adsorption, butt clamping, holding clamping and the like. If the object bag is adsorbed by the electric sucking disc, the object bag can be adsorbed when the sucking disc is vacuumized, and can be released when the sucking disc does not work; gripping devices such as grippers in the prior art may also be used. It should be noted that, regardless of the clamping mode, the clamping module 600 needs to be connected to the control module through a signal, so that the control module can control the clamping module 600 to operate through a preset program.
The vertical overturning module 300 is arranged at the tail end of the horizontal rotating module 400, the vertical overturning module 300 and the horizontal rotating module 400 have rotational degrees of freedom in the positive direction and the negative direction, wherein the horizontal rotating module 400 can drive the vertical overturning module 300 to rotate 360 degrees in the horizontal direction, and the vertical overturning module 300 can rotate 360 degrees in the vertical direction.
Specifically, as shown in fig. 5 and 6, the vertical overturning module 300 and the horizontal rotating module 400 are both power steering devices, in this embodiment, the horizontal rotating module 400 includes a rotating motor 420 and a large arm, and the rotating motor 420 is drivingly connected to the large arm and is used for driving the large arm to rotate; the vertical overturning module 300 comprises an overturning motor 320 and a small arm 410, wherein the overturning motor 320 is fixedly connected to the large arm, and when the large arm rotates, the overturning motor 320 is synchronously driven to rotate, the overturning motor 320 is in driving connection with the small arm 410 and is used for driving the small arm 410 to rotate, and the object placing tray 310 is fixedly connected to one end, far away from the overturning motor 320, of the small arm 410. Wherein the large and small arms 410 are arranged vertically.
During the initialization operation, one of the rotation directions of the vertical overturning module 300 and the horizontal rotating module 400 is set as a default direction; the intelligent control method comprises a clamping module 600 control method, a vertical module control method and a horizontal module control method, and the interaction steps of the module control methods are as follows:
the control module controls the clamping module 600 to execute the releasing action through the clamping module control method, and when the object bag is correctly placed on the clamping module 600, the control module controls the clamping module 600 to execute the clamping action, the clamping module 600 clamps the bottom of the object bag, and the opening of the object bag is kept upwards. The correct placement of the object bag can be judged by means of pressure detection, infrared detection and the like. If the pressure sensor is arranged at the central part of the tray, the pressure sensor is connected to the control module in a signal mode, and when the pressure sensor detects the signal, the correct placement of the object bag is judged. When the infrared detection is carried out, the infrared emission device and the infrared receiving device are respectively arranged on two sides of the tray, when the object bag is correctly placed, the optical signal is blocked, the control signal is generated, and the control module judges that the object bag is correctly placed.
After the holding module 600 holds the bag, as shown in fig. 2, the control module performs a vertical module control method.
S1, a control module acquires the turnover times of the vertical turnover module 300 along the direction opposite to the default direction; taking the default turning direction as a first direction and the direction opposite to the default turning direction as a second direction as an example, the control module firstly obtains the turning times of the second direction; it should be noted that the default flip direction is not fixed, and changes with the system settings;
s2, judging whether the turnover frequency is larger than a preset critical turnover frequency, in the embodiment, setting the critical turnover frequency to be 3 times, if so, changing the opposite direction to be a default direction, and if not, maintaining the direction to be the default direction;
s3, controlling the vertical overturning module 300 to overturn towards a default direction and judging whether overturning is completed, if yes, resetting the overturning times and controlling the vertical overturning module 300 to reset, and if no, executing the step S4; whether the overturning is completed can be determined by determining whether the vertical overturning module 300 overturns to a preset angle in a preset overturning period, if so, whether the vertical overturning module 300 rotates 180 degrees, if so, the vertical overturning module 300 rotates more than 180 degrees in the preset overturning period, if not, the overturning is determined to be completed, otherwise, the overturning is determined to be failed.
And S4, controlling the vertical overturning module 300 to overturn in the opposite direction and judging whether overturning is completed, if yes, adding 1 to the overturning times in the direction and controlling the vertical overturning module 300 to reset, and if not, outputting an error reporting signal. The judging method is the same as the above. After the vertical overturning module 300 overturns normally for many times in the opposite direction, the overturning times are accumulated continuously, and when the preset critical overturning times are exceeded, the opposite direction is used as a default direction through the step S2 when the vertical overturning module is started next time, so that the working efficiency is improved.
Because the vertical overturning module 300 drives the object placing tray 310 to rotate when working, and when the object placing tray 310 rotates, garbage or other barriers are extruded, and when the garbage or the barriers are compressible, the vertical overturning module 300 can continue working, but the current becomes large or the motor is burnt out when the current is in a locked state for a long time; by the method, when one side cannot be effectively turned over, the turning direction can be automatically and flexibly adjusted, the motor is prevented from being blocked, and when the two sides cannot be effectively turned over, the motor is prevented from being blocked, and meanwhile error reporting is timely carried out.
The method is used for preventing the garbage from being overturned due to the fact that the object placing tray 310 is abutted against the garbage and cannot be overturned effectively when the garbage stacking height is too high, and the object bag or the object placing tray 310 and the garbage can interfere with each other and cannot be overturned effectively. The working principle of the bag will be described below by taking the step of correctly placing the bag as an example.
The control module obtains the turnover number of the second direction, and when the second direction (the direction opposite to the default direction) can be turned normally for a plurality of times (exceeding the set critical turnover number), the control module means that the direction is verified for a plurality of times and can be turned normally, and the direction is set as the default direction. Otherwise, the default direction is the better direction, and the default direction is kept unchanged.
The control module controls the vertical overturning module 300 to overturn, and in the rotating process, garbage in the object bag is dumped out under the action of gravity, and the object bag cannot fall off due to the clamping of the clamping module 600. In a further preferred scheme, in order to accelerate the dumping time and avoid the garbage from remaining in the object bag, after the vertical overturning module 300 overturns, the control module can also control the vertical overturning module 300 to rotate in a forward and reverse direction by a small extent so as to thoroughly separate the garbage from the object bag by utilizing the inertia of the garbage.
In this process, it is determined whether the vertical overturning module 300 rotates 180 ° within 4s, when the garbage is less and the height is lower, the object placing tray 310 can normally overturn under the driving of the vertical overturning module 300, after the vertical overturning module 300 rotates 180 °, the control module clears the overturning times in the direction, and controls the vertical overturning module 300 to reversely overturn and reset, and at this time, the empty object bag is reserved on the clamping module 600.
When the height of the garbage is too high, the object tray 310 is abutted against the garbage in the rotation process, and cannot rotate normally, so that the vertical overturning module 300 cannot rotate 180 degrees, and the opposite overturning direction is likely to have lower height of the garbage and can be used for dumping normally. The control module controls the vertical turning module 300 to rotate towards the opposite direction, judges whether the turning is completed according to the method, and when the turning is completed, the direction can be normally toppled, the turning times of the direction is increased by 1, and the turning module is controlled to reversely turn and reset.
When the two directions cannot be effectively turned over, the height of garbage at the two sides is higher, and the garbage reaches the degree of cleaning, the system outputs an error signal at the moment, and maintenance personnel wait for maintenance. It should be noted that, the above-mentioned content only takes the case of too high garbage height as an example, and in practical application, there is a problem that the garbage cannot be turned over due to unqualified installation size, and the principle and the process are the same and will not be repeated.
The above process is to pour the garbage in the object bag to the wet garbage storage part, and after the vertical overturning is completed, the empty object bag is reserved on the clamping module 600, and the empty object bag is transferred to the dry garbage storage part at the other side.
Through the scheme, the problem that the object placing tray 310 cannot be turned over due to the conditions of garbage accumulation or unqualified installation size and the like, so that the vertical turning module 300 cannot work normally and the motor is burnt can be avoided. When the garbage is too high or other faults cause that normal work is impossible, error reporting signals can be sent timely, and monitoring and maintenance are facilitated.
In another embodiment, due to the installation error, the placement position of the garbage can is not right, so that the front edge position of the garbage can is blocked, that is, the object placing tray 310 or the object bag interferes with the side wall of the garbage can, and the garbage can cannot be effectively turned over. At this time, based on the above embodiment, when it is determined that the vertical flip module 300 does not flip, the angle of the vertical flip module 300 after a preset flip period is obtained, and the magnitude of the angle and the preset angle is determined, where in this embodiment, the preset angle is defined as 10 degrees, and if the angle is greater than the preset angle, the vertical flip module 300 is controlled by a safe current to maintain the current state, and an error signal is output; if not, executing step S4.
The method can avoid secondary damage caused by reverse rotation during interference, save energy consumption and avoid motor damage caused by overlarge current.
Specifically, as shown in fig. 3, the horizontal module control method includes:
s5, acquiring a horizontal rotation signal, controlling the horizontal rotation module 400 to drive the vertical overturning module 300 to rotate towards a default direction and judging whether the rotation is completed, if so, outputting the horizontal rotation completion signal and sequentially controlling the overturning of the vertical overturning module 300 and the loosening of the clamping module 600, and if not, controlling the horizontal rotation module 400 to drive the vertical overturning module 300 to reversely rotate to an initial position and sequentially controlling the overturning of the vertical overturning module 300 and the loosening of the clamping module 600.
The rule of judging whether the horizontal rotation is completed is similar to that of the above embodiment, and is also that whether the horizontal rotation module 400 rotates to a preset angle in a preset turning period is also judged, if yes, the completion of the rotation is judged, and if not, the failure of the rotation is judged.
In this embodiment, at least two storage barrels 200 are disposed below the small arm 410 of the object bag separating device 100, and configured as a dry garbage storage part and a wet garbage storage part, the object bag separating device 100 is fixed between the two storage barrels 200, and the tray 310 can be hovered above the first storage barrel 200 or the second storage barrel 200 by the horizontal rotation of the large arm 420.
When the horizontal module control method is executed, wet garbage in the object bag is dumped to the wet garbage storage part, and then the object bag is dumped to the dry garbage storage part. At this time, the control module controls the horizontal rotation module 400 to rotate, and drives the vertical overturning module 300 to rotate along the default overturning direction, so as to drive the storage tray 310 and the object bag to be transferred to the upper part of the dry garbage storage part. In this process, it is required to determine whether the horizontal rotation module 400 is turned over, which is similar to the vertical module control method, and determine whether the horizontal rotation module 400 is rotated to a predetermined angle in a predetermined turning period.
If yes, the rotation is determined to be completed, and at this time, the vertical overturning module 300 is located above the dry garbage storage part, and the vertical overturning module 300 is controlled to overturn and the clamping module 600 is controlled to release, so that the object bag is dumped into the dry garbage storage part.
If not, the incomplete rotation is judged, the vertical overturning module 300 is controlled to reversely rotate to the initial position, the vertical overturning module 300 is controlled to overturn, the clamping module 600 is controlled to release, and the object bag is dumped to the wet garbage storage part.
In another embodiment, to improve the success rate of the horizontal rotation, the horizontal module control method includes:
s6: acquiring a horizontal rotation signal, controlling the horizontal rotation module 400 to drive the vertical overturning module 300 to rotate towards a default direction and judging whether the rotation is completed, if so, outputting the horizontal rotation completion signal, and sequentially controlling the vertical overturning module 300 to overturn and the clamping module 600 to loosen; if not, executing the step S7;
s7: controlling the horizontal rotation module 400 to rotate in the opposite direction and judging whether the rotation is completed, if so, changing the opposite direction to the default direction and outputting a horizontal rotation completion signal, and sequentially controlling the vertical overturning module 300 to overturn and the clamping module 600 to loosen; if not, executing the step S8 or outputting an error report signal according to a preset rule;
s8: the horizontal rotation module 400 is controlled to drive the vertical overturning module 300 to reversely rotate to the initial position, and the vertical overturning module 300 is controlled to overturn and the clamping module 600 is controlled to loosen in sequence.
The rule for judging whether the horizontal rotation is completed is similar to that of the above embodiment, and is also that whether the horizontal rotation module 400 rotates to a preset angle in a preset overturning period is judged, if yes, the completion of the rotation is judged, and if not, the failure of the rotation is judged.
In this embodiment, the working process is similar to that of the previous embodiment, except that in this embodiment, when the horizontal rotation module 400 cannot complete the rotation process from the default direction, the control module controls the forearm 410 to rotate in the opposite direction, so as to improve the success rate of rotation. When the default direction and the opposite direction cannot be rotated, the horizontal rotation module 400 resets or outputs an error signal, and the specific implementation manner thereof can be set according to the field use requirement.
In a further optimized solution, when the error signal is output in any step in the above embodiment, when the error signal is output by the vertical flip module 300 and the failure of the vertical flip module 300 is released, the vertical flip module 300 continues to flip from the current state until the flip is completed.
In one embodiment, the intelligent control method further includes a clamping module control method for controlling clamping or unclamping of the clamping module 600, and the intelligent control method includes the steps of:
s9, executing a clamping module control method to control the clamping module 600 to clamp, and outputting a vertical overturning signal after the clamping is completed;
s10, executing a vertical module control method to control the vertical overturning module to overturn and reset, and outputting a horizontal rotation signal after the reset is completed;
s11, executing a horizontal module control method to control the rotation of the horizontal rotation module 400, and outputting a vertical overturning signal after the rotation is completed;
s12, executing a vertical module control method to control the vertical overturning module to overturn and reset, wherein after the vertical overturning module overturn is completed, executing a clamping module control method to control the clamping module 600 to loosen and then controlling the vertical overturning module to reset;
s13, executing the horizontal module control method to control the horizontal rotation module 400 to reset.
In this embodiment, a clamping module control method is further provided, the clamping module 600 includes a clamping member, the clamping member is disposed on the tray 310, so as to facilitate clamping an object, the clamping module control method, the horizontal module control method and the vertical module control method together form an intelligent control method, in which the control process of the clamping module 600 is performed before the horizontal rotation module 400 is performed, as shown in fig. 1, first, when an object is placed on the tray 310, the controller controls the clamping module 600 to clamp the object, and then performs a vertical overturning module control process, that is, the control module controls the overturning motor 320 to act, so as to drive the object placing tray 310 to overturn, thereby completing the garbage dumping step, so as to complete the vertical module control method. When the control process of the vertical overturning module is finished, the control module controls the horizontal rotating module 400 to rotate, and outputs the vertical overturning module 300 again after the rotation is finished, at this time, the object placing tray 310 is located above another object placing barrel 200, after the object placing tray 310 is overturned, the control process of the clamping module 600 is executed, the object bag is separated from the clamping module 600, the processing of the object bag is finished, after the processing of the object bag is finished, the vertical overturning process is executed, the object placing tray 310 is reset, the horizontal rotating process is executed, and the horizontal rotating module 400 is reset.
In a further optimized scheme, before the vertical overturning module overturns and resets, the vertical overturning module is controlled to rotate for a plurality of times in the forward and reverse directions by a small amplitude within a range of 5 degrees from left to right of the vertical line of the storage tray, so that garbage can fall off more thoroughly under the action of inertia.
The embodiment of the application is also provided with a visual panel, and the visual panel is connected with the control module and can visually display the operation process of the object bag separating device 100.
In the above-mentioned bag separation method, the bag separation system is implemented in a bag separation system, and the bag separation system includes a box 700, at least two storage barrels 200, and a bag separation device 100, where an openable box door 710 is provided on the box 700, and garbage bags can be placed on a tray 310 in the box 700 through the openable box door 710, where the vertical overturning module 300 is disposed corresponding to the openable box door 710 and is located above one storage barrel 200, so as to facilitate placement of the garbage.
When the openable door 710 is closed, the bag separating apparatus 100 is started to perform bag separation processing on the garbage, and when the garbage is treated and the bag separating apparatus 100 returns to the initial point, the openable door can be opened again according to the user's requirement.
In the above structure, the visual panel is disposed on the outer surface of the case 700, and is used for displaying the working condition of the object bag separating device in the case 700.
In the horizontal module control method and the vertical module control method, the records are performed through the encoder, the rotating motor 420 and the turning motor 320 are electrically connected with the controller through the encoder, the encoder is provided with the offline log, the offline log records the turning times, the rotating angle, the turning time, the completion signal and the error reporting signal of the vertical turning module 300 and the horizontal rotating module 400, and the controller is convenient to call the signals in the offline log.
The above embodiments are only for illustrating the technical method of the present invention and not for limiting the same, and it should be understood by those skilled in the art that the technical method of the present invention may be modified or substituted without departing from the spirit and scope of the technical method of the present invention.
Claims (10)
1. The utility model provides an intelligent control method of thing bag separator, thing bag separator includes control module, centre gripping module, perpendicular upset module and horizontal rotation module, the centre gripping module is located on the perpendicular upset module, perpendicular upset module is located the terminal of horizontal rotation module, its characterized in that:
the vertical overturning module and the horizontal rotating module are provided with rotational degrees of freedom in the positive and negative directions, and one of the rotational directions of the vertical overturning module and the horizontal rotating module is defined as a default direction during initialization operation; the intelligent control method comprises a vertical module control method and a horizontal module control method, wherein the vertical module control method comprises the following steps:
s1: acquiring the turnover times of the vertical turnover module opposite to the default direction;
s2: judging whether the turnover times are larger than preset critical turnover times or not, if so, changing the opposite direction into a default direction, and if not, maintaining the default direction;
s3: controlling the vertical overturning module to overturn towards a default direction and judging whether overturning is completed, if yes, clearing the overturning times and controlling the vertical overturning module to reset, and if no, executing the step S4;
s4: and controlling the vertical overturning module to overturn towards the opposite direction and judging whether overturning is completed, if yes, adding 1 to the overturning times and controlling the vertical overturning module to reset, and if not, outputting an error reporting signal.
2. The intelligent control method of a bag separating apparatus according to claim 1, wherein in S3 and S4, the method for determining whether the vertical overturning module is overturned comprises:
s341, presetting a turnover period, wherein the time length of the turnover period is longer than or equal to the time length required by the vertical turnover module to complete one-time complete turnover action;
s342, presetting an angle threshold, acquiring a turnover angle of a vertical turnover module, and judging whether the turnover angle is larger than the angle threshold in the turnover period;
if yes, judging that the vertical overturning module finishes overturning;
if not, judging that the vertical overturning module does not finish overturning.
3. The intelligent control method of the object bag separating apparatus according to claim 2, wherein the judging method of whether the vertical overturning module is overturned is completed further comprises S343:
returning to S1 when the vertical overturning module is judged to finish overturning;
when the vertical overturning module is judged to not finish overturning, acquiring an angle of the vertical overturning module after a preset overturning period, judging the magnitude of the angle and the preset angle, and if the angle is larger than the preset angle, controlling the vertical overturning module to maintain the current state by using a safety current and outputting an error reporting signal; if not, executing step S4.
4. The intelligent control method of a bag separating apparatus according to claim 1, wherein the horizontal module control method comprises:
s5: acquiring a horizontal rotation signal, controlling the horizontal rotation module to drive the vertical overturning module to rotate towards a default direction, and judging whether the rotation is completed or not; if yes, outputting a horizontal rotation completion signal and sequentially controlling the vertical overturning module to overturn and the clamping module to loosen; if not, controlling the horizontal rotation module to drive the vertical overturning module to reversely rotate to an initial position, and sequentially controlling the vertical overturning module to overturn and the clamping module to loosen.
5. The intelligent control method of a bag separating apparatus according to claim 1, wherein the horizontal module control method further comprises:
s6: acquiring a horizontal rotation signal, controlling the horizontal rotation module to drive the vertical overturning module to rotate towards a default direction and judging whether the rotation is completed or not, if so, outputting the horizontal rotation completion signal, and sequentially controlling the vertical overturning module to overturn and the clamping module to loosen; if not, executing the step S7;
s7: controlling the horizontal rotation module to rotate in the opposite direction and judging whether the rotation is completed, if so, changing the opposite direction into a default direction and outputting a horizontal rotation completion signal, and sequentially controlling the vertical overturning module to overturn and the clamping module to loosen; if not, executing the step S8 or outputting an error report signal according to a preset rule;
s8: and controlling the horizontal rotation module to drive the vertical overturning module to reversely rotate to an initial position, and sequentially controlling the vertical overturning module to overturn and the clamping module to loosen.
6. The method for intelligent control of a bag separating apparatus according to any one of claims 1 to 5, wherein,
and S01, when an error signal is output, outputting the error signal by the vertical overturning module, and when the fault of the vertical overturning module is relieved, continuing overturning from the current state by the vertical overturning module until the overturning is completed.
7. The method for intelligent control of a bag separating apparatus according to any one of claims 1 to 5, wherein,
the vertical overturning module, the overturning times, the rotating angle, the overturning time, the completion signal and the error reporting signal of the horizontal rotating module are all stored in an offline log, and the control module is called from the offline log.
8. The intelligent control method of a bag separating apparatus according to any one of claims 1 to 5, further comprising a clamping module control method for controlling clamping or unclamping of the clamping module, the intelligent control method comprising the steps of:
s9, executing a clamping module control method to control clamping of the clamping module, and outputting a vertical overturning signal after clamping is completed;
s10, executing a vertical module control method to control the vertical overturning module to overturn and reset, and outputting a horizontal rotation signal after the reset is completed;
s11, executing a horizontal module control method to control the rotation of the horizontal rotation module, and outputting a vertical overturning signal after the rotation is completed;
s12, executing a vertical module control method to control the vertical overturning module to overturn and reset, wherein after the vertical overturning module is overturned, executing a clamping module control method to control the clamping module to loosen and then controlling the vertical overturning module to reset;
s13, executing a horizontal module control method to control the horizontal rotation module to reset.
9. The intelligent control method for a bag separating apparatus according to any one of claims 1 to 5, further comprising,
s02, before the vertical overturning module overturns and resets, the vertical overturning module is controlled to rotate in the forward and reverse directions for a plurality of times.
10. The object bag separating system is characterized by comprising a box body, at least two object placing barrels and an object bag separating device, wherein the object bag separating device comprises a control module, a clamping module, a vertical overturning module and a horizontal rotating module;
the box body comprises at least one openable box door, the storage barrels are arranged in the box body at intervals, the bottom of the storage bag separating device is fixed between the two storage barrels, and in at least one state, the vertical overturning module corresponds to the openable box door and is correspondingly positioned above one storage barrel;
when the openable and closable door is closed, the pouch separating means is controlled to operate according to the smart control method of the pouch separating means as set forth in any one of claims 1 to 9.
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