Mixer truck material scattering prevention control method and system, terminal and storage medium

Abstract

The invention discloses an anti-spillage control method and system for a mixer truck, a terminal and a storage medium in the technical field of mixer trucks, and aims to solve the problem that cement overflows from a feed port due to inertia when the mixer truck goes uphill or accelerates urgently on the premise that the transportation efficiency of the mixer truck in the prior art is ensured. The method comprises: determining whether a vehicle is in a driving state; judging whether the tank body is in a forward rotation state or not; whether the actual load of the whole vehicle is larger than a set threshold value is judged; if the three judgment results are all yes, a first rotating speed value and a second rotating speed value are obtained, the normal rotating speed of the tank body is obtained, the total rotating speed value is calculated, the tank body is controlled to rotate according to the total rotating speed value, and the step a is executed; the slope value and the acceleration of the vehicle are obtained, and the first rotating speed value and the second rotating speed value are obtained, so that the total rotating speed value is calculated, the tank body is controlled to rotate, the rotating speed of the tank body is properly increased, and the tank body is effectively prevented from overflowing when the vehicle goes uphill and accelerates urgently.

Description

Technical Field

[0001] The invention relates to a material-spreading prevention control method, system, terminal and storage medium for a mixer truck, and belongs to the technical field of mixer trucks. Background Art

[0002] A mixer truck is a special truck used to transport concrete for construction. Due to its appearance, it is often called a snail truck or an olive truck. This type of truck is equipped with a cylindrical mixing drum to carry the mixed concrete. The mixing drum will always be kept rotating during transportation to ensure that the concrete being transported will not solidify. After the concrete is transported, the inside of the mixing drum is usually rinsed with water to prevent the residual concrete from hardening and occupying space, making the volume of the mixing drum smaller and smaller. In the actual use of current mixer trucks, the mixing tank will reserve about half a cubic meter to one cubic meter of space, because if it is filled according to the design state, when the vehicle goes uphill or accelerates sharply, cement will overflow from the feed port due to inertia, resulting in cargo loss and even environmental fines. However, if it is not filled, it will fail to achieve the design purpose during actual use, resulting in reduced transportation efficiency.

[0003] It can be seen from the above that, under the premise of ensuring transportation efficiency, when the mixer truck of the prior art is going uphill or accelerating suddenly, cement will overflow from the feed port due to inertia, resulting in cargo loss and even environmental fines, affecting the working stability of the mixer truck. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a method, system, terminal and storage medium for preventing material from spilling from a mixer truck. The method obtains the slope value and acceleration of the vehicle and compares the two with their respective threshold ranges to obtain a first speed value and a second speed value, thereby calculating the total speed value and controlling the rotation of the tank body to appropriately increase the rotation speed of the tank body, thereby effectively preventing the problem of material spilling from the tank body when the vehicle is going uphill or accelerating suddenly.

[0005] In order to solve the above technical problems, the present invention is implemented by adopting the following technical solutions: In a first aspect, the present invention provides a method for preventing material from spreading in a mixer truck, comprising the following steps: Step a: In response to the output shaft speed sensor signal, determine whether the vehicle is in the driving state; in response to the upper motor controller signal, determine whether the tank is in the forward rotation state; in response to the load sensor signal, analyze the actual load of the vehicle and determine whether the actual load of the vehicle is greater than the set threshold; if all three judgment results are yes, execute step b, otherwise the work ends; Step b: in response to the slope sensor signal, obtain a slope value, compare the slope value with a preset threshold, and obtain a first speed value according to the comparison result; calculate the vehicle acceleration according to the output shaft speed sensor signal, compare the vehicle acceleration with a preset acceleration, obtain a second speed value according to the comparison result, and execute step c; Step c: Obtain the normal rotation speed of the tank body, calculate the total rotation speed value according to the normal rotation speed of the tank body, the first rotation speed value and the second rotation speed value, control the rotation of the tank body according to the total rotation speed value, and execute step a.

[0006] Further, the preset threshold value includes a first preset value, a second preset value and a third preset value, and the first speed value includes zero, a first gear speed, a second gear speed and a third gear speed.

[0007] Further, obtaining the first speed value according to the comparison result specifically includes: When the slope value is not greater than the first preset value, the first speed value is zero; When the slope value is greater than the first preset value and not greater than the second preset value, the first speed value is a first gear speed; When the slope value is greater than the second preset value and not greater than the third preset value, the first speed value is the second gear speed; When the slope value is greater than the third preset value, the first speed value is the third gear speed.

[0008] Further, the second speed value includes zero and a preset speed; The obtaining of the second speed value according to the comparison result specifically includes: When the vehicle acceleration is not greater than a preset acceleration, the second speed value is zero; When the vehicle acceleration is greater than a preset acceleration, the second speed value is a preset speed.

[0009] Furthermore, the expression of the total speed value is as follows: Total speed value = normal speed of the tank + first speed value + second speed value.

[0010] Furthermore, the expression for calculating the vehicle acceleration is as follows: ; Where: a is acceleration; is the output shaft speed at time j, obtained according to the output shaft speed sensor signal; is the output shaft speed at time j-1, obtained according to the output shaft speed sensor signal; r is the tire rolling radius, is the gearbox ratio of the current gear, is the vehicle main reduction ratio, and T is the signal sampling period of the output shaft speed sensor signal.

[0011] Furthermore, it also includes using a median average filtering method to process the vehicle acceleration, and the specific steps are as follows: A plurality of vehicle acceleration data are continuously sampled, a maximum value and a minimum value among the plurality of data are removed, and then an average value of the remaining data is calculated.

[0012] In the second aspect, the present invention provides a control system for preventing material from spilling on a mixer truck, comprising a vehicle controller, wherein the vehicle controller is used to implement the method for preventing material from spilling on a mixer truck described in the first aspect, wherein the vehicle controller is electrically connected to a slope sensor, a superstructure motor controller, and a central control screen via a CAN network, wherein the vehicle controller is electrically connected to a load sensor and an accelerator pedal via a hard wire, wherein the vehicle controller comprises a gearbox controller, and wherein the gearbox controller is electrically connected to an output shaft speed sensor via a hard wire.

[0013] In a third aspect, the present invention provides a terminal, including a processor and a storage medium; The storage medium is used to store instructions; The processor is used to operate according to the instructions to execute the steps of the method according to the first aspect.

[0014] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The anti-spill control method for a mixer truck obtains the slope value and acceleration of the vehicle and compares the two with their respective threshold ranges to obtain a first speed value and a second speed value, thereby calculating a total speed value and controlling the rotation of the tank body to appropriately increase the rotation speed of the tank body, effectively preventing the tank body from spilling when the vehicle is going uphill or accelerating suddenly, and ensuring the working stability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 1 is a schematic diagram of a work flow of a method for preventing material spillage in a mixer truck provided according to an embodiment of the present invention; Figure 2 The present invention is a schematic diagram of a system flow of a mixer truck anti-spillage control system provided in accordance with an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. The embodiments of the present invention and the technical features in the embodiments may be combined with each other unless there is a conflict.

[0018] The term "and / or" is only a description of the association relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " generally indicates that the related objects are in an "or" relationship.

[0019] The interior of the mixer truck tank adopts an Archimedean screw structure. The faster the rotation speed, the greater the transmission speed. When the tank rotates forward, the transmission direction is inward, that is, feeding; when the tank rotates reversely, the transmission direction is outward, that is, discharging. Since the cement inside the tank is not 100% full, accelerating the forward rotation when going uphill can allow the cement to be transported inward with greater force, thereby absorbing the cement and reducing overflow. Embodiment 1:

[0020] like Figure 1 As shown, the present invention provides a method for preventing material spillage from a mixer truck, comprising the following steps: Step a: In response to the output shaft speed sensor signal, determine whether the vehicle (i.e., the mixer truck) is in the driving state; in response to the upper motor controller signal, determine whether the tank is in the forward rotation state; in response to the load sensor signal, analyze the actual load of the whole vehicle and determine whether the actual load of the whole vehicle is greater than the set threshold; if all three judgment results are yes, execute step b, otherwise the work ends; Step b: in response to the slope sensor signal, obtain a slope value, compare the slope value with a preset threshold, and obtain a first speed value according to the comparison result; calculate the vehicle acceleration according to the output shaft speed sensor signal, compare the vehicle acceleration with a preset acceleration, obtain a second speed value according to the comparison result, and execute step c; Step c: Obtain the normal rotation speed of the tank body, calculate the total rotation speed value according to the normal rotation speed of the tank body, the first rotation speed value and the second rotation speed value, control the rotation of the tank body according to the total rotation speed value, and execute step a.

[0021] Specifically, the threshold is set as: , Tons / cubic meter; the present invention detects the output shaft speed at fixed intervals, calculates the vehicle speed through the current gearbox gear, the main reduction ratio and the tire rolling radius, calculates the vehicle acceleration through the difference, compares the vehicle acceleration with the preset acceleration, and obtains the second speed value according to the comparison result; the second speed value can be calibrated according to different tank bodies and vehicle axle lengths for the actual vehicle, and can be set separately to ensure the requirements of different types of mixing tanks; the preset acceleration can be calibrated according to different tank bodies and vehicle loads for the actual vehicle, and can be set separately to ensure the requirements of different types of mixing tanks; when the vehicle is stationary or the tank body is in a non-forward rotation state, or the actual load of the whole vehicle is greater than the set threshold, the anti-spill function is exited.

[0022] The present invention obtains the slope value and acceleration of the vehicle and compares the two with their respective threshold ranges to obtain a first speed value and a second speed value, thereby calculating a total speed value and controlling the rotation of the tank body to appropriately increase the rotation speed of the tank body, effectively preventing the tank body from overflowing when the vehicle is going uphill or accelerating suddenly, and ensuring the working stability of the vehicle.

[0023] In one embodiment, the preset threshold value includes a first preset value, a second preset value and a third preset value, and the first speed value includes zero, a first gear speed, a second gear speed and a third gear speed.

[0024] The obtaining of the first speed value according to the comparison result specifically includes: When the slope value is not greater than the first preset value, the first speed value is zero; When the slope value is greater than the first preset value and not greater than the second preset value, the first speed value is a first gear speed; When the slope value is greater than the second preset value and not greater than the third preset value, the first speed value is the second gear speed; When the slope value is greater than the third preset value, the first speed value is the third gear speed.

[0025] Optionally, the first preset value is 3°, the second preset value is 5°, and the third preset value is 8°; the first gear speed is 2rpm, the second gear speed is 4rpm, and the third gear speed is 6rpm.

[0026] In one embodiment, the second rotation speed value includes zero and a preset rotation speed; The obtaining of the second speed value according to the comparison result specifically includes: When the vehicle acceleration is not greater than a preset acceleration, the second speed value is zero; When the vehicle acceleration is greater than a preset acceleration, the second speed value is a preset speed.

[0027] Optional, preset acceleration to 3 , the preset speed is 2rpm.

[0028] In one embodiment, the total speed value is expressed as follows: Total speed value = normal speed of the tank + first speed value + second speed value.

[0029] In one embodiment, the expression for calculating the vehicle acceleration is as follows: ; Where: a is acceleration; is the output shaft speed at time j, obtained according to the output shaft speed sensor signal; is the output shaft speed at time j-1, obtained according to the output shaft speed sensor signal; r is the tire rolling radius, is the gearbox ratio of the current gear, is the vehicle main reduction ratio, T is the signal sampling period of the output shaft speed sensor signal; The method also includes processing the vehicle acceleration by using a median average filtering method, and the specific steps are as follows: A plurality of vehicle acceleration data are continuously sampled, a maximum value and a minimum value among the plurality of data are removed, and then an average value of the remaining data is calculated.

[0030] When used, it is optional to use the median average filtering method to process the signal after the acceleration calculation, that is, continuously sample 30 data, remove a maximum value and a minimum value, and then calculate the arithmetic mean of 28 data. Embodiment 2:

[0031] like Figure 2 As shown, the present invention provides a control system for preventing material from spilling on a mixer truck, including a whole vehicle controller, wherein the whole vehicle controller is used to implement the control method for preventing material from spilling on a mixer truck described in Example 1, wherein the whole vehicle controller is electrically connected to a slope sensor, an upper motor controller, and a central control large screen via a CAN network, wherein the whole vehicle controller is electrically connected to a load sensor and an accelerator pedal via a hard wire, wherein the whole vehicle controller includes a gearbox controller, and the gearbox controller is electrically connected to an output shaft speed sensor via a hard wire.

[0032] Specifically, it includes a vehicle control unit (VCU), a slope sensor (SPS), a load sensor, an accelerator pedal, a body motor controller (TMCU), a transmission controller (TCU), and an output shaft speed sensor; the vehicle controller transmits data with the slope sensor, the body motor controller, and the central control screen through the CAN network, transmits data with the load sensor and the accelerator pedal through hard wires, and the output shaft speed sensor transmits data with the transmission controller through hard wires; The vehicle controller coordinates the slope signal, load sensor signal, vehicle speed signal, upper motor speed signal, and accelerator pedal signal, and analyzes the signal. When the preset uphill driving conditions and rapid acceleration conditions are met, the upper motor target speed is increased based on the current speed, thereby accelerating the tank speed to prevent material spillage. The VCU feedbacks the slope based on the slope sensor and the current actual load based on the load sensor. When the VCU determines that the vehicle is fully loaded and the forward direction is uphill, it increases different TMCU target speeds according to different slope values. The VCU detects the output shaft speed at fixed intervals through the output shaft speed sensor, and calculates the vehicle speed through the current gearbox gear, main reduction ratio, and tire rolling radius. The vehicle acceleration is calculated by the difference, and when the acceleration exceeds the threshold, the TMCU target speed is increased; when the vehicle is stationary or the tank is in a non-feeding state (i.e., non-forward state), the anti-spillage function is exited. Embodiment three:

[0033] An embodiment of the present invention further provides a terminal, including a processor and a storage medium; The storage medium is used to store instructions; The processor is used to operate according to the instructions to execute the steps of the method described in embodiment 1. Embodiment 4:

[0034] The embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the method described in the first embodiment are implemented.

[0035] Since the storage medium provided in the embodiment of the present invention can execute the method provided in the first embodiment of the present invention, it has the corresponding functional modules and beneficial effects of the execution method.

[0036] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0037] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0038] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0039] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0040] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for preventing material spillage from a mixer truck, characterized in that: The following steps are involved: Step a: In response to the output shaft speed sensor signal, determining whether the vehicle is in a driving state; In response to the upper motor controller signal, determine whether the tank body is in a forward rotation state; In response to the load sensor signal, analyze the actual load of the vehicle and determine whether the actual load of the vehicle is greater than the set threshold; if all three judgment results are yes, execute step b, otherwise the work ends; Step b: in response to the slope sensor signal, obtaining a slope value, comparing the slope value with a preset threshold, and obtaining a first rotation speed value according to the comparison result; Calculate the vehicle acceleration according to the output shaft speed sensor signal, compare the vehicle acceleration with the preset acceleration, obtain a second speed value according to the comparison result, and execute step c; Step c: Obtain the normal rotation speed of the tank body, calculate the total rotation speed value according to the normal rotation speed of the tank body, the first rotation speed value and the second rotation speed value, control the rotation of the tank body according to the total rotation speed value, and execute step a.

2. The method for preventing material spillage from a mixer truck according to claim 1, characterized in that: The preset thresholds include a first preset value, a second preset value and a third preset value, and the first speed value includes zero, a first gear speed, a second gear speed and a third gear speed.

3. The method for preventing material spillage from a mixer truck according to claim 2, characterized in that: The obtaining of the first speed value according to the comparison result specifically includes: When the slope value is not greater than the first preset value, the first speed value is zero; When the slope value is greater than the first preset value and not greater than the second preset value, the first speed value is a first gear speed; When the slope value is greater than the second preset value and not greater than the third preset value, the first speed value is the second gear speed; When the slope value is greater than the third preset value, the first speed value is the third gear speed.

4. The method for preventing material spillage from a mixer truck according to claim 1, characterized in that: The second speed value includes zero and a preset speed; The obtaining of the second speed value according to the comparison result specifically includes: When the vehicle acceleration is not greater than a preset acceleration, the second speed value is zero; When the vehicle acceleration is greater than a preset acceleration, the second speed value is a preset speed.

5. The method for preventing material spillage from a mixer truck according to claim 1, characterized in that: The total speed value is expressed as follows: Total speed value = normal speed of the tank + first speed value + second speed value.

6. The method for preventing material spillage from a mixer truck according to claim 1, characterized in that: The expression for calculating the vehicle acceleration is as follows: ； Where: a is acceleration; is the output shaft speed at time j, obtained according to the output shaft speed sensor signal; is the output shaft speed at time j-1, obtained according to the output shaft speed sensor signal; r is the tire rolling radius, is the gearbox ratio of the current gear, is the vehicle main reduction ratio, and T is the signal sampling period of the output shaft speed sensor signal.

7. The method for preventing material spillage from a mixer truck according to claim 6, characterized in that: The method also includes processing the vehicle acceleration by using a median average filtering method, and the specific steps are as follows: A plurality of vehicle acceleration data are continuously sampled, a maximum value and a minimum value among the plurality of data are removed, and then an average value of the remaining data is calculated.

8. A mixer truck anti-spill control system, characterized in that: The whole vehicle controller includes a vehicle controller, which is used to implement the anti-spillage control method for a mixer truck according to any one of claims 1 to 7, the whole vehicle controller is electrically connected to a slope sensor, a superstructure motor controller, and a central control screen through a CAN network, the whole vehicle controller is electrically connected to a load sensor and an accelerator pedal through a hard wire, and the whole vehicle controller includes a gearbox controller, which is electrically connected to an output shaft speed sensor through a hard wire.

9. A terminal, characterized in that: including processor and storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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