Discharge control method, device, system, and working machine

Abstract

The application relates to the technical field of working machines, and provides a kind of unloading control method, device, system and working machine.The method comprises controlling the pressure value of a storage tank and controlling the inclination angle of the storage tank; when the pressure value of the storage tank is greater than a set pressure value and the inclination angle of the storage tank is a set inclination angle, the storage tank is controlled to unload. The technical problem of the prior art that the storage tank of the working machine still needs to be manually controlled during the unloading process, the work efficiency is low, and accurate control cannot be achieved is solved. The automatic unloading of the storage tank can be achieved, and the work efficiency and control accuracy are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of working machines, in particular to a method, device and system for controlling unloading of a storage tank, and a working machine. BACKGROUND

[0002] A storage tank is a common device for storing materials, which can be used to store liquid materials such as mortar, sludge, crude oil, etc. or solid materials such as sand and gravel.

[0003] For some working machines using a storage tank, it is necessary to frequently load and unload the storage tank. There is no control method for the unloading process of such working machines in the prior art. The storage tank still needs to be controlled manually during the unloading process, which is low in automation and intelligence, reduces work efficiency, increases labor intensity, and cannot achieve precise control. SUMMARY

[0004] The present application provides a method, device and system for controlling unloading of a storage tank, and a working machine, to solve the technical problem that the storage tank of a working machine still needs to be controlled manually during the unloading process in the prior art, which is low in work efficiency and cannot achieve precise control. The present application can achieve automatic unloading of the storage tank, improve work efficiency and control accuracy.

[0005] The present application provides a method for controlling unloading, comprising:

[0006] controlling a pressure value of the storage tank and controlling an inclination angle of the storage tank;

[0007] when the pressure value of the storage tank is greater than a set pressure value and the inclination angle of the storage tank is a set inclination angle, controlling the storage tank to unload.

[0008] According to the method for controlling unloading provided by the present application, the number of set inclination angles includes a plurality of set inclination angles, and the plurality of set inclination angles increase sequentially; the control of the inclination angle of the storage tank comprises:

[0009] controlling the inclination angle of the storage tank to reach each set inclination angle sequentially.

[0010] According to the method for controlling unloading provided by the present application, the control of the inclination angle of the storage tank comprises:

[0011] after the inclination angle of the storage tank reaches one of the set inclination angles, if the set inclination angle is not the last set inclination angle and the pressure of the storage tank is less than or equal to the set pressure value, the inclination angle of the storage tank is controlled to reach the next set inclination angle.

[0012] According to the method for controlling unloading provided by the present application, the pressure value of the storage tank is determined by the following method:

[0013] The pressure signal of the storage tank is collected, and the pressure value of the storage tank is calculated based on the pressure signal of the storage tank and the maximum and minimum pressure values ​​of the storage tank.

[0014] According to the unloading control method provided by the present invention, the tilt angle of the storage tank is determined in the following manner:

[0015] The tilt angle signal of the storage tank is collected, and the tilt angle of the storage tank is determined based on the high byte and low byte of the tilt angle signal.

[0016] According to the unloading control method provided by the present invention, controlling the tilt angle of the storage tank includes:

[0017] Set a target tilt angle, and control the tilt angle of the storage tank based on the difference between the target tilt angle and the tilt angle of the storage tank.

[0018] The present invention also provides an unloading control device, comprising:

[0019] The first control module is used to control the pressure value of the storage tank and the tilt angle of the storage tank.

[0020] The second control module is used to control the unloading of material from the storage tank when the pressure value of the storage tank is greater than the set pressure value and the tilt angle of the storage tank is the set tilt angle.

[0021] The present invention also provides an unloading control system, comprising: a storage tank and a controller;

[0022] Storage tanks are used to store materials;

[0023] The controller is used to execute any of the unloading control methods described above.

[0024] The unloading control system provided by the present invention further includes a regulating valve and a discharge valve;

[0025] The regulating valve is used to adjust the tilt angle of the storage tank;

[0026] The discharge valve is used to control the unloading of materials from the storage tank.

[0027] The present invention also provides a working machine, including any of the above-described unloading control devices, or including any of the above-described unloading control systems.

[0028] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement any of the unloading control methods described above.

[0029] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the unloading control methods described above.

[0030] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements any of the unloading control methods described above.

[0031] The unloading control method provided by this invention can control the pressure value and tilt angle of the storage tank, and control the unloading of the storage tank based on the pressure value and tilt angle. Specifically, the unloading of the storage tank can be controlled when the pressure value of the storage tank is greater than the set pressure value and the tilt angle of the storage tank is the set tilt angle. In this way, the technical problem that the storage tank of the operating machinery still needs to be manually controlled during the unloading process of the operating machinery is solved, resulting in low work efficiency and inability to achieve precise control. The method can realize automatic unloading of the storage tank, improving work efficiency and control accuracy. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the unloading control system provided by the present invention;

[0034] Figure 2 This is one of the flowcharts of the unloading control method provided by the present invention;

[0035] Figure 3 This is a schematic diagram of the unloading control device provided by the present invention;

[0036] Figure 4 This is a system architecture diagram of the unloading control system provided by the present invention;

[0037] Figure 5 This is the second flowchart of the unloading control method provided by the present invention;

[0038] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0040] This invention provides a method for unloading control, which can be based on Figure 1 The unloading control system shown can be installed on the operating machinery. For example, the operating machinery can be an operating machinery equipped with a storage tank, such as a suction truck, a sewage suction truck, a mixer truck, etc.

[0041] like Figure 1 As shown, the unloading control system provided in this embodiment may include:

[0042] Storage tanks are used to store materials and can be used as storage tanks for operating machinery;

[0043] The controller is used to control the unloading of the storage tank and can be used as a controller for operating machinery;

[0044] The main relief valve is used to establish system pressure inside the operating machinery under the control of the controller;

[0045] A regulating valve, also known as a proportional solenoid valve, is used to adjust the tilt angle of a storage tank under the control of a controller when system pressure is established inside the machinery. The regulating valve can be a proportional solenoid valve or a proportional solenoid valve assembly.

[0046] The frequency converter is used to control the start, stop, and speed of the air compressor motor under the control of the controller. The frequency converter can also be used to alarm when the air compressor motor is over-voltage or over-current. In practice, the air compressor motor can be a permanent magnet synchronous motor.

[0047] An air compressor is used to regulate the pressure of a storage tank under the drive of its motor.

[0048] Storage tank pressure sensor is used to collect pressure signals from the storage tank;

[0049] The storage tank tilt angle sensor is used to collect the tilt angle signal of the storage tank.

[0050] The display screen, which can be located in the cab of the operating machinery, is used to receive and display operating data, unloading control process flow, operation prompts, and historical fault records sent by the controller. It also receives user-inputted setting parameters and sends them to the controller. The operating data may include unloading time data, storage tank pressure value, storage tank tilt angle, and air compressor motor speed. The user-inputted setting parameters may include setting information for the pressure value, tilt angle, and air compressor motor speed. In other words, the setting pressure value, tilt angle, and air compressor motor speed can be configured by the operator in real time, thereby improving the adaptability and reliability of the unloading control system to various actual operating conditions.

[0051] The discharge valve is used to control the unloading of materials from the storage tank under the control of the controller.

[0052] The discharge valve limit switch is used to provide real-time feedback to the controller on the open and closed status of the discharge valve, facilitating the controller's control of the discharge valve.

[0053] The unloading control method provided by this invention can be used by Figure 1 The controller in the unloading control system shown can automatically unload the storage tank, improving work efficiency and control accuracy.

[0054] Figure 2 This is one of the flowcharts of the unloading control method provided by the present invention.

[0055] like Figure 2 As shown, this embodiment provides a material unloading control method, which can be executed by a controller, including:

[0056] Step 201: Control the pressure value of the storage tank and control the tilt angle of the storage tank;

[0057] Step 202: When the pressure value of the storage tank is greater than the set pressure value and the tilt angle of the storage tank is the set tilt angle, control the storage tank to unload.

[0058] In this embodiment, the storage tank can be a storage tank used to store materials in operating machinery. In practical applications, the pressure value of the storage tank can be collected by a pressure sensor, and the tilt angle of the storage tank can be collected by an angle sensor. The pressure value and tilt angle of the storage tank can also be collected by other methods.

[0059] During implementation, the pressure value of the storage tank will decrease as the material decreases during the unloading process. Therefore, the pressure value of the storage tank can be controlled by the controller to rise to the initial pressure value, and a preset pressure value can be set. This preset pressure value can be used to characterize the amount of material in the storage tank. When the pressure value of the storage tank decreases from the initial pressure value as the material decreases, if the pressure value of the storage tank is greater than the preset pressure value, it can be considered that there is a large amount of material in the storage tank, and unloading can still be carried out. Based on this, the preset pressure value can be the pressure value that controls the storage tank to stop unloading. At the same time, the preset tilt angle can be the tilt angle that controls the storage tank to start unloading. The storage tank can be controlled to unload when the pressure value of the storage tank is greater than the preset pressure value and the tilt angle of the storage tank is the preset tilt angle.

[0060] In practice, the initial pressure can be between 0.15 MPa and 0.18 MPa, the set pressure can be 0.12 MPa, and the set tilt angle can be 0 degrees. That is to say, the pressure of the storage tank can be controlled to rise to between 0.15 MPa and 0.18 MPa, and the tilt angle of the storage tank can be controlled to be 0 degrees. When the pressure of the storage tank is greater than 0.12 MPa and the tilt angle of the storage tank is 0 degrees, the storage tank is controlled to unload. When the pressure of the storage tank drops from the initial pressure to 0.12 MPa, the storage tank can be controlled to stop unloading.

[0061] The initial pressure value, set pressure value, and set tilt angle values ​​mentioned above are for illustrative purposes only and can be other values.

[0062] In this embodiment, the unloading of the storage tank can be controlled by adjusting the pressure value and tilt angle of the storage tank. Specifically, the unloading of the storage tank can be controlled when the pressure value of the storage tank is greater than the set pressure value and the tilt angle of the storage tank is the set tilt angle. In this way, the technical problem that the storage tank of the operating machinery still needs to be manually controlled during the unloading process of the operating machinery in the prior art, resulting in low work efficiency and inability to achieve precise control can be solved. Automatic unloading of the storage tank can be achieved, improving work efficiency and control accuracy.

[0063] In the exemplary embodiment, the number of set tilt angles includes multiple sets, with the multiple set tilt angles increasing sequentially; controlling the tilt angle of the storage tank includes:

[0064] The tilt angle of the storage tank is controlled to reach each set tilt angle in sequence.

[0065] In practical applications, there can be multiple tilt angles. For example, the tilt angle can be 0 degrees, 15 degrees, and 35 degrees. In the process of controlling the tilt angle of the storage tank, the tilt angle of the storage tank can be controlled to reach each set tilt angle in sequence. That is to say, the storage tank can unload at multiple set tilt angles. When the tilt angle of the storage tank reaches each set tilt angle, the unloading control method of steps 201 to 202 can be used to control the unloading of the storage tank.

[0066] In practice, the tilt angle of the storage tank in a horizontal state can be defined as 0 degrees.

[0067] In this embodiment, the number of tilt angles can be multiple, and the data of multiple tilt angles increases sequentially. In the process of controlling the tilt angle of the storage tank, the tilt angle of the storage tank can be controlled to reach each set tilt angle at one time. In this way, the storage tank can be controlled to unload at multiple set tilt angles, which can make the unloading more complete and thorough.

[0068] In an exemplary embodiment, controlling the tilt angle of the storage tank includes:

[0069] After the tilt angle of the storage tank reaches one of the set tilt angles, if the set tilt angle is not the last set tilt angle and the pressure of the storage tank is less than or equal to the set pressure value, the tilt angle of the storage tank is controlled to reach the next set tilt angle.

[0070] In practice, when the tilt angle of the storage tank reaches any of the set tilt angles, the unloading control method of steps 201 to 202 can be used to control the unloading of the storage tank. At the same time, since the pressure value of the storage tank will decrease as the material in the storage tank decreases, the unloading of the storage tank can be stopped when the pressure of the storage tank is less than or equal to the set pressure value. At the same time, it is determined whether the set tilt angle reached by the storage tank at this time is the last set tilt angle. If the set tilt angle reached by the storage tank at this time is not the last set tilt angle, the tilt angle of the storage tank can be controlled to reach the next set tilt angle, and the unloading control method of steps 201 to 202 can be used to control the unloading of the storage tank again at the next set tilt angle. If the set tilt angle reached by the storage tank at this time is the last set tilt angle, the unloading can be stopped.

[0071] In this embodiment, after the tilt angle of the storage tank reaches one of the set tilt angles, if the set tilt angle is not the last set tilt angle and the pressure of the storage tank is less than or equal to the set pressure value, the tilt angle of the storage tank is controlled to reach the next set tilt angle. In this way, the unloading process of the storage tank can be completed automatically, which is less likely to cause visual fatigue to the operator, reduces the risk of operation, and improves work efficiency and control accuracy.

[0072] In the exemplary embodiment, the pressure value of the storage tank is determined in the following manner:

[0073] The pressure signal of the storage tank is collected, and the pressure value of the storage tank is calculated based on the pressure signal of the storage tank and the maximum and minimum pressure values ​​of the storage tank.

[0074] In this embodiment, the pressure signal of the storage tank can be collected by a pressure sensor, and the pressure value of the storage tank can be calculated based on the pressure signal of the storage tank and the maximum and minimum pressure values ​​of the storage tank. In practice, the pressure signal can be a voltage signal. Specifically, the pressure value of the storage tank can be calculated using the following formula (1):

[0075] P=(AI-AI_min) / (AI_max-AI_min)*(P_max-P_min)+P_min(1)

[0076] In formula (1), P is the calculated pressure value of the storage tank, AI is the digital signal obtained after A / D conversion of the collected pressure electrical signal of the storage tank, AI_min is the lower limit of the digital signal obtained by the conversion of the pressure electrical signal, AI_max is the upper limit of the digital signal obtained by the conversion of the pressure electrical signal, P_max is the upper limit of the calculated pressure value, and P_min is the lower limit of the calculated pressure value.

[0077] In practical applications, the collected pressure electrical signal corresponds one-to-one with the pressure value of the storage tank. The digital signal obtained after the pressure electrical signal is converted by A / D also corresponds one-to-one with the pressure electrical signal. Therefore, by calculating the position of the digital signal obtained from the conversion of the pressure electrical signal in the digital signal range, the position of the pressure value of the storage tank in the pressure value range can be obtained, and thus the pressure value of the storage tank can be determined.

[0078] Based on this, the maximum pressure value P_max and the minimum pressure value P_min of the storage tank can be preset. P_max - P_min represents the range length of the pressure value in the storage tank. Since AI_max is the upper limit of the digital signal obtained after A / D conversion of the collected pressure signal, and AI_min is the lower limit of the digital signal obtained after A / D conversion of the collected pressure signal, AI_max - AI_min can be used to represent the range length of the digital signal obtained after A / D conversion of the collected pressure signal. It can also be used to represent the range length of the collected pressure signal. Furthermore, since AI - AI_min... n can represent the difference between the digital signal obtained after the collected pressure signal is converted by A / D and the lower limit of the digital signal. It can also represent the difference between the collected pressure signal and the minimum pressure signal. Based on this, (AI-AI_min) / (AI_max-AI_min) can represent the proportion of the collected pressure signal in the pressure signal range. Multiplying it by (P_max-P_min) can represent the difference between the pressure value of the storage tank corresponding to the collected pressure signal and the minimum pressure value P_min of the storage tank. Finally, adding it to P_min can calculate the pressure value of the storage tank corresponding to the collected pressure signal.

[0079] In this embodiment, the pressure signal of the storage tank is collected, and the pressure value of the storage tank is calculated based on the pressure signal of the storage tank and the maximum and minimum pressure values ​​of the storage tank. Compared with the conventional method of directly collecting pressure values, the mathematical calculation method provided in this embodiment is more accurate.

[0080] In the exemplary embodiment, the tilt angle of the storage tank is determined in the following manner:

[0081] The tilt angle signal of the storage tank is collected, and the tilt angle of the storage tank is determined based on the high byte and low byte of the tilt angle signal.

[0082] In this embodiment, the tilt angle electrical signal of the storage tank can be collected by an angle sensor, and the tilt angle of the storage tank can be determined based on the high byte and low byte of the tilt angle electrical signal. In practice, the tilt angle electrical signal can be a voltage signal. Specifically, the tilt angle of the storage tank can be calculated by the following formula (2):

[0083] δ=data_0+Ks*Kp*data_1(2)

[0084] In formula (2), δ is the tilt angle of the storage tank, data_0 is the low byte of the tilt angle electrical signal, data_1 is the high byte of the tilt angle electrical signal, Ks is the resolution of the angle sensor, and Kp is the bit weight of data_1.

[0085] Both the high byte and low byte of the tilt angle electrical signal can be used to store the raw data collected by the angle sensor. By combining the bit weight of the high byte and the resolution of the sensor, the high byte of the tilt angle electrical signal can be converted. Then, by combining the low byte of the tilt angle electrical signal, the raw data can be converted into the tilt angle of the storage tank.

[0086] In practice, the acquired tilt angle electrical signal can be two bytes, or sixteen bits. data_0 is the low byte of the acquired tilt angle electrical signal, which occupies eight bits, and data_1 is the high byte of the acquired tilt angle electrical signal, which can also occupy eight bits. Therefore, the bit weight of data_1 can be 255.

[0087] In practical applications, the tilt angle electrical signal can be stored using two bytes, the high byte and the low byte, by configuring the angle sensor.

[0088] In this embodiment, the tilt angle of the storage tank is determined by combining the high byte and low byte of the tilt angle signal. Two bytes can store more information, thus more accurately determining the tilt angle of the storage tank and improving the precision of the control of the storage tank.

[0089] In an exemplary embodiment, controlling the tilt angle of the storage tank includes:

[0090] Set a target tilt angle, and control the tilt angle of the storage tank based on the difference between the target tilt angle and the tilt angle of the storage tank.

[0091] The target tilt angle can be the tilt angle that the storage tank will reach under the control of the controller. In practice, the target tilt angle can be the set tilt angle.

[0092] In practical applications, the tilt angle of the storage tank can be controlled by pulse width modulation (PWM).

[0093] In practice, proportional-integral-derivative (PID) control can be used to achieve PWM control of the tilt angle of the storage tank. In practical applications, the system transfer function used in the PID control process is formula (3):

[0094]

[0095] In formula (3), u(t) is the control variable, e(t) is the deviation between the target value and the actual value of the tilt angle of the storage tank, Kp is the proportional coefficient, Ti is the integral time constant, and Td is the derivative time constant.

[0096] Equation (4) can be obtained by replacing the system transfer function with discrete difference equations:

[0097] u(k)=Kp*e(k)+Ki*∑e(k)+Kd[e(k)-e(k-1)] (4)

[0098] In formula (4), u(k) is the PWM control quantity output by the controller when controlling the tilt angle of the storage tank for the kth time, Kp is the proportional parameter, Ki is the integral parameter, Kd is the derivative parameter, e(k) is the error between the target value and the actual value when the controller controls the tilt angle of the storage tank for the kth time, ∑e(k) is the cumulative error value of the controller after k times of controlling the tilt angle of the storage tank, and e(k)-e(k-1) is the difference between the error of the kth time and the error of the (k-1)th time. The error e(k) is calculated by formula (5):

[0099] e(k)=2πR[δ(k)-δ(k-1)] / 360(5)

[0100] In formula (5), R is the length of the storage tank.

[0101] Based on the above formula, when the controller controls the tilt angle of the storage tank, the target tilt angle of the storage tank can be set as β, and the actual tilt angle of the storage tank can be set as δ. When the difference between β and δ is greater than 0, the controller can control the storage tank to lift based on the PWM control quantity u(k), that is, increase the actual tilt angle δ of the storage tank, so that the difference between β and δ is reduced to 0. When the difference between β and δ is less than 0, the controller can control the storage tank to lower based on the PWM control quantity u(k), that is, decrease the actual tilt angle δ of the storage tank, so that the difference between β and δ is increased to 0. When the difference between β and δ is equal to 0, the PWM control quantity u(k) output by the controller can be 0, that is, stop the lifting or lowering action of the storage tank.

[0102] In this embodiment, the tilt angle of the storage tank is controlled based on the difference between the target tilt angle and the tilt angle of the storage tank. This allows for more precise control of the tilt angle of the storage tank, which in turn allows for more precise control of the unloading of the storage tank.

[0103] The unloading control device provided by the present invention is described below. The unloading control device described below can be referred to in correspondence with the unloading control method described above.

[0104] Figure 3 This is a schematic diagram of the unloading control device provided by the present invention.

[0105] like Figure 3 As shown, the unloading control device provided in this embodiment includes:

[0106] The first control module 301 is used to control the pressure value of the storage tank and the tilt angle of the storage tank.

[0107] The second control module 302 is used to control the unloading of material from the storage tank when the pressure value of the storage tank is greater than the set pressure value and the tilt angle of the storage tank is the set tilt angle.

[0108] In the exemplary embodiment, the number of set tilt angles includes multiple types, and the multiple set tilt angles increase sequentially; the first control module 301 is specifically used for:

[0109] The tilt angle of the storage tank is controlled to reach each set tilt angle in sequence.

[0110] In an exemplary embodiment, the first control module 301 is specifically used for:

[0111] After the tilt angle of the storage tank reaches one of the set tilt angles, if the set tilt angle is not the last set tilt angle and the pressure of the storage tank is less than or equal to the set pressure value, the tilt angle of the storage tank is controlled to reach the next set tilt angle.

[0112] In the exemplary embodiment, the pressure value of the storage tank is determined in the following manner:

[0113] The pressure signal of the storage tank is collected, and the pressure value of the storage tank is calculated based on the pressure signal of the storage tank and the maximum and minimum pressure values ​​of the storage tank.

[0114] In the exemplary embodiment, the tilt angle of the storage tank is determined in the following manner:

[0115] The tilt angle signal of the storage tank is collected, and the tilt angle of the storage tank is determined based on the high byte and low byte of the tilt angle signal.

[0116] The following describes in detail the unloading control method and unloading control system provided by the present invention, taking the suction and discharge vehicle as the working machinery and the storage tank as the storage tank of the suction and discharge vehicle as an example.

[0117] Figure 4 This is a system architecture diagram of the unloading control system provided by the present invention.

[0118] like Figure 4 As shown in the system architecture of the unloading control system provided in this embodiment, the controller can collect the pressure value of the storage tank through the storage tank pressure sensor and the tilt angle of the storage tank through the storage tank tilt angle sensor. Based on the pressure value and tilt angle of the storage tank, the controller controls the tilt angle of the storage tank by controlling the main overflow valve and the regulating valve. When the pressure value of the storage pipe is greater than the set pressure value and the tilt angle of the storage tank is the set tilt angle, the controller controls the unloading of the storage tank by controlling the discharge valve.

[0119] Figure 5 This is the second flowchart of the unloading control method provided by the present invention.

[0120] like Figure 5 As shown, the unloading control method provided in this embodiment includes:

[0121] Step 1: Initialize the unloading control system, including adjusting the tilt angle of the storage tank to 0 degrees, increasing the pressure value of the storage tank to the initial pressure value, and controlling the motor speed of the air compressor to increase to 2850 revolutions per minute (rpm).

[0122] During implementation, adjusting the tilt angle of the storage tank to 0 degrees will make the storage tank horizontal. The initial pressure value of the storage tank can be 0.15Mpa to 0.18Mpa. The initial pressure value of the storage tank and the speed of the air compressor motor can be adjusted according to the actual working conditions, or can be manually configured by the operator through the display screen.

[0123] Step 2: Open the discharge valve of the storage tank to start unloading. Collect the pressure value of the storage tank in real time. If the pressure value of the storage tank drops to the set pressure value, stop unloading.

[0124] During implementation, the set pressure value of the storage tank in this step can be 0.12 MPa, or the set pressure value can be manually configured by the operator through the display screen.

[0125] Step 3: Control the tilt angle of the storage tank to 15 degrees through PID control, and at the same time increase the pressure value of the storage tank to the initial pressure value again to control the storage tank to start unloading. If the pressure value of the storage tank drops to the set pressure value, stop unloading.

[0126] During implementation, the initial pressure of the storage tank in this step can be between 0.15 MPa and 0.18 MPa, and the set pressure can be 0.12 MPa. The initial pressure and set pressure can also be manually configured by the operator through the display screen.

[0127] Step 4: Control the tilt angle of the storage tank to 35 degrees through PID control, and at the same time increase the pressure value of the storage tank to the initial pressure value again to control the storage tank to start unloading. If the pressure value of the storage tank drops to 0 MPa, stop unloading.

[0128] During implementation, if the pressure in the storage tank drops to 0 MPa, it means that the material in the storage tank has been completely unloaded.

[0129] Step 5: Control the air compressor motor to stop working and close the discharge valve of the storage tank. Control the tilt angle of the storage tank to 0 degrees through PID regulation.

[0130] The specific implementation method of the unloading control method provided in this embodiment can be implemented with reference to the above embodiment, and will not be repeated here.

[0131] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other via the communication bus 640. The processor 610 can call logical instructions in the memory 630 to execute an unloading control method, which includes:

[0132] Control the pressure value of the storage tank and control the tilt angle of the storage tank;

[0133] When the pressure value of the storage tank is greater than the set pressure value and the tilt angle of the storage tank is the set tilt angle, the storage tank is controlled to unload.

[0134] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0135] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the unloading control method provided by the above methods, the method including:

[0136] Control the pressure value of the storage tank and control the tilt angle of the storage tank;

[0137] When the pressure value of the storage tank is greater than the set pressure value and the tilt angle of the storage tank is the set tilt angle, the storage tank is controlled to unload.

[0138] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the unloading control method provided by the methods described above, the method comprising:

[0139] Control the pressure value of the storage tank and control the tilt angle of the storage tank;

[0140] When the pressure value of the storage tank is greater than the set pressure value and the tilt angle of the storage tank is the set tilt angle, the storage tank is controlled to unload.

[0141] The present invention also provides a working machine, which can be a suction truck, a sewage suction truck, a mixer truck, etc., and can include the unloading control device as described in any of the above embodiments, or the unloading control system as described in any of the above embodiments. The specific implementation of the working machine can be carried out with reference to any of the above embodiments, and will not be repeated here.

[0142] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0143] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0144] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling unloading, characterized in that, include: Control the pressure value of the storage tank and control the tilt angle of the storage tank; When the pressure value of the storage tank is greater than the set pressure value and the tilt angle of the storage tank is the set tilt angle, the storage tank is controlled to unload. The number of set tilt angles includes multiple ones, and the multiple set tilt angles increase sequentially; Controlling the tilt angle of the storage tank includes: After controlling the tilt angle of the storage tank to reach one of the set tilt angles, if the set tilt angle is not the last set tilt angle and the pressure of the storage tank is less than or equal to the set pressure value, the tilt angle of the storage tank is controlled to reach the next set tilt angle. The pressure value of the storage tank is determined in the following way: The pressure signal of the storage tank is collected, and the pressure value of the storage tank is calculated based on the pressure signal of the storage tank and the maximum and minimum pressure values ​​of the storage tank. The pressure value of the storage tank is calculated using the following formula (1): P=(AI-AI_min) / (AI_max-AI_min)*(P_max-P_min)+P_min(1) In formula (1), P is the calculated pressure value of the storage tank, AI is the digital signal obtained after A / D conversion of the collected pressure electrical signal of the storage tank, AI_min is the lower limit of the digital signal obtained by the conversion of the pressure electrical signal, AI_max is the upper limit of the digital signal obtained by the conversion of the pressure electrical signal, P_max is the upper limit of the calculated pressure value, and P_min is the lower limit of the calculated pressure value. The tilt angle of the storage tank is determined in the following way: The tilt angle signal of the storage tank is collected, and the tilt angle of the storage tank is determined based on the high byte and low byte of the tilt angle signal. The tilt angle of the storage tank can be calculated using the following formula (2): δ=data_0+Ks*Kp*data_1(2) In formula (2), δ is the tilt angle of the storage tank, data_0 is the low byte of the tilt angle electrical signal, data_1 is the high byte of the tilt angle electrical signal, Ks is the resolution of the angle sensor, and Kp is the bit weight of data_1.

2. The unloading control method according to claim 1, characterized in that, The control of the tilt angle of the storage tank includes: The tilt angle of the storage tank is controlled to sequentially reach each of the set tilt angles.

3. The unloading control method according to claim 1, characterized in that, The control of the tilt angle of the storage tank includes: A target tilt angle is set, and the tilt angle of the storage tank is controlled based on the difference between the target tilt angle and the tilt angle of the storage tank.

4. A material unloading control device, characterized in that, include: The first control module is used to control the pressure value of the storage tank and the tilt angle of the storage tank. The second control module is used to control the storage tank to unload material when the pressure value of the storage tank is greater than the set pressure value and the tilt angle of the storage tank is the set tilt angle. The number of set tilt angles includes multiple values, and the multiple set tilt angles increase sequentially. The first control module is specifically used for: After controlling the tilt angle of the storage tank to reach one of the set tilt angles, if the set tilt angle is not the last set tilt angle and the pressure of the storage tank is less than or equal to the set pressure value, the tilt angle of the storage tank is controlled to reach the next set tilt angle. The pressure value of the storage tank is determined in the following way: The pressure signal of the storage tank is collected, and the pressure value of the storage tank is calculated based on the pressure signal of the storage tank and the maximum and minimum pressure values ​​of the storage tank. The pressure value of the storage tank is calculated using the following formula (1): P=(AI-AI_min) / (AI_max-AI_min)*(P_max-P_min)+P_min(1) In formula (1), P is the calculated pressure value of the storage tank, AI is the digital signal obtained after A / D conversion of the collected pressure electrical signal of the storage tank, AI_min is the lower limit of the digital signal obtained by the conversion of the pressure electrical signal, AI_max is the upper limit of the digital signal obtained by the conversion of the pressure electrical signal, P_max is the upper limit of the calculated pressure value, and P_min is the lower limit of the calculated pressure value. The tilt angle of the storage tank is determined in the following way: The tilt angle signal of the storage tank is collected, and the tilt angle of the storage tank is determined based on the high byte and low byte of the tilt angle signal. The tilt angle of the storage tank can be calculated using the following formula (2): δ=data_0+Ks*Kp*data_1(2) In formula (2), δ is the tilt angle of the storage tank, data_0 is the low byte of the tilt angle electrical signal, data_1 is the high byte of the tilt angle electrical signal, Ks is the resolution of the angle sensor, and Kp is the bit weight of data_1.

5. A material unloading control system, characterized in that, include: Storage tanks and controllers; The storage tank is used to store materials; The controller is used to perform the unloading control method as described in any one of claims 1 to 3.

6. The unloading control system according to claim 5, characterized in that, It also includes regulating valves and discharge valves; The regulating valve is used to adjust the tilt angle of the storage tank; The discharge valve is used to control the unloading of the storage tank.

7. A type of operating machinery, characterized in that, The operating machinery includes the unloading control device as described in claim 4, or the unloading control system as described in claim 5 or 6.

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