Pump truck material distribution control method and device, electronic equipment and pump truck

Abstract

The present disclosure relates to a method and device for controlling the distribution of a pump truck, an electronic device and a pump truck. The pump truck has a plurality of outriggers. The method comprises: detecting the working state of each outrigger, wherein the working state comprises an unfolded state of the outrigger and a supporting state of the outrigger; determining the current distribution mode of the pump truck according to the working state of all the outriggers when determining that the pump truck starts to distribute; and controlling the pump truck to distribute according to the current distribution mode. In this way, the current distribution mode of the pump truck can be automatically determined, and the pump truck can be controlled to distribute according to the current distribution mode, thereby reducing the influence of human factors. By accurately determining the current distribution mode of the pump truck, the situation that the pump truck overturns due to the rotation of the boom of the pump truck exceeding the supporting range of the outriggers can be reduced.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of engineering vehicles, and in particular, to a method and device for controlling concrete pump truck distribution, an electronic device and a concrete pump truck. BACKGROUND

[0002] During the construction of a concrete pump truck, the four outriggers of the concrete pump truck must be supported on the ground first, and only when the outriggers are reliably and firmly supported can the boom and slewing ring of the concrete pump truck be operated. In recent years, concrete pump trucks have tended to have longer booms, and in the case of a limited wheelbase and a total mass, the length of the boom and the distribution range are maximized. Therefore, it is very important to ensure the stability of the vehicle during boom distribution.

[0003] In the prior art, the distribution method needs to be selected manually during the construction of a concrete pump truck, and it is also necessary to manually confirm whether the outriggers are deployed in place and reliably supported. When the manual operation is negligent, the selected distribution method may not be consistent with the actual outrigger support state, which may cause the vehicle to tip over. SUMMARY

[0004] The purpose of the present disclosure is to provide a method and device for controlling concrete pump truck distribution, an electronic device and a concrete pump truck to reduce the risk of tipping over during concrete pump truck distribution.

[0005] To achieve the above purpose, the first aspect of the present disclosure provides a method for controlling concrete pump truck distribution, the concrete pump truck having a plurality of outriggers, the method comprising:

[0006] detecting the working state of the outriggers, wherein the working state includes the deployment state of the outriggers and the support state of the outriggers;

[0007] when it is determined that the concrete pump truck starts distribution, determining the current distribution mode of the concrete pump truck according to the working state of all the outriggers;

[0008] controlling the concrete pump truck to distribute according to the current distribution mode.

[0009] Optionally, the controlling the concrete pump truck to distribute according to the current distribution mode comprises:

[0010] determining the available slewing range of the boom of the concrete pump truck according to the current distribution mode;

[0011] controlling the boom to slewing within the available slewing range according to the control instruction for indicating the slewing of the boom.

[0012] Optionally, the determining the current distribution mode of the concrete pump truck according to the working state of all the outriggers comprises:

[0013] According to the working states of all the outriggers at present and the preset corresponding relationship between the working states of all the outriggers and the material distribution modes, the current material distribution mode is determined.

[0014] Optionally, the method further comprises:

[0015] When it is determined that the pump truck starts to distribute materials, if the working states of all the outriggers at present do not correspond to the material distribution mode, a prompt device is controlled to prompt prompt information corresponding to stopping the distribution of materials.

[0016] Optionally, the method further comprises:

[0017] If it is detected that the boom of the pump truck is lifted, it is determined that the pump truck starts to distribute materials.

[0018] Optionally, the method further comprises:

[0019] After the pump truck is controlled to distribute materials according to the current material distribution mode, if the pump truck does not end the distribution of materials and the working states of all the outriggers at present do not correspond to the current material distribution mode, a prompt device is controlled to prompt prompt information corresponding to the change of the working states of all the outriggers at present.

[0020] Optionally, the outrigger comprises a first outrigger that can be extended, and the unfolded state of the first outrigger is determined by:

[0021] The extension amount of the first outrigger is detected;

[0022] If the extension amount of the first outrigger exceeds a preset length threshold, it is determined that the first outrigger is unfolded.

[0023] Optionally, the outrigger comprises a second outrigger that can rotate relative to the pump truck, and the unfolded state of the second outrigger is determined by:

[0024] The rotation angle of the second outrigger relative to the pump truck is detected;

[0025] If the rotation angle exceeds a preset angle threshold, it is determined that the second outrigger is unfolded.

[0026] The second aspect of the present disclosure provides a control device for the distribution of materials by a pump truck, the pump truck having a plurality of outriggers, the device comprising:

[0027] A detection module configured to detect the working states of the outriggers, wherein the working states comprise the unfolded states of the outriggers and the support states of the outriggers;

[0028] A first determination module configured to, when it is determined that the pump truck starts to distribute materials, determine the current material distribution mode of the pump truck according to the working states of all the outriggers at present;

[0029] a control module configured to control the pump truck to lay material according to the current material laying mode.

[0030] Optionally, the control module is specifically configured to:

[0031] determine an available rotation range of an arm of the pump truck according to the current material laying mode; and

[0032] control the arm to rotate within the available rotation range according to a control instruction for indicating rotation of the arm.

[0033] Optionally, the first determination module is specifically configured to:

[0034] determine the current material laying mode according to current working states of all the outriggers and preset corresponding relationships between working states of all the outriggers and material laying modes.

[0035] Optionally, the apparatus further comprises:

[0036] a first prompting module configured to, when determining that the pump truck starts to lay material, control a prompting apparatus to prompt prompt information corresponding to stopping material laying if current working states of all the outriggers do not correspond to any material laying mode.

[0037] Optionally, the apparatus further comprises:

[0038] a second determination module configured to determine that the pump truck starts to lay material if it is detected that an arm of the pump truck is lifted.

[0039] Optionally, the apparatus further comprises:

[0040] a second prompting module configured to, after the control module controls the pump truck to lay material according to the current material laying mode, control a prompting apparatus to prompt prompt information corresponding to a change in current working states of all the outriggers if the pump truck has not finished laying material and the current working states of all the outriggers do not correspond to the current material laying mode.

[0041] Optionally, the outriggers comprise first outriggers that can be extended, and the detection module is configured to detect an extended state of the first outriggers by:

[0042] detecting an extension amount of the first outriggers;

[0043] determining that the first outriggers are extended if the extension amount of the first outriggers exceeds a preset length threshold.

[0044] Optionally, the outriggers comprise second outriggers that can rotate relative to the pump truck, and the detection module is configured to detect an extended state of the second outriggers by:

[0045] detecting a rotation angle of the second outrigger relative to the pump truck;

[0046] if the rotation angle of the second outrigger exceeds a preset angle threshold, determining that the second outrigger is unfolded.

[0047] A third aspect of the present disclosure provides an electronic device, comprising:

[0048] a memory having a computer program stored thereon;

[0049] a processor configured to execute the computer program in the memory to implement the steps of the method provided in the first aspect of the present disclosure.

[0050] A fourth aspect of the present disclosure provides a pump truck, comprising an outrigger and the electronic device provided in the third aspect of the present disclosure.

[0051] By the above technical solution, the current spreading mode of the pump truck can be automatically determined, and the pump truck can be controlled according to the current spreading mode, so as to reduce the influence of human factors. By accurately determining the current spreading mode of the pump truck, the situation that the pump truck overturns due to the rotation of the boom exceeding the support range of the outrigger can be reduced.

[0052] Specifically, by detecting the working state of the outrigger, when the pump truck starts spreading, the current spreading mode of the pump truck can be determined according to the working state of all the outriggers. In this way, the spreading mode of the pump truck can be automatically and accurately determined, and the influence of human factors can be reduced. Subsequently, the pump truck can be controlled to start spreading according to the current spreading mode, so as to reduce the situation that the pump truck overturns due to the rotation of the boom exceeding the support range of the outrigger, and improve the safety of the pump truck operation.

[0053] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0054] The accompanying drawings are included to provide a further understanding of the present disclosure and constitute a part of the specification, and are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation on the present disclosure. In the drawings:

[0055] Figure 1 is a flowchart of a pump truck spreading control method provided by an exemplary embodiment of the present disclosure;

[0056] Figure 2 is a structural schematic diagram of the pump truck when spreading, provided by an exemplary embodiment of the present disclosure;

[0057] Figure 3 is a structural schematic diagram of the pump truck when spreading, provided by another exemplary embodiment of the present disclosure;

[0058] Figure 4 is a structural schematic diagram of a pump truck when distributing material, provided by another exemplary embodiment of the present disclosure;

[0059] Figure 5 is a structural schematic diagram of a pump truck when distributing material, provided by another exemplary embodiment of the present disclosure;

[0060] Figure 6 is a block diagram of a control device for a pump truck when distributing material, provided by an exemplary embodiment of the present disclosure;

[0061] Figure 7 is a block diagram of an electronic device, provided by an exemplary embodiment of the present disclosure.

[0062] Explanation of Reference Signs

[0063] 1 pump truck 2 first support leg

[0064] 3 second support leg DETAILED DESCRIPTION

[0065] The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.

[0066] In the present disclosure, the orientation words such as "front, rear" are generally defined according to the direction of the pump truck in the normal driving state, with the front direction as the front and the rear direction as the rear, unless otherwise stated. The terms "first", "second", etc. are used to distinguish one element from another element, without specific order and importance. In addition, when the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements, unless otherwise indicated.

[0067] Figure 1 is a flowchart of a control method for a pump truck when distributing material, provided by an exemplary embodiment of the present disclosure. Referring to Figure 1 , the embodiments of the present disclosure provide a control method for a pump truck when distributing material, the pump truck can have a plurality of support legs, and the method can include steps S11 to S13.

[0068] In step S11, the working state of the support leg on the pump truck is detected, wherein the working state of the support leg can include the unfolded state of the support leg and the supporting state of the support leg.

[0069] It can be understood that, in order to facilitate the travel of the pump truck, the support leg of the pump truck can be in a folded state when the pump truck is not distributing material, and the corresponding support leg can be controlled to be unfolded when the pump truck needs to distribute material. Therefore, by detecting the unfolded state of the support leg, it can be determined whether the support leg is successfully unfolded.

[0070] When the truck is in the process of distributing materials, the outriggers need to provide stable support. Therefore, by detecting the support state of the outriggers, it can be determined whether the outriggers that need to be supported are ready.

[0071] In step S12, when it is determined that the truck starts to distribute materials, the current distribution mode of the truck is determined according to the working state of all the outriggers at present.

[0072] For example, the distribution mode of the truck can include a full distribution mode, a front distribution mode, a left distribution mode and a right distribution mode.

[0073] In the full distribution mode, the truck can distribute materials in any direction around; in the front distribution mode, the truck can distribute materials to its front side; in the left distribution mode, the truck can distribute materials to its front side; in the right distribution mode, the truck can distribute materials to its right side.

[0074] It can be understood that when the truck is distributing materials, the outriggers need to provide support in the direction of distribution to make the truck stable. Therefore, the working state of the outriggers required by different distribution modes is different.

[0075] Therefore, according to the working state of all the outriggers at present, the current distribution mode of the truck can be determined. In this way, the influence of human factors can be reduced, and the current distribution mode of the truck can be accurately determined.

[0076] In step S13, the truck is controlled to distribute materials according to the current distribution mode.

[0077] Controlling the truck to distribute materials according to the current distribution mode can reduce the situation that the truck overturns as a whole due to the rotation of the boom of the truck exceeding the support range of the outriggers, and improve the safety of the truck operation.

[0078] Figure 2 is a structural schematic diagram of a truck when distributing materials provided by an example embodiment of the present disclosure, Figure 3 is a structural schematic diagram of a truck when distributing materials provided by another example embodiment of the present disclosure, Figure 4 is a structural schematic diagram of a truck when distributing materials provided by another example embodiment of the present disclosure, Figure 5 is a structural schematic diagram of a truck when distributing materials provided by still another example embodiment of the present disclosure.

[0079] Referring to Figures 2 to 5 The truck 1 can be provided with a first outrigger 2 and a second outrigger 3 respectively, for example, the first outrigger 2 can be two, and the two first outriggers 2 are arranged on the left and right sides of the front part of the truck 1, and the second outrigger 3 can be two and arranged on the left and right sides of the rear part of the truck 1.

[0080] The first leg 2 is, for example, extendable. For example, the first leg 2 can include a connecting rod arranged on the pump truck 1, and an extension rod in sliding connection with the connecting rod, the extension rod being slidable relative to the connecting rod to achieve extension of the first leg 2. Of course, the above is only one possible implementation of the first leg 2, as extendable legs are prior art, which will not be listed one by one here.

[0081] The second leg 3 is, for example, rotatably connected to the pump truck 1, and the second leg 3 can be rotated relative to the pump truck 1 to achieve deployment of the second leg 3. As the leg rotating relative to the vehicle is also prior art, which will not be described here.

[0082] In this way, when detecting the working state of the first leg 2, for example, the deployment state of the first leg 2 can be determined by detecting the extension amount of the first leg 2. Specifically, the extension amount of the first leg 2 can be detected, and if the extension amount of the first leg 2 exceeds a preset length threshold, it can be determined that the first leg 2 is deployed.

[0083] For example, the extension amount of the first leg 2 can be detected by a pull wire sensor or a laser sensor, and when the detected extension amount of the first leg 2 exceeds the preset length threshold, it can be determined that the first leg 2 is deployed. Alternatively, a proximity switch or a limit switch can also be provided at a position corresponding to the preset length threshold (for example, can be arranged on the extension rod and the connecting rod, respectively), and if the proximity switch or the limit switch is activated during the extension of the first leg 2, it can be determined that the extension amount of the first leg 2 exceeds the preset length threshold. For another example, a real-time image of the first leg 2 can also be obtained at a preset position, at which time a comparison image of the first leg 2 when the first leg 2 is extended by the preset length threshold can be stored in advance. After obtaining the real-time image of the first leg 2, the first leg 2 in the real-time image can be compared with the first leg 2 in the comparison image, so that it can be determined whether the extension amount of the first leg 2 exceeds the preset length threshold.

[0084] For example, a pressure sensor can be arranged on the first support leg, and by detecting the pressure value of the pressure sensor, the support state of the first support leg can be determined.

[0085] In detecting the working state of the second support leg, for example, the rotation angle of the second leg 3 relative to the pump truck 1 can be detected, and if the rotation angle of the second leg 3 exceeds a preset angle threshold, it can be determined that the second leg 3 is deployed.

[0086] The rotation angle of the second leg 3 can be detected directly, for example, by using an encoder. When the rotation angle exceeds a preset threshold, the second leg 3 is confirmed to have deployed. Alternatively, the rotation angle can be detected indirectly. For instance, the pump truck 1 can be equipped with a swing cylinder that drives the second leg 3 to rotate, and the movable end of the swing cylinder can be connected to the second leg 3. By detecting the extension of the swing cylinder, the rotation angle of the second leg 3 can be determined.

[0087] For example, proximity switches can be installed on the pump truck 1 and the second leg 3 respectively. When the rotation angle of the second leg 3 exceeds a preset angle threshold, the proximity switch is activated, thus realizing the detection of the deployed state of the second leg 3.

[0088] For example, a pressure sensor can be installed on the second support leg. By detecting the pressure value of the pressure sensor, the support status of the second support leg can be determined.

[0089] In another possible implementation, the vehicle may be equipped with a different number of outriggers, for example, five outriggers, which is not limited in this disclosure.

[0090] In another possible real-time configuration, the vehicle's outriggers can be all first outriggers 2, all second outriggers 3, or a combination thereof, or of course other types of deployable outriggers, which are not limited in this disclosure.

[0091] The following is still in the format of Figures 2 to 5 The control method for material distribution using the pump truck shown is described in this disclosure using the pump truck as an example.

[0092] For example, controlling the pump truck to place materials according to the current material placement mode may include: determining the available rotation range of the pump truck's boom according to the current material placement mode; and controlling the boom to rotate within the available rotation range according to the control command used to instruct the boom to rotate.

[0093] It is understandable that the available rotation range corresponds to the current support range of the outriggers. By controlling the boom to rotate within the available rotation range, the risk of the pump truck overturning due to the boom rotating beyond the support range of the outriggers can be reduced, thus improving the safety of pump truck operation.

[0094] For example, refer to Figure 2 In full fabric mode, the boom's usable rotation range is 0-360°; see reference. Figure 3 In front-layout mode, the available rotation range of the boom is: Figure 3 α1 in; reference Figure 4 In left-side fabric mode, the available rotation range of the boom is: Figure 4 α2 in; referenceFigure 5 In the right material distribution mode, the available rotation range of the boom can be Figure 5 α3 in the above formula.

[0095] According to the control instruction for indicating the rotation of the boom, the boom is controlled to rotate within the available rotation range. For example, if the rotation angle indicated by the control instruction is within the available rotation range, the boom can be controlled to rotate according to the control instruction. If the rotation angle indicated by the control instruction exceeds the available rotation range, the boom can not be controlled to rotate in response to the control instruction, so as to reduce the situation that the truck overturns due to the rotation of the boom exceeding the support range of the outriggers.

[0096] For example, the boom can be driven by a hydraulic system. When the rotation angle indicated by the control instruction exceeds the available rotation range, the corresponding valve in the hydraulic circuit can be controlled to stop responding, so as to limit the rotation angle of the boom and prevent the boom from rotating out of the available rotation range.

[0097] For example, the current material distribution mode of the truck can be determined according to the working states of all the outriggers, and a preset corresponding relationship between the working states of all the outriggers and the material distribution modes.

[0098] For example, referring to Figure 2 When the two first outriggers 2 on the front side and the two second outriggers 3 on the rear side are both in the unfolded state and the support state, it can be determined that the current material distribution mode is the full material distribution mode; referring to Figure 3 When the two first outriggers 2 on the front side are both in the unfolded state and the support state, the two second outriggers 3 on the rear side are both not unfolded, and at least one of the two second outriggers 3 is in the support state, it can be determined that the current material distribution mode is the front material distribution mode; referring to Figure 4 When the first outrigger 2 on the left side and the second outrigger 3 on the left side are both in the unfolded state and the support state, the first outrigger 2 on the right side and the second outrigger 3 on the right side are both not unfolded, and at least one of the first outrigger 2 on the right side and the second outrigger 3 on the right side is in the support state, it can be determined that the current material distribution mode is the left material distribution mode; referring to Figure 5 When the first outrigger 2 on the right side and the second outrigger 3 on the right side are both in the unfolded state and the support state, the first outrigger 2 on the left side and the second outrigger 3 on the left side are both not unfolded, and at least one of the first outrigger 2 on the left side and the second outrigger 3 on the left side is in the support state, it can be determined that the current material distribution mode is the right material distribution mode.

[0099] For example, the method can further include: when it is determined that the truck starts to distribute materials, if the working states of all the outriggers do not correspond to a material distribution mode, controlling the prompt device to prompt prompt information corresponding to stopping material distribution.

[0100] For example, when it is determined that the pump truck starts to lay material, all the support legs are not detected to be in position (for example, all the support legs can not be unfolded, or all the support legs can not be in the supporting state), at this time, the support legs cannot provide reliable support for the pump truck, the prompting device can be controlled to prompt the prompting information corresponding to stopping the material laying, so as to improve the safety.

[0101] Alternatively, when it is determined that the pump truck starts to lay material, for example, it is detected that one support leg is unfolded, and the remaining support legs are not unfolded, at this time, even if all the support legs are in the supporting state, there is no material laying mode corresponding to the working state of all the support legs at present, the prompting device can be controlled to prompt the prompting information corresponding to stopping the material laying.

[0102] The prompting device can be an audio playing device, and the prompting information can be audio information correspondingly. Alternatively, the prompting device can be a display device, and the prompting information can be text information correspondingly.

[0103] For example, the method further comprises: if it is detected that the boom of the pump truck is lifted, it is determined that the pump truck starts to lay material.

[0104] For example, a boom falling to position detection unit can be arranged on the pump truck, if it is detected by the boom falling to position detection unit that the boom is lifted, at this time, it can be determined that the pump truck starts to lay material. The boom falling to position detection unit can be a proximity switch.

[0105] In another possible implementation, the pump truck can be determined to start to lay material when a material laying start instruction issued by a user is received. For example, a start button can be arranged on the pump truck, and the user can issue the material laying start instruction through the start button.

[0106] For example, the method further comprises: after the pump truck is controlled to lay material according to the current material laying mode, if the pump truck has not finished laying material, and the working state of all the support legs at present does not correspond to the current material laying mode, the prompting device is controlled to prompt the prompting information corresponding to the change of the working state of all the support legs at present.

[0107] For example, referring to Figure 3 After the pump truck is controlled to lay material according to the previous material laying mode, if the pump truck has not finished laying material, and the working state of the two first support legs 2 at the front side of the pump truck changes (for example, can be in the non-supporting state, or in the non-unfolded state), at this time, the working state of all the support legs at present does not correspond to the current material laying mode, the prompting device can be controlled to prompt the prompting information corresponding to the change of the working state of all the support legs at present, so as to facilitate timely taking measures to prevent danger.

[0108] Alternatively, also with reference to Figure 3For example, as shown in the scenario, after the previous cloth mode control pump truck is clothed, if the pump truck is not finished and the two second supporting legs 3 behind the pump truck are in the supporting state, the pump truck may be unstable at this time, and the prompt device can also be controlled to prompt the prompt information corresponding to the working state change of all the supporting legs at the moment.

[0109] Figure 6 is a block diagram of the control device for the pump truck cloth provided by an example embodiment of the present disclosure. Referring to Figure 6 The present disclosure also provides a control device 400 for the pump truck cloth, and the pump truck can have a plurality of supporting legs. The device 400 can include:

[0110] The detection module 401 can be configured to detect the working state of the supporting legs, wherein the working state includes the unfolding state of the supporting legs and the supporting state of the supporting legs. The first determination module 402 can be configured to determine the current cloth mode of the pump truck according to the working state of all the supporting legs at the moment when the pump truck starts to be clothed. The control module 403 can be configured to control the pump truck to be clothed according to the current cloth mode.

[0111] In this way, the current cloth mode of the pump truck can be automatically determined, and the pump truck can be controlled according to the current cloth mode, so as to reduce the influence of human factors. By accurately determining the current cloth mode of the pump truck, the situation that the boom of the pump truck is rotated beyond the supporting range of the supporting legs to cause the pump truck to overturn can be reduced.

[0112] Specifically, by detecting the working state of the supporting legs, the current cloth mode of the pump truck can be determined according to the working state of all the supporting legs at the moment when the pump truck starts to be clothed. In this way, the cloth mode of the pump truck can be automatically and accurately determined, and the influence of human factors can be reduced. Subsequently, the pump truck can be controlled to start to be clothed according to the current cloth mode, so as to reduce the situation that the boom of the pump truck is rotated beyond the supporting range of the supporting legs to cause the pump truck to overturn, and improve the safety of the pump truck operation.

[0113] For example, the control module 403 can be specifically configured to determine the available rotation range of the boom of the pump truck according to the current cloth mode, and control the boom to rotate within the available rotation range according to the control instruction for indicating the rotation of the boom.

[0114] For example, the first determination module 402 can be specifically configured to determine the current cloth mode according to the working state of all the supporting legs and the preset corresponding relationship between the working state of all the supporting legs and the cloth mode.

[0115] Exemplarily, the apparatus 400 can further include a first prompting module, which can be configured to, when it is determined that the pump truck starts to lay material, if the working state of all the outriggers does not correspond to the material laying mode, control the prompting apparatus to prompt the prompt information corresponding to stopping laying material.

[0116] Exemplarily, the apparatus 400 can further include a second determining module, which can be configured to, if it is detected that the boom of the pump truck is lifted, determine that the pump truck starts to lay material.

[0117] Exemplarily, the apparatus 400 can further include a second prompting module, which can be configured to, after the control module controls the pump truck to lay material according to the current material laying mode, if the pump truck has not finished laying material and the working state of all the outriggers does not correspond to the current material laying mode, control the prompting apparatus to prompt the prompt information corresponding to the change of the working state of all the outriggers.

[0118] Exemplarily, the outrigger can include an extendable first outrigger, and the detecting module 401 can be configured to detect the unfolded state of the first outrigger by detecting the extension amount of the first outrigger, and determining that the first outrigger is unfolded if the extension amount of the first outrigger exceeds a preset length threshold.

[0119] Exemplarily, the outrigger can include a second outrigger rotatable relative to the pump truck, and the detecting module 401 can be configured to detect the unfolded state of the second outrigger by detecting the rotation angle of the second outrigger relative to the pump truck, and determining that the second outrigger is unfolded if the rotation angle of the second outrigger exceeds a preset angle threshold.

[0120] As to the apparatus in the above embodiments, the specific manners in which various modules perform operations have been described in detail in the embodiments of the method, and will not be described in detail here.

[0121] Figure 7 is a block diagram of an electronic device provided by an exemplary embodiment of the present disclosure. As shown in Figure 7 the electronic device 700 can include a processor 701 and a memory 702. The electronic device 700 can further include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

[0122] The processor 701 is configured to control overall operations of the electronic device 700 to complete all or part of the steps of the above-described method for controlling the distribution of materials by a pump truck. The memory 702 is configured to store various types of data to support operations of the electronic device 700, which can include, for example, instructions for operating any application or method on the electronic device 700, and application-related data, such as contact data, sent and received messages, pictures, audio, video, and the like. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic storage, a flash memory, a magnetic disk, or an optical disk. The multimedia component 703 can include a screen and an audio component. The screen can be, for example, a touch screen, and the audio component is configured to output and / or input audio signals. For example, the audio component can include a microphone configured to receive external audio signals. The received audio signals can be further stored in the memory 702 or transmitted through the communication component 705. The audio component also includes at least one speaker configured to output audio signals. The I / O interface 704 provides an interface between the processor 701 and other interface modules, which can be a keyboard, a mouse, a button, and the like. The buttons can be virtual buttons or physical buttons. The communication component 705 is configured to perform wired or wireless communication between the electronic device 700 and other devices. The wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, and the like, or a combination of one or more of them, is not limited herein. Therefore, the corresponding communication component 705 can include a Wi-Fi module, a Bluetooth module, an NFC module, and the like.

[0123] In an exemplary embodiment, the electronic device 700 can be implemented by one or more Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor or other electronic elements for executing the above-mentioned control method of the pump truck distribution.

[0124] In another exemplary embodiment, a computer readable storage medium including program instructions is also provided, which, when executed by a processor, implements the steps of the above-mentioned control method of the pump truck distribution. For example, the computer readable storage medium can be the above-mentioned memory 702 including program instructions, which can be executed by the processor 701 of the electronic device 700 to complete the above-mentioned control method of the pump truck distribution.

[0125] Embodiments of the present disclosure also provide a pump truck including a support leg and the above-mentioned electronic device.

[0126] The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details in the above-described embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0127] In addition, it should be noted that each specific technical feature described in the above-described specific embodiments can be combined in any appropriate manner without contradiction, and in order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0128] In addition, any combination of various different embodiments of the present disclosure can also be made, as long as it does not deviate from the idea of the present disclosure, and it should also be considered as disclosed by the present disclosure.

Claims

1. A method of controlling the distribution of a pump truck, characterized by, The pump truck has multiple outriggers, and the method comprises: detecting working states of the outriggers, wherein the working states comprise a deployed state of the outriggers and a supporting state of the outriggers, the outriggers comprise first outriggers arranged on left and right sides of a front part of the pump truck and second outriggers arranged on left and right sides of a rear part of the pump truck; determining a current paving mode of the pump truck according to the working states of all the outriggers when it is determined that the pump truck starts paving; controlling the pump truck to pave according to the current paving mode; the current paving mode comprises a full paving mode, a front paving mode, a left paving mode and a right paving mode, in the full paving mode, the pump truck can pave in any direction around; in the front paving mode, the pump truck can pave to its front side; in the left paving mode, the pump truck can pave to its left side; in the right paving mode, the pump truck can pave to its right side; the determining of the current paving mode according to the working states of all the outriggers comprises: if the first outriggers and the second outriggers are all in the deployed state and the supporting state, the current paving mode is determined as the full paving mode; or if the first outriggers are all in the deployed state and the supporting state and the second outriggers are all not deployed and at least one of the second outriggers is in the supporting state, the current paving mode is determined as the front paving mode; or if the outriggers on the left side are all in the deployed state and the supporting state and the outriggers on the right side are all not deployed and at least one of the outriggers on the right side is in the supporting state, the current paving mode is determined as the left paving mode; or if the outriggers on the right side are all in the deployed state and the supporting state and the outriggers on the left side are all not deployed and at least one of the outriggers on the left side is in the supporting state, the current paving mode is determined as the right paving mode.

2. The method of claim 1, wherein, the controlling of the pump truck to pave according to the current paving mode comprises: determining an available rotating range of an arm support of the pump truck according to the current paving mode; controlling the arm support to rotate in the available rotating range according to a control instruction for indicating the rotation of the arm support.

3. The method of claim 1, wherein, the method further comprises: if the working states of all the outriggers do not correspond to a paving mode when it is determined that the pump truck starts paving, controlling a prompt device to prompt prompt information corresponding to stopping paving.

4. The method according to any one of claims 1 to 3, characterized in that, the method further comprises: if it is detected that the arm support of the pump truck is lifted, it is determined that the pump truck starts paving.

5. The method according to any one of claims 1 to 3, characterized in that, the method further comprises: after the pump truck is controlled to pave according to the current paving mode, if the paving of the pump truck is not ended and the working states of all the outriggers do not correspond to the current paving mode, controlling the prompt device to prompt prompt information corresponding to changes in the working states of all the outriggers.

6. The method according to any one of claims 1 to 3, characterized in that, the outriggers comprise first outriggers that can be extended, and the deployed state of the first outriggers is determined by: detecting an extension amount of the first outriggers; if the extension amount of the first outriggers exceeds a preset length threshold, it is determined that the first outriggers are deployed.

7. The method according to any one of claims 1 to 3, characterized in that, the outriggers comprise second outriggers that can rotate relative to the pump truck, and the deployed state of the second outriggers is determined by: detect a rotation angle of the second leg relative to the pump truck; if the rotation angle exceeds a preset angle threshold, determine that the second leg is unfolded.

8. A control device for a pump truck distribution, characterized by The pump truck has a plurality of legs, and the device comprises: a detection module configured to detect a working state of the legs, wherein the working state comprises an unfolded state of the legs and a supporting state of the legs, and the legs comprise first legs arranged on the left and right sides of the front part of the pump truck and second legs arranged on the left and right sides of the rear part of the pump truck; a first determination module configured to, when it is determined that the pump truck starts to spread material, determine a current spreading mode of the pump truck according to the working state of all the legs; a control module configured to control the pump truck to spread material according to the current spreading mode; the current spreading mode comprises a full spreading mode, a front spreading mode, a left spreading mode and a right spreading mode, in the full spreading mode, the pump truck can spread material in any direction around; in the front spreading mode, the pump truck can spread material to the front side thereof; in the left spreading mode, the pump truck can spread material to the left side thereof; in the right spreading mode, the pump truck can spread material to the right side thereof; the determination of the current spreading mode of the pump truck according to the working state of all the legs comprises: if the first legs and the second legs are in the unfolded state and the supporting state, it is determined that the current spreading mode is the full spreading mode; or, if the first legs are in the unfolded state and the supporting state and the second legs are not unfolded and at least one of the second legs is in the supporting state, it is determined that the current spreading mode is the front spreading mode; or, if the left legs are in the unfolded state and the supporting state and the right legs are not unfolded and at least one of the right legs is in the supporting state, it is determined that the current spreading mode is the left spreading mode; or, if the right legs are in the unfolded state and the supporting state and the left legs are not unfolded and at least one of the left legs is in the supporting state, it is determined that the current spreading mode is the right spreading mode.

9. An electronic device, comprising: comprise: a memory having a computer program stored thereon; a processor configured to execute the computer program in the memory to implement the steps of the method of any one of claims 1 to 7.

10. A pump truck characterized by, comprise a plurality of legs and the electronic device of claim 9. comprise a plurality of legs and the electronic device of claim 9.

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