Concrete unloading control method, control device and mixer truck

Abstract

The embodiment of the present invention provides a control method, a control device and a mixer truck for concrete unloading, which belongs to the technical field of engineering machinery. The method includes: when it is determined that the mixer truck is in the unloading state, obtaining the first gravity of the concrete in the main trough through a gravity sensing device; when the first gravity exceeds the gravity threshold, obtaining the first image of the main trough through a visual sensing device, and determining the first accumulation height of the concrete based on the first image; when the first accumulation height exceeds the height threshold, turning on the vibration device, wherein the vibration device is used to drive the main trough to vibrate. In this process, when it is determined that the mixer truck is in the unloading state, the gravity of the concrete in the main trough is first obtained through the gravity sensing device, and when the gravity exceeds the gravity threshold, the accumulation height of the concrete is obtained through the visual sensing device. When the accumulation height exceeds the height threshold, the vibration device is turned on to accelerate the falling of the concrete, effectively preventing the accumulation of concrete and improving the unloading efficiency of the concrete of the mixer truck.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a control method and a control device for concrete unloading, and a mixer truck. Background Art

[0002] With the continuous development of society, more and more infrastructure, such as roads and bridges, is being built. Concrete is an essential raw material in infrastructure construction. Concrete unloading refers to the process of concrete being discharged from the main trough of a mixer truck. During this unloading process, it is impossible to assess the concrete unloading status and determine the unloading speed. This can easily lead to concrete accumulation during the unloading process, resulting in low concrete unloading efficiency. Summary of the Invention

[0003] Based on this, the first aspect of the present invention provides a method for controlling concrete unloading, which effectively prevents the accumulation of concrete and improves the unloading efficiency of a mixer truck. The method is applied to a mixer truck, which includes a mixing drum, which includes a main tank, multiple gravity sensing devices, multiple visual sensing devices, and a vibration device. The multiple gravity sensing devices and the vibration device are all arranged in the main tank, including:

[0004] When the mixer truck is determined to be in the unloading state, the first gravity of the concrete in the main tank is obtained through the gravity sensing device;

[0005] When the first gravity exceeds the gravity threshold, a first image of the main trough is acquired by a visual sensing device, and a first accumulation height of the concrete is determined according to the first image;

[0006] When the first material accumulation height exceeds a height threshold, the vibration device is turned on, wherein the vibration device is used to drive the main trough to vibrate.

[0007] In one embodiment, the gravity sensing device includes a pressure sensor;

[0008] When the mixer truck is determined to be in the unloading state, the first gravity of the concrete in the main tank is obtained through the gravity sensing device, including:

[0009] When the mixer truck is determined to be in the unloading state, the pressure of the main tank is obtained through the pressure sensor;

[0010] The first gravity is calculated based on the pressure of the main tank.

[0011] In one embodiment, the method further comprises:

[0012] When the first material accumulation height exceeds a height threshold, the rotation speed of the mixing drum is controlled to decrease according to a preset rotation speed value.

[0013] In one embodiment, when the first material accumulation height exceeds the height threshold, after controlling the rotation speed of the mixing drum to decrease according to a preset rotation speed value, the method further includes:

[0014] Acquire multiple second images and multiple second gravitational forces of a preset duration;

[0015] When the second material accumulation height in each second image exceeds the height threshold within the preset time length, and each second gravity exceeds the gravity threshold within the preset time length, the step of controlling the speed of the mixing drum to decrease according to the preset speed value is repeated until the second material accumulation height in each second image is lower than the height threshold within the preset time length, and the second gravity is lower than the gravity threshold within the preset time length, and the reduced speed is maintained.

[0016] In one embodiment, the method further comprises:

[0017] When the second gravity is less than the first preset value and the second accumulated material height is less than the second preset value, it is determined that the unloading is completed;

[0018] Control the mixing drum to stop rotating, and turn off the gravity sensing device, visual sensing device and vibration device.

[0019] In one embodiment, before determining that the mixer truck is in the unloading state and obtaining the first gravity of the concrete in the main tank through the gravity sensing device, the method further includes:

[0020] Determine whether the speed of the mixer truck is greater than the preset speed value;

[0021] When it is determined that the speed of the mixer truck is greater than the preset speed value, it is prohibited to start the vibration device;

[0022] When the speed of the mixer truck is less than or equal to the preset speed value and the mixer truck is not in the unloading state, it is prohibited to turn on the vibration device.

[0023] In one embodiment, the method further comprises:

[0024] When the first gravity exceeds the gravity threshold and the first accumulated material height is lower than the height threshold, the step of obtaining the first gravity of the concrete in the main tank through the gravity sensing device when determining that the mixer truck is in the unloading state is performed.

[0025] A second aspect of the present invention provides a control device for concrete unloading, which is applied to a mixer truck. The mixer truck includes a mixing drum, which includes a main tank and multiple gravity sensing devices, multiple visual sensing devices, and a vibration device. The multiple gravity sensing devices and the vibration device are all arranged in the main tank, including:

[0026] A gravity acquisition module is used to obtain the first gravity of the concrete in the main tank through the gravity sensing device when it is determined that the mixer truck is in the unloading state;

[0027] an image acquisition module, configured to acquire a first image of the main trough through a visual sensing device when the first gravity exceeds a gravity threshold, and determine a first accumulation height of concrete based on the first image;

[0028] The control module is used to start the vibration device when the first material accumulation height exceeds a height threshold, wherein the vibration device is used to drive the main trough to vibrate.

[0029] A third aspect of the present invention provides a mixer truck, comprising a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement any of the above-mentioned concrete unloading control methods.

[0030] A fourth aspect of the present invention provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, implement any one of the above-mentioned methods for controlling concrete unloading.

[0031] Through the above technical solution, when the mixer truck is determined to be in the unloading state, the first gravity of the concrete in the main trough is obtained through the gravity sensing device; when the first gravity exceeds the gravity threshold, the first image of the main trough is obtained through the visual sensing device, and the first accumulation height of the concrete is determined based on the first image; when the first accumulation height exceeds the height threshold, the vibration device is activated, wherein the vibration device is used to drive the main trough to vibrate. When the mixer truck is determined to be in the unloading state, this process first obtains the gravity of the concrete in the main trough through the gravity sensing device. When the gravity exceeds the gravity threshold, the accumulation height of the concrete is obtained through the visual sensing device. When the accumulation height exceeds the height threshold, the vibration device is activated to accelerate the fall of the concrete, effectively preventing the accumulation of concrete and improving the unloading efficiency of the concrete mixer truck.

[0032] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0034] Figure 1 This is a flow chart of a method for controlling concrete unloading provided by an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of the structure inside a mixing drum provided by an embodiment of the present invention;

[0036] Figure 3 This is a schematic structural diagram of a concrete unloading control device provided by an embodiment of the present invention;

[0037] Figure 4 It is a structural schematic diagram of a mixer truck provided by an embodiment of the present invention.

[0038] Description of Reference Numerals

[0039] 201- visual sensing device; 202- discharge hopper; 203- main trough; 204- gravity sensing device; 205- rotating support frame; 206- support shaft; 207- vibration device; 208- support cylinder. DETAILED DESCRIPTION

[0040] The following describes the specific implementation of the embodiment of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiment of the present invention and is not used to limit the embodiment of the present invention.

[0041] At present, when concrete in a mixer truck is discharged through the main trough, concrete tends to accumulate on the main trough, causing the concrete to solidify and be difficult to clean after unloading. In addition, the concrete unloading situation cannot be evaluated through visualization or quantification, resulting in the inability to assess the unloading speed, causing material piling and low concrete unloading efficiency.

[0042] Based on this, the present invention provides a control method for concrete unloading, which is applied to a mixer truck. The mixer truck includes a mixing drum, which includes a main tank, multiple gravity sensing devices, multiple visual sensing devices, and a vibration device. The multiple gravity sensing devices and the vibration device are all arranged in the main tank. Figure 1 A flow chart of a method for controlling concrete unloading provided by an embodiment of the present invention is shown as follows: Figure 1 As shown, the method includes:

[0043] Step S101: When it is determined that the mixer truck is in a discharging state, a first gravity of the concrete in the main tank is obtained through a gravity sensing device.

[0044] In actual application, a mixer truck is a tank-type special transport vehicle with the mixing drum axis tilted at a certain angle to the horizontal plane. It is used to transport concrete for construction. The mixer truck is equipped with a cylindrical mixing drum to carry the mixed concrete. The strength grade of the concrete can be set according to actual needs, generally set to C15, C20, or C30. During transportation, the mixer truck's mixing drum will always keep rotating to ensure that the transported concrete does not solidify. Figure 2 As shown, the mixer drum of a concrete mixer truck includes a discharge hopper 202, a main trough 203, a rotating support frame 205, a support shaft 206, and a support cylinder 208. Concrete in the mixer drum falls through the discharge hopper 202 into the main trough 203, where it is discharged to a target location. The main trough 203 is secured by the rotating support frame 205, the support shaft 206, and the support cylinder 208.

[0045] In an embodiment of the present application, the mixing drum further includes a visual sensing device 201, a gravity sensing device 204 and a vibration device 207, wherein the gravity sensing device includes but is not limited to a pressure sensor and a pin-type gravity sensor, and the gravity sensor is arranged below the main trough for obtaining the gravity of the concrete in the main trough; the visual sensing device can be a camera and a visual sensor, preferably, arranged at a position inside the mixing drum where the image of the main trough can be obtained, for obtaining the image of the main trough; the vibration device is arranged below the main trough for driving the main trough to vibrate, so that the concrete in the main trough accelerates to fall.

[0046] In actual application, when the mixer truck is unloading, multiple gravity sensors are activated to automatically identify the condition of the concrete in the main trough. This is primarily to determine whether the first gravity of the concrete exceeds a gravity threshold. The gravity threshold can be set based on the main trough structure, volume, or length, and is not limited in this application.

[0047] Step S102: When the first gravity exceeds the gravity threshold, a first image of the main tank is acquired through a visual sensing device, and a first accumulation height of concrete is determined according to the first image.

[0048] In practical applications, multiple visual sensing devices can be installed above and on both sides of the main trough. The visual sensing device located above the main trough can monitor the accumulation of concrete inside the trough, while the visual sensing devices located on both sides can monitor the discharge of concrete at the end of the trough. The visual sensing devices can be selected at different locations for image acquisition based on the actual discharge direction of the main trough.

[0049] In actual application, when it is determined that the first gravity exceeds the gravity threshold, multiple visual sensing devices are turned on, and the first images of the concrete in the main trough at multiple angles are obtained through the visual sensing devices. The first accumulation height of the concrete in the main trough is determined based on the first images of the concrete at multiple angles.

[0050] Step S103: When the first material accumulation height exceeds a height threshold, turning on the vibration device, wherein the vibration device is used to drive the main trough to vibrate.

[0051] In practical applications, it is determined whether the first accumulation height of the concrete exceeds a height threshold. If the first accumulation height exceeds the height threshold, the vibration device is activated to vibrate the main trough, thereby accelerating the descent of the concrete within the main trough. The height threshold can be determined based on the height of the main trough, and is generally set to 80% of the main trough depth, but this application does not impose any restrictions thereon.

[0052] In practical applications, the vibration frequency range of the vibration device can be 15 Hz to 30 Hz and can be set as needed. It should be noted that the vibration device cannot be turned on when there is no concrete in the main trough. Turning on the vibration device when the main trough is empty can easily damage the main trough structure. The vibration device must not resonate with the main trough structure when turned on.

[0053] Through the above embodiment, when the mixer truck is determined to be in the unloading state, the first gravity of the concrete in the main trough is obtained through the gravity sensing device; when the first gravity exceeds the gravity threshold, the first image of the main trough is obtained through the visual sensing device, and the first accumulation height of the concrete is determined based on the first image; when the first accumulation height exceeds the height threshold, the vibration device is activated, wherein the vibration device is used to drive the main trough to vibrate. This process, when determining that the mixer truck is in the unloading state, first obtains the gravity of the concrete in the main trough through the gravity sensing device; when the gravity exceeds the gravity threshold, the accumulation height of the concrete is obtained through the visual sensing device; when the accumulation height exceeds the height threshold, the vibration device is activated to accelerate the fall of the concrete, effectively preventing the accumulation of concrete and improving the unloading efficiency of the mixer truck.

[0054] In one embodiment, the gravity sensing device includes a pressure sensor; step S101 includes:

[0055] When the mixer truck is determined to be in the unloading state, the pressure of the main tank is obtained through the pressure sensor;

[0056] The first gravity is calculated based on the pressure of the main tank.

[0057] In practical applications, the gravity sensing device includes pressure sensors located at one-third and two-thirds of the main trough's length. When the mixer truck is determined to be unloading, the pressure in the main trough is measured using the pressure sensors. The force decomposition of the pressure in the main trough is used to determine the weight of the concrete on the main trough.

[0058] Through the above embodiment, when the mixer truck is determined to be in the unloading state, the pressure in the main tank is obtained through a pressure sensor; and the first gravity is calculated based on the pressure in the main tank. This process uses the pressure sensor to obtain the pressure in the main tank, decomposes the pressure into forces, and calculates the gravity of the concrete in the main tank, thereby improving the accuracy of the calculation of the gravity of the concrete in the main tank.

[0059] In one embodiment, the method further comprises:

[0060] When the first material accumulation height exceeds a height threshold, the rotation speed of the mixing drum is controlled to decrease according to a preset rotation speed value.

[0061] In actual application, when it is determined that the first accumulated material height exceeds the height threshold, meaning that the concrete level in the main trough is too high, the vibration device is activated and the mixer drum speed is reduced according to a preset speed value. The preset speed value can be 1 rpm or can be automatically adjusted according to the program. For example, when the mixer truck is unloading, the initial speed of the mixer drum is 12 rpm. If the speed is 12 rpm, the gravity of the concrete in the main trough exceeds the gravity threshold, and the accumulated material height exceeds the height threshold, the speed is reduced by 1 rpm to 11 rpm, and the current speed is maintained until unloading is complete.

[0062] Through the above embodiment, when the first accumulation height exceeds the height threshold, the speed of the mixer drum is controlled to decrease according to a preset speed value. This process reduces the accumulation of concrete in the main trough by controlling the speed of the mixer drum to decrease according to the preset speed value, thereby improving the unloading efficiency of the concrete mixer truck.

[0063] In one embodiment, when the first material accumulation height exceeds the height threshold, after controlling the rotation speed of the mixing drum to decrease according to a preset rotation speed value, the method further includes:

[0064] Acquire multiple second images and multiple second gravitational forces of a preset duration;

[0065] When the second material accumulation height in each second image exceeds the height threshold within the preset time length, and each second gravity exceeds the gravity threshold within the preset time length, the step of controlling the speed of the mixing drum to decrease according to the preset speed value is repeated until the second material accumulation height in each second image is lower than the height threshold within the preset time length, and the second gravity is lower than the gravity threshold within the preset time length, and the reduced speed is maintained.

[0066] In actual applications, after the rotational speed is reduced by a preset rotational speed value, multiple second images and second gravity forces are acquired within a preset time period. Specifically, the preset time period can be set as needed and is generally set to 5 seconds. Within the preset time period, when the second material accumulation heights in the multiple second images all exceed the height threshold and the multiple gravity forces all exceed the gravity threshold, the step of controlling the rotational speed of the mixing drum to decrease according to the preset rotational speed value is repeated, that is, the rotational speed is continued to be controlled to decrease by the preset rotational speed value until the second material accumulation heights in the multiple second images all fall below the height threshold and the multiple gravity forces all fall below the gravity threshold, and the mixing drum is controlled to maintain the current reduced rotational speed.

[0067] In actual application, taking the reduced speed of 11 revolutions per minute as an example, multiple second gravity and multiple second images within 5 seconds are acquired. It is determined whether the multiple second gravity all exceeds the gravity threshold, and whether the multiple second material accumulation heights in the multiple second images all exceed the height threshold. If the multiple second gravity all exceeds the gravity threshold, and the multiple second material accumulation heights in the multiple second images all exceed the height threshold, the current speed of 11 revolutions per minute is reduced by 1 revolution per minute, that is, the current speed is updated to 10 revolutions per minute, and the second gravity and second images within the preset time length are continued to be acquired. If the multiple second gravity all is lower than the gravity threshold, and the multiple second material accumulation heights in the multiple second images are lower than the height threshold, the reduced speed, i.e., 11 revolutions per minute, is maintained until the unloading is completed.

[0068] Through the above embodiment, multiple second images and multiple second gravities of a preset duration are acquired; when the second accumulation height in each second image exceeds the height threshold within the preset duration, and each second gravities exceed the gravity threshold within the preset duration, the step of controlling the mixer drum's rotational speed to decrease according to the preset rotational speed value is repeatedly executed until the second accumulation height in each second image is below the height threshold within the preset duration, and the second gravities are below the gravity threshold within the preset duration, and the reduced rotational speed is maintained. This process determines whether the current rotational speed can ensure normal concrete unloading by comparing the second gravities and the second accumulation heights within the preset duration to see whether they meet the threshold conditions, thereby improving the concrete unloading efficiency of the mixer truck.

[0069] In one embodiment, the method further comprises:

[0070] When the second gravity is less than the first preset value and the second accumulated material height is less than the second preset value, it is determined that the unloading is completed;

[0071] Control the mixing drum to stop rotating, and turn off the gravity sensing device, visual sensing device and vibration device.

[0072] In actual use, when the mixer truck's mixing drum maintains a reduced speed, if the second gravity detected by the gravity sensing device is less than the first preset value, and the second accumulated material height is less than the second preset value, it is determined that there is no concrete in the main trough that needs to be unloaded, and the mixer truck is in the unloading state. When the mixer truck determines that unloading is complete, the mixing drum is controlled to stop rotation, and the multiple gravity sensing devices, visual sensing devices, and vibration devices are deactivated. It is understood that the first preset value and the second preset value can be set according to actual needs.

[0073] Through the above embodiment, when the second gravity reaches the first preset value and the second accumulated material height reaches the second preset value, unloading is determined to be complete; the mixer drum is controlled to stop rotating, and the gravity sensing device, visual sensing device, and vibration device are turned off. This process determines the unloading completion status of the mixer truck based on the second gravity and the second accumulated material height. When the mixer truck is in the unloading completion state, the mixer drum is controlled to stop rotating, and the gravity sensing device, visual sensing device, and vibration device are turned off, ensuring the safe operation of the mixer truck during the unloading completion process.

[0074] In one embodiment, before step S101, the method further includes:

[0075] Determine whether the speed of the mixer truck is greater than the preset speed value;

[0076] When it is determined that the speed of the mixer truck is greater than the preset speed value, it is prohibited to start the vibration device;

[0077] When the speed of the mixer truck is less than or equal to the preset speed value and the mixer truck is not in the unloading state, it is prohibited to turn on the vibration device.

[0078] In actual applications, before unloading, the mixer truck must determine the driving status of the mixer truck based on its speed, that is, determine whether the mixer truck is in a parked state. Specifically, determine whether the speed of the mixer truck is greater than a preset speed value, where the preset speed value is 0. When the speed of the mixer truck is greater than the preset speed value, the mixer truck is in a driving state, and it is prohibited to activate the vibration device. When the mixer truck is in a parked state, it is also necessary to determine whether the mixer truck is in a unloading state. When the speed of the mixer truck is less than or equal to the preset speed value, that is, it is in a parked state, and it is determined that the mixer truck is not in a unloading state, it is prohibited to activate the vibration device.

[0079] Through the above embodiment, it is determined whether the speed of the mixer truck is greater than the preset speed value; when it is determined that the speed of the mixer truck is greater than the preset speed value, it is prohibited to turn on the vibration device; when the speed of the mixer truck is less than or equal to the preset speed value and the mixer truck is not in the unloading state, it is prohibited to turn on the vibration device. This process first determines the driving state of the mixer truck. When it is not parked, it is prohibited to turn on the vibration device. When it is determined that the mixer truck is in the parked state, it is determined whether the mixer truck is in the unloading state. When the mixer truck is not in the unloading state, it is prohibited to turn on the vibration device. This effectively avoids damage to the main tank structure caused by arbitrarily turning on the vibration device, and ensures the normal operation of the mixer truck.

[0080] Based on the above-mentioned control method for concrete unloading, an embodiment of the present invention further provides a control device 300 for concrete unloading, which is applied to a mixer truck. The mixer truck includes a mixing drum, which includes a main tank and multiple gravity sensing devices, multiple visual sensing devices, and a vibration device. The multiple gravity sensing devices and the vibration device are all arranged in the main tank. Figure 3This is a schematic structural diagram of a concrete unloading control device provided by an embodiment of the present invention. The device 300 includes:

[0081] The gravity acquisition module 301 is used to acquire the first gravity of the concrete in the main tank through the gravity sensing device when it is determined that the mixer truck is in the unloading state;

[0082] An image acquisition module 302 is configured to acquire a first image of the main trough through a visual sensing device when the first gravity exceeds a gravity threshold, and determine a first accumulation height of concrete based on the first image;

[0083] The control module 303 is configured to activate the vibration device when the first material accumulation height exceeds a height threshold, wherein the vibration device is configured to drive the main trough to vibrate.

[0084] The control device for concrete unloading provided in the embodiment of the present invention can implement each process of the control method for concrete unloading in the method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described here.

[0085] The present invention also provides a mixer truck, see Figure 4 As shown, the mixer truck includes a processor 130 and a memory 131 . The memory 131 stores machine-executable instructions that can be executed by the processor 130 . The processor 130 executes the machine-executable instructions to implement the above-mentioned concrete unloading control method.

[0086] Furthermore, Figure 4 The electronic device shown further includes a bus 132 and a communication interface 133 , and the processor 130 , the communication interface 133 and the memory 131 are connected via the bus 132 .

[0087] The memory 131 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is achieved through at least one communication interface 133 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 132 may be an ISA bus, a PCI bus, or an EISA bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0088] The processor 130 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in the processor 130 or by software instructions. The processor 130 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present invention can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in memory 131, and processor 130 reads information in memory 131 and, in conjunction with its hardware, completes the steps of the method of the aforementioned embodiment.

[0089] An embodiment of the present invention also provides a machine-readable storage medium, which stores machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions prompt the processor to implement the above-mentioned concrete unloading control method. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0090] A control method, control device and mixer truck for concrete unloading provided in an embodiment of the present invention include a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the method in the previous method embodiment. For specific implementation, please refer to the method embodiment and will not be repeated here.

[0091] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems and devices can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0092] In addition, in the description of the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0093] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion 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 for causing a computer device (which can be a personal computer, electronic device, or network device, etc.) to execute all or part of the steps of the various embodiments of the method of the present invention. The aforementioned storage medium includes various media that can store program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0094] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0095] Finally, it should be noted that the above embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for controlling concrete unloading, characterized in that: The method is applied to a mixer truck, which includes a mixing drum, which includes a main tank, multiple gravity sensing devices, multiple visual sensing devices, and a vibration device, wherein the multiple gravity sensing devices and the vibration device are both arranged in the main tank, and include: When it is determined that the mixer truck is in a discharging state, obtaining a first gravity of the concrete in the main tank through the gravity sensing device; When the first gravity exceeds a gravity threshold, acquiring a first image of the main trough by the visual sensing device, and determining a first accumulation height of the concrete according to the first image; When the first accumulated material height exceeds a height threshold, the vibration device is turned on, wherein the vibration device is used to drive the main trough to vibrate.

2. The method according to claim 1, characterized in that The gravity sensing device includes a pressure sensor; When determining that the mixer truck is in the unloading state, obtaining the first gravity of the concrete in the main tank by the gravity sensing device includes: When it is determined that the mixer truck is in a discharging state, obtaining the pressure of the main tank through the pressure sensor; The first gravity is obtained by calculation according to the pressure of the main tank.

3. The method according to claim 1, characterized in that The method further comprises: When the first accumulated material height exceeds the height threshold, the rotation speed of the mixing drum is controlled to decrease according to a preset rotation speed value.

4. The method according to claim 3, characterized in that When the first accumulated material height exceeds the height threshold, after controlling the rotation speed of the mixing drum to decrease according to a preset rotation speed value, the method further includes: Acquire multiple second images and multiple second gravitational forces of a preset duration; When the second material accumulation height in each second image exceeds the height threshold within the preset time length, and each second gravity exceeds the gravity threshold within the preset time length, the step of controlling the rotational speed of the mixing drum to decrease according to the preset rotational speed value is repeated until the second material accumulation height in each second image is lower than the height threshold within the preset time length, and the second gravity is lower than the gravity threshold within the preset time length, and the reduced rotational speed is maintained.

5. The method according to claim 4, characterized in that The method further comprises: When the second gravity is less than a first preset value and the second accumulated material height is less than a second preset value, it is determined that the unloading is completed; The mixing drum is controlled to stop rotating, and the gravity sensing device, the visual sensing device and the vibration device are turned off.

6. The method according to claim 1, characterized in that Before obtaining the first gravity of the concrete in the main tank by the gravity sensing device when determining that the mixer truck is in the unloading state, the method further includes: Determining whether the speed of the mixer truck is greater than a preset speed value; When it is determined that the speed of the mixer truck is greater than the preset speed value, the vibration device is prohibited from being turned on; When the speed of the mixer truck is less than or equal to the preset speed value and the mixer truck is not in the unloading state, it is prohibited to turn on the vibration device.

7. The method according to claim 1, characterized in that The method further comprises: When the first gravity exceeds the gravity threshold and the first accumulated material height is lower than the height threshold, the step of obtaining the first gravity of the concrete in the main tank by using the gravity sensing device when determining that the mixer truck is in the unloading state is executed again.

8. A control device for concrete unloading, the device being applied to a mixer truck, the mixer truck comprising a mixing drum, the mixing drum comprising a main tank and a plurality of gravity sensing devices, a plurality of visual sensing devices, and a vibration device, the plurality of gravity sensing devices and the vibration device being disposed in the main tank, comprising: a gravity acquisition module, configured to acquire a first gravity of the concrete in the main tank through the gravity sensing device when determining that the mixer truck is in a discharging state; an image acquisition module, configured to acquire a first image of the main trough through the visual sensing device when the first gravity exceeds a gravity threshold, and determine a first accumulation height of the concrete based on the first image; The control module is configured to activate the vibration device when the first material accumulation height exceeds a height threshold, wherein the vibration device is configured to drive the main trough to vibrate.

9. A mixer truck, characterized in that: The mixer truck includes a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the concrete unloading control method according to any one of claims 1 to 7.

10. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by the processor, the concrete unloading control method according to any one of claims 1 to 7 is implemented.

Images