Method, device and system for controlling the pumping displacement of a pump truck

Abstract

This application provides a method, control device, control system, and pump truck for controlling the pumping displacement of a concrete pump truck. It solves the technical problem in the prior art where operators struggle to quickly and efficiently complete pumping operations while maintaining continuous pumping displacement response under different pumping conditions. The pump truck pumping displacement control method provided in this application first determines the optimal displacement value based on the pump truck's operating conditions and control mode. Then, it determines a control strategy based on the optimal displacement value and control mode. Finally, it determines the pumping displacement based on the control strategy and the operating displacement. The control strategy ensures a monotonically increasing relationship between the pumping displacement and the operating displacement, guaranteeing continuous pumping displacement response regardless of the pump truck's operating conditions or control mode. This prevents the pumping displacement from remaining at a single displacement level, ensuring consistent operation and improving the operator's experience.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a method, control device, control system, and pump truck for controlling the pumping capacity of a pump truck. Background Technology

[0002] A concrete pump truck is an engineering machine that uses pressure to continuously transport concrete along pipelines. It is widely used in various fields such as road engineering, bridge engineering, underground engineering, and industrial and civil building construction. During the concrete pumping process, the pumping speed is mainly affected by factors such as engine speed, plunger pump swashplate angle, and pumping system load. Engine speed is primarily controlled by adjusting the pump's operating displacement; however, a higher operating displacement does not necessarily mean a faster pumping speed. Simultaneously, there is a positive correlation between fuel consumption per unit time and operating displacement; low displacement results in low fuel consumption per unit time but slow pumping speed, while high displacement results in fast pumping speed but high fuel consumption per unit time.

[0003] In existing technical solutions, the optimal displacement value is found to be the fastest or most economical. When the operating displacement exceeds the optimal displacement value, the optimal displacement value is used as the pumping displacement value. That is, when the operating displacement exceeds the optimal displacement value, even if the operating displacement increases continuously, the pumping displacement will not change, which affects the user experience. Summary of the Invention

[0004] In view of this, this application provides a method, control device, control system and pump truck for controlling the pumping displacement of a pump truck, which solves the technical problem in the prior art that it is difficult for operators to complete pumping operations quickly and with low fuel consumption while controlling the continuous response of the pumping displacement under different pumping conditions.

[0005] As a first aspect of this application, this application provides a method for controlling the pumping displacement of a concrete pump truck, comprising: acquiring the operating conditions and control modes of the concrete pump truck, wherein the control modes include the fastest control mode and / or the most economical control mode; determining an optimal displacement value matching the operating conditions and the control mode based on the operating conditions and the control mode; determining a control strategy for the pumping displacement of the concrete pump truck based on the control mode and the optimal displacement value, wherein the control strategy includes: the relationship between the pumping displacement and the operating displacement is a monotonically increasing relationship; and determining the pumping displacement based on the control strategy and the operating displacement.

[0006] In one possible implementation, the control strategy for determining the pumping displacement of the pump truck based on the control mode and the optimal displacement value includes: when the control mode is the fastest control mode or the most economical control mode, the control strategy for determining the pumping displacement of the pump truck is as follows: establishing a rectangular coordinate system with the operating displacement as the abscissa and the pumping displacement as the ordinate; determining a starting point based on a preset minimum value of the operating displacement, wherein the abscissa and ordinate of the starting point are both the preset minimum value; determining an ending point based on a preset maximum value of the operating displacement and the optimal displacement value, wherein the abscissa of the ending point is the preset maximum value and the ordinate is the optimal displacement value; determining a first point based on the optimal displacement value, wherein the abscissa and ordinate of the first point are both the optimal displacement value; and establishing a first linear relationship based on the starting point and the first point. A second linear relationship is established based on the first point and the endpoint, and a third linear relationship is established based on the starting point and the endpoint. When the operating displacement is less than the optimal displacement value and greater than or equal to the preset minimum value, the pumping displacement and the operating displacement satisfy a first relationship curve. Under the same horizontal coordinate, the vertical coordinate of the midpoint of the first relationship curve is greater than or equal to the vertical coordinate of the midpoint of the third linear relationship and less than or equal to the vertical coordinate of the midpoint of the first linear relationship. When the operating displacement is greater than or equal to the optimal displacement value and less than or equal to the preset maximum value, the pumping displacement and the operating displacement satisfy a second relationship curve. Under the same horizontal coordinate, the vertical coordinate of the midpoint of the second relationship curve is greater than or equal to the vertical coordinate of the midpoint of the third linear relationship and less than or equal to the vertical coordinate of the midpoint of the second linear relationship. The first relationship curve and the second relationship curve are continuous and monotonically increasing.

[0007] In one possible implementation, the step of determining a first relationship curve between the pumping displacement and the operating displacement when the operating displacement is less than the optimal displacement value and greater than or equal to the preset minimum value includes: determining a displacement inflection point based on the starting point and the first point, wherein the displacement inflection point satisfies the first linear relationship, and the abscissa of the displacement inflection point is greater than or equal to the abscissa of the starting point and less than the abscissa of the first point; when the abscissa of the displacement inflection point is greater than the abscissa of the starting point and less than the abscissa of the first point, if the operating displacement is greater than or equal to the abscissa of the starting point and less than or equal to the abscissa of the displacement inflection point, the pumping displacement and the operating displacement satisfy the first linear relationship; if the operating displacement is greater than the abscissa of the displacement inflection point and less than the optimal displacement value, the pumping displacement and the operating displacement satisfy a third relationship curve, wherein, under the same abscissa, the ordinate of the midpoint of the third relationship curve is greater than or equal to the ordinate of the midpoint of the third linear relationship and less than the ordinate of the midpoint of the first linear relationship; and constructing the first relationship curve based on the first linear relationship and the third relationship curve.

[0008] In one possible implementation, when the x-coordinate of the displacement inflection point is equal to the x-coordinate of the starting point, if the operating displacement is greater than or equal to the x-coordinate of the starting point and less than the optimal displacement value, the pumping displacement and the operating displacement satisfy a fourth relationship curve. Under the same x-coordinate, the y-coordinate of the midpoint of the fourth relationship curve is greater than or equal to the y-coordinate of the midpoint of the third linear relationship and less than the y-coordinate of the midpoint of the first linear relationship; the first relationship curve is constructed based on the fourth relationship curve.

[0009] In one possible implementation, determining the optimal displacement value matching the operating conditions and the control mode based on the operating conditions and the control mode includes: querying the displacement database for the optimal displacement value matching the operating conditions and the control mode based on the operating conditions and the control mode; wherein the displacement database includes: operating conditions, control modes, and the optimal displacement value corresponding to the control mode and the operating conditions.

[0010] In one possible implementation, obtaining the operating conditions of the pump truck includes: obtaining the mixing pressure of the pump truck's mixing device; obtaining the ambient temperature of the pump truck's working environment; obtaining the boom posture data of the pump truck; and determining the operating conditions of the pump truck based on the mixing pressure, the ambient temperature, and the boom posture.

[0011] In one possible implementation, obtaining the boom posture data of the pump truck includes: obtaining the boom angle of each boom segment; calculating the end height of the boom segment based on the boom angle and the length of the boom segment; and determining the boom posture data of the boom based on the end height of each boom segment.

[0012] As a second aspect of this application, this application also provides a control device for the pumping displacement of a concrete pump truck, comprising: a data acquisition module for acquiring the operating conditions and control modes of the concrete pump truck, wherein the control modes include the fastest control mode and / or the most economical control mode; an optimal displacement value determination module for determining the optimal displacement value of the pump that matches the operating conditions and the control mode based on the operating conditions and the control mode; a control strategy determination module for determining a control strategy for the pumping displacement of the concrete pump truck based on the control mode and the optimal displacement value, wherein the control strategy includes: the relationship between the pumping displacement and the operating displacement is a monotonically increasing relationship; and a control module for determining the pumping displacement based on the control strategy and the operating displacement.

[0013] As a third aspect of this application, this application also provides a control system for the pumping capacity of a pump truck, comprising: the control device described above; a pressure sensor for detecting the stirring pressure of the stirring device; a temperature sensor for detecting the ambient temperature of the environment in which the pump truck is located; and an tilt sensor for detecting the boom angle of the boom segments in the boom.

[0014] The control device is communicatively connected to the pressure sensor, temperature sensor, and tilt sensor, respectively.

[0015] As a fourth aspect of this application, this application also provides a pump truck, comprising: a chassis and a turret disposed on the chassis; a boom mounted on the turret; a mixing device mounted on the chassis; and the aforementioned control system.

[0016] The pumping displacement control method for concrete pump trucks provided in this application allows the pump truck operator to input a control mode. Based on the pump truck's operating conditions and the input control mode, the optimal displacement value is determined. Then, the control strategy for the control mode is determined based on the control mode and the optimal displacement value. Finally, the pumping displacement of the pump truck is determined based on the control strategy and the operator's input displacement value. The fastest and most economical control modes are integrated into the displacement control strategy, enabling the operator to complete pumping operations in the fastest or most economical way under different operating conditions. Furthermore, regardless of the control mode, the corresponding control strategy is monotonically increasing, ensuring continuous response of the pumping displacement and preventing it from remaining at a single displacement level. This guarantees the continuity of displacement operation and improves the operator's experience. Attached Figure Description

[0017] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain the application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0018] Figure 1 The diagram shown is a flowchart illustrating a method for controlling the pumping capacity of a pump truck according to an embodiment of this application.

[0019] Figure 2 The diagram shown illustrates the monotonically increasing relationship between the control mode, pumping displacement, and operating displacement provided in an embodiment of this application.

[0020] Figure 3The diagram shown illustrates the monotonically increasing relationship between the control mode, pumping displacement, and operating displacement provided in another embodiment of this application.

[0021] Figure 4 The diagram shown illustrates the monotonically increasing relationship between the control mode, pumping displacement, and operating displacement provided in another embodiment of this application.

[0022] Figure 5 The diagram shown is a flowchart illustrating a method for controlling the pumping capacity of a pump truck according to another embodiment of this application.

[0023] Figure 6 The diagram shown is a flowchart illustrating a method for controlling the pumping capacity of a pump truck according to another embodiment of this application.

[0024] Figure 7 The diagram shown is a schematic diagram of the boom section angle of a pump truck in one embodiment of this application;

[0025] Figure 8 The diagram shown is a schematic diagram illustrating the working principle of a pumping capacity control device for a pump truck according to an embodiment of this application.

[0026] Figure 9 The diagram shown is a schematic diagram illustrating the working principle of a pumping capacity control system for a pump truck according to an embodiment of this application.

[0027] Figure 10 The diagram shown is a schematic diagram of the working principle of an electronic device provided in an embodiment of this application. Detailed Implementation

[0028] In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, top, bottom, etc.) in the embodiments of this application are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the figures). If the specific posture changes, the directional indication will also change accordingly. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0029] Furthermore, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0030] Application Overview

[0031] As mentioned above, during concrete pump truck operations, the pumping speed is mainly affected by factors such as engine speed, plunger pump swashplate angle, and pumping system load. Engine speed is primarily adjusted by regulating the operating displacement; the pumping load is mainly influenced by factors such as concrete material conditions, boom posture, pumping rate, pipeline resistance, and ambient temperature. When the pumping load increases, the engine output power also increases. To prevent excessive engine output power, a critical power point is set during pumping operations. When the engine power reaches this critical power point, the pumping rate is reduced to decrease the pumping load. Therefore, a higher operating displacement does not necessarily mean a faster pumping speed.

[0032] Meanwhile, there is a positive correlation between pumping fuel consumption per unit time and operating displacement. Low displacement has low fuel consumption per unit time but slow pumping speed, while high displacement has fast pumping speed but high fuel consumption per unit time.

[0033] In the existing technology, most control methods for controlling pumping displacement adopt a forced control scheme. For example, the controller pre-stores safe operating displacement points under different pumping conditions. When the operator operates a displacement higher than the safe displacement point, the pumping displacement does not respond and continues to pump at the safe displacement, that is, the pumping displacement is difficult to respond continuously.

[0034] In practice, pump truck operators often use full-displacement pumping to speed up the pumping process. However, this not only results in a slower pumping rate but also higher fuel consumption. Therefore, under different pumping conditions, operators often struggle to complete pumping operations in the fastest or most economical way.

[0035] This application proposes a method for controlling the pumping displacement of a concrete pump truck. Control modes, operating conditions, and corresponding optimal displacement values ​​are pre-stored in a displacement database. When the pump truck operator inputs a control mode, the optimal displacement value is determined from the database based on the pump truck's operating conditions and the input control mode. Then, a control strategy is determined based on the control mode and the optimal displacement value. Finally, the pumping displacement of the pump truck is determined based on the control strategy and the operator's input displacement. The fastest and most economical control modes are integrated into the displacement control strategy, allowing the operator to complete pumping operations in the fastest or most economical way under different pumping conditions. Furthermore, regardless of the control mode, the corresponding control strategy is monotonically increasing, ensuring continuous response of the pumping displacement and preventing it from remaining at a single displacement level. This guarantees the consistency of displacement operation and improves the operator's experience.

[0036] The technical methods described below, with reference to the accompanying drawings of the embodiments of this application, will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0037] Exemplary control method

[0038] As a first aspect of this application, this application provides a method for controlling the pumping displacement of a concrete pump truck. Figure 1 The diagram shown is a schematic flow chart of a method for controlling the pumping displacement of a pump truck according to this application. Figure 1 As shown, the method for controlling the pumping capacity of this pump truck includes the following steps:

[0039] Step S10: Obtain the control mode and operating conditions of the pump truck, wherein the control mode includes the fastest control mode and / or the most economical control mode.

[0040] Specifically, the operating conditions of the pump truck can be determined by the pump truck's operating condition data, which includes the mixing pressure of the pump truck's mixing device, the boom posture data, and the ambient temperature of the environment in which the pump truck is working. The mixing pressure can be collected by a pressure sensor installed on the mixing device. The boom posture data can be quantified by the change in the end height of each boom segment, and the change in the end height of each boom segment can be determined by the boom segment angle, which can be collected by an inclination sensor installed on the boom segment. The ambient temperature can be collected by a temperature sensor.

[0041] Specifically, the mixing pressure reflects the type of material being pumped by the pump truck. The boom posture data reflects the type of operation the pump truck is undertaking. The ambient temperature reflects the working environment of the pump truck.

[0042] Specifically, the control mode of the pump truck is input by the operator. The fastest control mode refers to the operating mode that maximizes the pumping volume per unit time. The most economical control mode refers to the operating mode that minimizes fuel consumption for the same pumping volume.

[0043] In addition to the fastest and most economical control modes mentioned above, the pump truck's control modes also include a conventional control mode. The conventional control mode refers to the pumping displacement being determined according to the operating displacement. That is, regardless of the size of the operating displacement input by the operator, the pumping displacement is always the operating displacement input by the operator, without the need for any forced control scheme.

[0044] Specifically, after obtaining the pump truck's operating data, the operating conditions of the pump truck are determined based on this data. For example, the type of material being pumped can be determined based on the mixing pressure. The type of operation can be determined based on the boom posture data. The operating environment of the pump truck can be determined based on the ambient temperature.

[0045] Step S20: Determine the optimal displacement value that matches the operating conditions and control mode of the pump truck.

[0046] Optionally, a displacement database can be pre-built. This database includes: operating conditions, control modes, and the optimal displacement values ​​of the pumps corresponding to the control modes and operating conditions. Specifically, the optimal displacement value for the most economical control mode is the displacement value corresponding to the lowest fuel consumption when pumping the same volume under the same operating conditions. The optimal displacement value for the fastest control mode is the displacement value corresponding to the shortest pumping time when pumping the same volume under the same operating conditions. For example, operating condition 1, conventional control mode, and optimal displacement value 1 form one set of data; operating condition 1, most economical control mode, and optimal displacement value 2 form another set; and operating condition 1, fastest control mode, and optimal displacement value 3 form yet another set. In other words, there is a one-to-one correspondence between operating conditions, control modes, and optimal displacement values ​​in the displacement database.

[0047] Once the displacement database is built, the optimal displacement value of the pump that matches the pump's operating conditions and control mode can be queried from the displacement database.

[0048] It should be understood that, in addition to obtaining the optimal displacement value from the displacement database as mentioned above, the method for determining the optimal displacement value based on the pump's operating conditions and control mode can also be achieved through machine learning methods such as neural networks. For example, a neural network-based model can be constructed, and training data (including the pump's operating conditions, control mode, and optimal displacement value) can be input into the model for training. Then, the pump's operating conditions and control mode can be input into the trained model, and the model can output the optimal displacement value that matches the pump's operating conditions and control mode.

[0049] In step S10, the operating conditions of the pump truck are determined based on the operating condition data. In step S10, the pump truck operator inputs the control mode. Therefore, in step S20, the optimal displacement value that matches the operating conditions of the pump and the input control mode can be determined.

[0050] Step S30: Determine the control strategy for the pumping displacement of the pump truck based on the control mode and the optimal displacement value. The control strategy includes the following: the relationship between the pumping displacement and the operating displacement is a monotonically increasing relationship.

[0051] Specifically, the operating displacement is the displacement input by the pump truck operator, and the pumping displacement is the actual displacement output by the pump truck.

[0052] A monotonically increasing relationship means that as the operating displacement increases, the pumping displacement also increases.

[0053] The control strategies for each control mode are different. For example, the control strategy corresponding to the conventional control mode is that the monotonically increasing relationship between the pumping displacement and the operating displacement is linear, and the maximum value of the pumping displacement is 100%.

[0054] For example, such as Figure 2 as well as Figure 3 As shown, when the control mode is the fastest control mode or the most economical control mode, the pumping displacement and the operating displacement are monotonically increasing. At this time, the maximum value of the pumping displacement is the optimal displacement value corresponding to the fastest control mode or the most economical control mode determined in step S30.

[0055] Once the pump truck operator inputs the operating displacement, the pumping displacement can be determined based on the monotonically increasing relationship and the operating displacement, i.e., step S40 is executed.

[0056] Step S40: Determine the pumping displacement of the pump truck based on the control strategy and operating displacement.

[0057] In step S30, the control strategy corresponding to the control mode is determined, that is, the specific manifestation of the monotonically increasing relationship is determined. When the operator inputs the operating displacement, the pumping displacement can be determined according to the specific manifestation of the monotonically increasing relationship.

[0058] The pumping displacement control method for a concrete pump truck provided in this application first determines the optimal displacement value matching the pump truck's operating conditions and control mode after the operator inputs the control mode. Then, it determines the control strategy based on the control mode and the optimal displacement value, and finally determines the pumping displacement based on the control strategy and the operator's input displacement. The fastest and most economical control modes are integrated into the displacement control strategy, enabling the operator to complete pumping operations in the fastest or most economical way under different pumping conditions. Furthermore, regardless of the control mode, the matching control strategy is monotonically increasing, ensuring continuous response of the pumping displacement and preventing it from remaining at a single displacement level. This guarantees the continuity of pumping operations and improves the operator's experience.

[0059] In one possible implementation, such as Figure 5 As shown, combined with Figures 2-4 Step S30 (the control strategy for determining the pumping displacement of the pump truck based on the control mode and optimal displacement value) specifically includes the following steps:

[0060] Step S301: Establish a rectangular coordinate system with the operating displacement as the horizontal axis and the pumping displacement as the vertical axis;

[0061] Step S302: Determine the starting point based on the preset minimum value of the operating displacement, where the horizontal and vertical coordinates of the starting point are both preset minimum values;

[0062] Specifically, the preset minimum operating displacement is 0%, and the coordinates of the starting point determined based on the preset minimum operating displacement in the rectangular coordinate system are (0%, 0%).

[0063] Step S303: Based on the preset maximum value and the optimal displacement value of the operating displacement, determine the endpoint, where the horizontal axis of the endpoint is the preset maximum value and the vertical axis is the optimal displacement value;

[0064] Specifically, the preset maximum value of the operating displacement is 100%, and the optimal displacement value is the optimal displacement value PC determined in step S20. The coordinates of the endpoint determined based on the preset maximum value of the operating displacement in the rectangular coordinate system are (100%, PC).

[0065] Step S304: Determine the first point based on the optimal displacement value, where the x-coordinate and y-coordinate of the first point are both the optimal displacement value;

[0066] That is, the coordinates of the first point in the rectangular coordinate system are (PC, PC).

[0067] Step S305: Establish a first linear relationship based on the starting point and the first point, establish a second linear relationship based on the first point and the ending point, and establish a third linear relationship based on the starting point and the ending point;

[0068] Specifically, such as Figures 2-4 As shown, the starting point and the first point can form the first straight line, i.e., the first linear relationship Y1; the first point and the end point can form a straight line, i.e., the second linear relationship Y2; the starting point and the end point can form a straight line, i.e., the third linear relationship Y3.

[0069] Step S306: When the operating displacement is less than the optimal displacement value and greater than or equal to the preset minimum value, since the preset minimum value is 0%, then when the operating displacement is less than the optimal displacement value, the pumping displacement and the operating displacement satisfy the first relationship curve. Under the same horizontal axis, the vertical coordinate of the midpoint of the first relationship curve is greater than or equal to the vertical coordinate of the midpoint of the third linear relationship and less than or equal to the vertical coordinate of the midpoint of the first linear relationship.

[0070] That is, when the operating displacement is greater than 0% and less than the optimal displacement value, the relationship between the pumping displacement and the operating displacement satisfies the first relationship curve, and the first relationship curve is located between the first linear relationship Y1 and the third linear relationship Y3. The first relationship curve satisfies a monotonically increasing relationship, that is, on the first relationship curve, there is one and only one pumping displacement corresponding to an operating displacement, and the larger the operating displacement, the larger the pumping displacement corresponding to that operating displacement.

[0071] Specifically, such as Figures 2-4 As shown, when the operating displacement x satisfies the relationship: 0% ≤ x < PC, the pumping displacement y determined by the first relationship curve satisfies the following relationship: y3 ≤ y ≤ y1, where y3 is the y3 corresponding to x in the third linear relationship Y3, and y1 is the y1 corresponding to X in the first linear relationship Y1.

[0072] Step S307: When the operating displacement is greater than or equal to the optimal displacement value and less than or equal to the preset maximum value, the pumping displacement and the operating displacement satisfy the second relationship curve. Under the same horizontal axis, the vertical axis of the midpoint of the second relationship curve is greater than or equal to the vertical axis of the midpoint of the third linear relationship and less than or equal to the vertical axis of the midpoint of the second linear relationship.

[0073] That is, when the operating displacement is greater than or equal to the optimal displacement value and less than or equal to 100%, the relationship between the pumping displacement and the operating displacement satisfies the second relationship curve. This second relationship curve lies between the second linear relationship Y2 and the third linear relationship Y3, and it exhibits a monotonically increasing relationship. Specifically, on the second relationship curve, for each operating displacement, there is one and only one corresponding pumping displacement, and the larger the operating displacement, the larger the corresponding pumping displacement. Simultaneously, the first and second relationship curves are continuous, and when x = PC, both curves are smooth.

[0074] Specifically, such as Figures 2-4 As shown, when the operating displacement x satisfies the relationship: PC≤x≤100%, the pumping displacement y determined by the second relationship curve satisfies the following relationship: y3≤y≤y2 (i.e. PC), where y3 is the y3 corresponding to x in the third linear relationship Y3, and y2 is the y2 corresponding to x in the second linear relationship Y2. Since the second linear relationship is parallel to the horizontal axis, y2 is the PC value (i.e. the optimal displacement value).

[0075] Optionally, when the operating displacement is greater than or equal to the optimal displacement value, the second relationship curve can be a straight line (e.g., a fourth linear relationship), such as... Figure 2 As shown. It can also be a relationship curve, such as... Figure 3 as well as Figure 4 As shown.

[0076] Optionally, when the operating displacement is less than the optimal displacement value and greater than or equal to the preset minimum value (i.e., 0%), in combination with 2- Figure 4 As shown, when the pumping displacement and operating displacement satisfy the first relationship curve, the specific method for determining the first relationship curve (i.e., step S306) includes:

[0077] (1) Determine the displacement inflection point based on the starting point (0%, 0) and the first point (PC, PC), where the displacement inflection point satisfies the first linear relationship, and the x-coordinate of the displacement inflection point is greater than or equal to the x-coordinate of the starting point and less than the x-coordinate of the first point.

[0078] Specifically, the coordinates of the displacement inflection point are (x 转 y 转 ), and 0≤x 转 <PC, and the x-coordinate and y-coordinate of the displacement inflection point satisfy the first linear relationship Y1, that is, the displacement inflection point is on the first straight line.

[0079] (2) When the x-coordinate of the displacement inflection point is greater than the x-coordinate of the starting point but less than the x-coordinate of the first point, i.e., 0% < x 转 <PC time, such as Figure 2 As shown, the specific method for determining the first relationship curve is as follows:

[0080] If the operating displacement is greater than or equal to the x-coordinate of the starting point and less than or equal to the x-coordinate of the displacement inflection point, the pumping displacement and the operating displacement satisfy the first linear relationship.

[0081] That is, when 0≤x≤x 转 At that time, the pumping displacement and the operating displacement satisfy the first linear relationship, that is, the pumping displacement y = y1.

[0082] If the operating displacement is greater than the x-coordinate of the displacement inflection point and less than the optimal displacement value, the pumping displacement and the operating displacement satisfy the third relationship curve. Under the same x-coordinate, the y-coordinate of the midpoint of the third relationship curve is greater than or equal to the y-coordinate of the midpoint of the third linear relationship and less than the y-coordinate of the midpoint of the first linear relationship.

[0083] That is, when x 转 When x < PC, the pumping displacement and the operating displacement satisfy the third relationship curve. That is, the pumping displacement y determined by the third relationship curve satisfies the following relationship: y3 ≤ y < y1. In other words, the third relationship curve lies between the first linear relationship Y1 and the third linear relationship Y3, and the third relationship curve satisfies a monotonically increasing relationship. That is, on the third relationship curve, for each operating displacement, there is one and only one corresponding pumping displacement, and the larger the operating displacement, the larger the corresponding pumping displacement.

[0084] Specifically, the third relationship curve can be the fourth linear relationship Y4, such as... Figure 2 As shown, the fourth linear relationship is the linear relationship formed by the displacement inflection point and the endpoint. At this time, the second relationship curve includes the first linear relationship Y1 and the fourth linear relationship Y4.

[0085] (3) When the x-coordinate of the displacement inflection point is equal to the x-coordinate of the starting point, i.e., x 转 =0%, such as Figure 3 as well as Figure 4 As shown, the specific method for determining the first relationship curve is as follows:

[0086] If the operating displacement is greater than or equal to the x-coordinate of the starting point and less than the optimal displacement value, the pumping displacement and the operating displacement satisfy the fourth relationship curve. Under the same x-coordinate, the y-coordinate of the midpoint of the fourth relationship curve is greater than or equal to the y-coordinate of the midpoint of the third linear relationship and less than the y-coordinate of the midpoint of the first linear relationship.

[0087] That is, when 0 ≤ x < PC, and x 转When y = 0%, the pumping displacement and the operating displacement satisfy the fourth relationship curve. That is, the pumping displacement y determined by the fourth relationship curve satisfies the following relationship: y3 ≤ y < y1. In other words, the fourth relationship curve lies between the first linear relationship Y1 and the third linear relationship Y3, and the fourth relationship curve satisfies a monotonically increasing relationship. Specifically, on the fourth relationship curve, for each operating displacement, there is one and only one corresponding pumping displacement, and the larger the operating displacement, the larger the corresponding pumping displacement. In this case, the first relationship curve becomes the fourth relationship curve.

[0088] Specifically, such as Figure 3 as well as Figure 4 As shown, the fourth relationship curve can be a curve (e.g., an arc), such as... Figure 3 As shown, the fourth relationship curve can also be a straight line and a curve, such as... Figure 4 As shown.

[0089] In one possible implementation, such as Figure 6 As shown, step S10 (obtaining the operating conditions of the pump truck) may specifically include the following steps:

[0090] Step S101: Obtain the mixing pressure of the pump truck's mixing device;

[0091] Specifically, the stirring pressure can be collected by a pressure sensor installed on the stirring device. The type of material being stirred in the stirring device can be determined by the stirring pressure.

[0092] Step S102: Obtain the ambient temperature of the pump truck's working environment;

[0093] Ambient temperature can be collected by a temperature sensor, and the working environment of the pump truck can be determined based on the ambient temperature.

[0094] Step S103: Obtain the boom attitude data of the pump truck;

[0095] Boom attitude data can be quantified by the change in end height of each boom segment, and the change in end height of each boom segment can be determined by the boom angle of each boom segment, which can be collected by tilt sensors mounted on the boom segments.

[0096] The type of operation of the pump truck can be determined based on the boom posture data.

[0097] Step S104: Determine the operating conditions of the pump truck based on the mixing pressure, ambient temperature, and boom posture.

[0098] Optionally, step S103 (obtaining the boom attitude data of the pump truck) may specifically include the following steps:

[0099] (1) Obtain the joint angle of each boom segment in the boom;

[0100] Specifically, the boom of a pump truck consists of multiple boom sections. The boom angle of the first boom section refers to the angle between the first boom section and the horizontal direction, while the boom angles of the second and subsequent boom sections refer to the angles between two boom sections. Figure 7 As shown.

[0101] (2) Calculate the end height of the segment arm based on the segment arm angle and the segment arm length;

[0102] Specifically, boom attitude data can be quantified by the change in the end height of each boom segment, and the change in the end height of each boom segment can be determined by the angle between each boom segment. For example, if the boom of a pump truck consists of 7 boom segments, then the attitude data of the boom can be quantified as [10,15,8,20,15,11,5] in meters.

[0103] The end height of each boom segment is calculated based on the boom angle and the length of each boom segment. For example, a pump truck boom consists of 5 boom segments, with the boom angle being A = [A1, A2, A3, A4, A5] in degrees, and the boom lengths being L = [L1, L2, L3, L4, L5] in meters. The cumulative angle value is calculated. Calculate the height of the end of each boom segment. Where n = 1, 2, 3, 4, 5.

[0104] (3) Determine the boom posture data based on the end height of each boom segment.

[0105] Exemplary control device

[0106] As a second aspect of this application, this application also provides a control device for the pumping displacement of a pump truck, such as... Figure 8 As shown, the control device 100 includes:

[0107] The data acquisition module 101 is used to acquire the operating conditions and control modes of the pump truck, wherein the control modes include the fastest control mode and / or the most economical control mode.

[0108] That is, the data acquisition module 101 is used to execute step S10 in the pumping displacement control method of the pump truck described above.

[0109] Specifically, the operating conditions of the pump truck can be determined by its operating condition data, which includes the mixing pressure of the mixing device, boom posture data, and the ambient temperature of the environment in which the pump truck operates. The mixing pressure can be collected by a pressure sensor installed on the mixing device. The boom posture data can be quantified by the change in the end height of each boom segment, and the change in the end height of each boom segment can be determined by the boom segment angle, which can be collected by an inclination sensor installed on the boom segment. The ambient temperature can be collected by a temperature sensor. In other words, the data acquisition module 101 communicates with the pressure sensor, temperature sensor, and inclination sensor to obtain the pump truck's operating condition data and determine the pump truck's operating conditions based on this data.

[0110] Specifically, the control mode of the pump truck is input by the operator. The fastest control mode refers to the operating displacement at which the pumping volume is maximized per unit time. The most economical control mode refers to the operating displacement at which the pumping volume and fuel consumption are minimized for the same pumping volume. The pump truck's control mode also includes a normal control mode, which refers to the normal pumping displacement determined by the operating displacement, without any forced control scheme.

[0111] Specifically, after obtaining the pump truck's operating data, the operating conditions of the pump truck are determined based on this data. For example, the type of material being pumped can be determined based on the mixing pressure. The type of operation can be determined based on the boom posture data. The operating environment of the pump truck can be determined based on the ambient temperature.

[0112] The optimal displacement value determination module 102 is used to determine the optimal displacement value of the pump that matches the operating conditions and control mode of the pump truck based on the operating conditions and control mode of the pump truck.

[0113] That is, the optimal displacement value determination module 102 is used to execute step S20 in the pumping displacement control method of the pump truck described above.

[0114] Specifically, a displacement database can be pre-built. This database includes: the pump truck's operating conditions, control modes, and the optimal displacement value matching the pump truck's operating conditions and control modes. Specifically, the optimal displacement value for the most economical control mode is the displacement value corresponding to the lowest fuel consumption when pumping the same volume under the same operating conditions. The optimal displacement value for the fastest control mode is the displacement value corresponding to the shortest pumping time when pumping the same volume under the same operating conditions. For example, operating condition 1, conventional control mode, and optimal displacement value 1 form one set of data; operating condition 1, most economical control mode, and optimal displacement value 2 form another set; and operating condition 1, fastest control mode, and optimal displacement value 3 form yet another set. In other words, there is a one-to-one correspondence between operating conditions, control modes, and optimal displacement values ​​in the displacement database.

[0115] Once the displacement database is built, the optimal displacement value of the pump that matches the operating conditions and control mode can be queried from the displacement database.

[0116] The control strategy determination module 103 is used to determine the control strategy of the pump truck's pumping displacement based on the control mode and the optimal displacement value. The control strategy includes: the relationship between the pumping displacement and the operating displacement is a monotonically increasing relationship.

[0117] That is, the control strategy determination module 103 is used to execute step S30 in the pumping displacement control method of the pump truck described above.

[0118] Specifically, a monotonically increasing relationship means that as the operating displacement increases, the pumping displacement also increases.

[0119] The control strategies for each control mode are different. For example, the control strategy corresponding to the conventional control mode is that the monotonically increasing relationship between the pumping displacement and the operating displacement is linear, and the maximum value of the pumping displacement is 100%.

[0120] For example, such as Figure 2 as well as Figure 3 As shown, when the control mode is the fastest control mode or the most economical control mode, the pumping displacement and the operating displacement are monotonically increasing. At this time, the maximum value of the pumping displacement is the optimal displacement value corresponding to the fastest control mode or the most economical control mode determined in step S30.

[0121] The control module 104 is used to determine the pumping displacement of the pump truck based on the control strategy and the operating displacement.

[0122] That is, the control module 104 is used to execute step S40 in the pumping displacement control method of the pump truck described above.

[0123] Once the specific manifestation of the monotonically increasing relationship is determined, the operator can input the operating displacement and then determine the pumping displacement based on the specific manifestation of the monotonically increasing relationship.

[0124] The pumping displacement control device for the concrete pump truck provided in this application, after the pump truck operator inputs the control mode, first determines the optimal displacement value based on the pump truck's operating conditions and the input control mode. Then, it determines the control strategy of the control mode based on the control mode and the optimal displacement value, and finally determines the pump truck's pumping displacement based on the control strategy and the operator's input operating displacement. The fastest and most economical control modes are integrated into the displacement control strategy, enabling the operator to complete the pumping operation in the fastest or most economical way under different pumping conditions. Furthermore, regardless of the control mode, the corresponding control strategy is monotonically increasing, ensuring continuous response of the pumping displacement and preventing it from remaining at a single pumping displacement, thus guaranteeing the continuity of displacement operation and improving the operator's experience.

[0125] Exemplary System

[0126] As a third aspect of this application, this application also provides a control system for the pumping capacity of a pump truck, such as... Figure 9 As shown, the control system 1 includes:

[0127] The control device 100 described above;

[0128] Pressure sensor 200 is used to detect the stirring pressure of the stirring device so as to determine the material being stirred in the stirring device by means of the stirring pressure.

[0129] Temperature sensor 300 is used to detect the ambient temperature of the environment in which the pump truck is located, so that the working environment of the pump truck can be determined by the ambient temperature.

[0130] The tilt sensor 400 is used to detect the boom angle of the boom segments. By measuring the boom angle, the change in the end height of each boom segment can be determined. The boom attitude data of the pump truck can be determined by quantifying the change in the end height of each boom segment.

[0131] The control device 100 is communicatively connected to the pressure sensor 200, the temperature sensor 300, and the tilt sensor 400.

[0132] The operating data of the pump truck during operation can be obtained through the pressure sensor 200, temperature sensor 300 and tilt sensor 400, and the operating conditions of the pump truck can be determined based on the operating data.

[0133] Exemplary pump truck

[0134] As a third aspect of this application, this application also provides a pump truck, comprising: a chassis and a turret mounted on the chassis; a boom mounted on the turret; a mixing device mounted on the chassis; and

[0135] The control system described above.

[0136] Exemplary electronic devices

[0137] Below, for reference Figure 10 This describes an electronic device according to embodiments of the present application. Figure 10 The diagram shown is a structural schematic of an electronic device provided in an embodiment of this application.

[0138] like Figure 10 As shown, the electronic device 600 includes one or more processors 601 and memory 602.

[0139] The processor 601 may be a central processing unit (CPU) or other form of processing unit with information processing and / or information execution capabilities, and may control other components in the electronic device 600 to perform desired functions.

[0140] The memory 601 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program information may be stored on the computer-readable storage medium, and the processor 601 may run the program information to implement the control methods or other desired functions of the various embodiments of this application described above.

[0141] In one example, the electronic device 600 may also include an input device 603 and an output device 604, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0142] The input device 603 may include, for example, a keyboard, a mouse, etc.

[0143] The output device 604 can output various information to the outside. The output device 604 may include, for example, a display, a communication network, and remote output devices connected thereto.

[0144] Of course, for the sake of simplicity, Figure 10 Only some of the components of the electronic device 600 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 600 may include any other suitable components depending on the specific application.

[0145] In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program information that, when run by a processor, causes the processor to perform the steps of the control methods according to various embodiments of this application as described in this specification.

[0146] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0147] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program information thereon, which, when run by a processor, causes the processor to execute the steps in the control methods according to various embodiments of this application.

[0148] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0149] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0150] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0151] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. Such disassembly and / or recombination should be considered as equivalent to the present application.

[0152] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features of the invention herein.

[0153] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Any modifications or equivalent substitutions made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A method for controlling the pumping displacement of a concrete pump truck, characterized in that, include: The operating conditions and control modes of the pump truck are obtained, wherein the control modes include the fastest control mode and / or the most economical control mode; Based on the operating conditions and the control mode, determine the optimal displacement value that matches the operating conditions and the control mode; A control strategy for determining the pumping displacement of the pump truck based on the control mode and the optimal displacement value, wherein the control strategy includes: The relationship between the pumping displacement and the operating displacement is monotonically increasing; and The pumping displacement is determined based on the control strategy and the operating displacement.

2. The control method according to claim 1, characterized in that, The control strategy for determining the pumping displacement of the pump truck based on the control mode and the optimal displacement value includes: When the control mode is the fastest control mode or the most economical control mode, the control strategy for determining the pumping displacement of the pump truck is as follows: A rectangular coordinate system is established with the operating displacement as the horizontal axis and the pumping displacement as the vertical axis; The starting point is determined based on the preset minimum value of the operating displacement, wherein the horizontal and vertical coordinates of the starting point are both the preset minimum values; Based on the preset maximum value of the operating displacement and the optimal displacement value, the endpoint is determined, wherein the horizontal axis of the endpoint is the preset maximum value and the vertical axis is the optimal displacement value. A first point is determined based on the optimal displacement value, wherein the x-coordinate and y-coordinate of the first point are both the optimal displacement value; A first linear relationship is established based on the starting point and the first point; a second linear relationship is established based on the first point and the ending point; and a third linear relationship is established based on the starting point and the ending point. When the operating displacement is less than the optimal displacement value and greater than or equal to the preset minimum value, the pumping displacement and the operating displacement satisfy the first relationship curve. Under the same horizontal coordinate, the vertical coordinate of the midpoint of the first relationship curve is greater than or equal to the vertical coordinate of the midpoint of the third linear relationship and less than or equal to the vertical coordinate of the midpoint of the first linear relationship. When the operating displacement is greater than or equal to the optimal displacement value and less than or equal to the preset maximum value, the pumping displacement and the operating displacement satisfy the second relationship curve. Under the same horizontal axis, the vertical coordinate of the midpoint of the second relationship curve is greater than or equal to the vertical coordinate of the midpoint of the third linear relationship and less than or equal to the vertical coordinate of the midpoint of the second linear relationship. The first relationship curve and the second relationship curve are continuous and monotonically increasing.

3. The control method according to claim 2, characterized in that, When the operating displacement is less than the optimal displacement value and greater than or equal to the preset minimum value, the pumping displacement and the operating displacement satisfy a first relationship curve, including: The displacement inflection point is determined based on the starting point and the first point, wherein the displacement inflection point satisfies the first linear relationship, and the x-coordinate of the displacement inflection point is greater than or equal to the x-coordinate of the starting point and less than the x-coordinate of the first point. When the x-coordinate of the displacement inflection point is greater than the x-coordinate of the starting point but less than the x-coordinate of the first point, If the operating displacement is greater than or equal to the x-coordinate of the starting point and less than or equal to the x-coordinate of the displacement inflection point, the pumping displacement and the operating displacement satisfy the first linear relationship; If the operating displacement is greater than the x-coordinate of the displacement inflection point and less than the optimal displacement value, the pumping displacement and the operating displacement satisfy a third relationship curve. Under the same x-coordinate, the y-coordinate of the midpoint of the third relationship curve is greater than or equal to the y-coordinate of the midpoint of the third linear relationship and less than the y-coordinate of the midpoint of the first linear relationship. The first relationship curve is constructed based on the first linear relationship and the third relationship curve.

4. The control method according to claim 3, characterized in that, When the x-coordinate of the displacement inflection point is equal to the x-coordinate of the starting point, if the operating displacement is greater than or equal to the x-coordinate of the starting point and less than the optimal displacement value, the pumping displacement and the operating displacement satisfy the fourth relationship curve. Under the same x-coordinate, the y-coordinate of the midpoint of the fourth relationship curve is greater than or equal to the y-coordinate of the midpoint of the third linear relationship and less than the y-coordinate of the midpoint of the first linear relationship. The first relationship curve is constructed based on the fourth relationship curve.

5. The control method according to claim 1, characterized in that, The step of determining the optimal displacement value matching the operating conditions and the control mode based on the operating conditions and the control mode includes: Based on the operating conditions and the control mode, query the displacement database for the optimal displacement value that matches the operating conditions and the control mode; The displacement database includes: operating conditions, control modes, and optimal displacement values ​​corresponding to the control modes and operating conditions.

6. The control method according to claim 1, characterized in that, Obtain the operating conditions of the pump truck, including: Obtain the mixing pressure of the mixing device of the pump truck; Obtain the ambient temperature of the working environment of the pump truck; Obtain the boom posture data of the pump truck; and The operating conditions of the pump truck are determined based on the stirring pressure, the ambient temperature, and the boom posture.

7. The control method according to claim 6, characterized in that, Obtaining the boom posture data of the pump truck includes: Obtain the boom angle of each boom segment in the boom; The end height of the segment arm is calculated based on the segment arm angle and the length of the segment arm; and The boom attitude data is determined based on the end height of each boom segment.

8. A control device for the pumping displacement of a pump truck, characterized in that, include: The data acquisition module is used to acquire the operating conditions and control modes of the pump truck, wherein the control modes include the fastest control mode and / or the most economical control mode. The optimal displacement value determination module is used to determine the optimal displacement value of the pump that matches the operating conditions and the control mode based on the operating conditions and the control mode. A control strategy determination module is used to determine a control strategy for the pumping displacement of the pump truck based on the control mode and the optimal displacement value, wherein the control strategy includes: the relationship between the pumping displacement and the operating displacement is monotonically increasing; and A control module is used to determine the pumping displacement based on the control strategy and the operating displacement.

9. A control system for the pumping capacity of a concrete pump truck, characterized in that, include: The control device as described in claim 8; Pressure sensor, the pressure sensor being used to detect the stirring pressure of the stirring device; A temperature sensor, used to detect the ambient temperature of the environment in which the pump truck is located; An inclination sensor is used to detect the inclination angle of the boom segments in the boom. The control device is communicatively connected to the pressure sensor, temperature sensor, and tilt sensor, respectively.

10. A pump truck, characterized in that, include: The chassis and the turret mounted on the chassis; The boom mounted on the turret; A stirring device mounted on the chassis; as well as The control system as described in claim 9.

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