Mixing truck and mixing truck control method

Abstract

The application relates to the field of engineering machinery and discloses a mixer truck and a mixer truck control method, the mixer truck comprising a chassis, a stirring drum, an angle adjusting mechanism, a slump detection device, a discharge detection device, an obstacle detection device and a control unit, the slump detection device is used for collecting slump information of concrete in the stirring drum, the discharge detection device is used for collecting discharge information of a discharge port of the stirring drum, the obstacle detection device is used for collecting first obstacle information above the stirring drum, and the control unit is used for controlling the angle adjusting mechanism to drive the stirring drum to move relative to the chassis according to the slump information, the discharge information and the first obstacle information, so as to adjust an included angle between the stirring drum and the chassis. The mixer truck can automatically adjust the included angle between the stirring drum and the chassis according to different occasions, and the degree of automation and intelligence of the mixer truck is greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery, specifically relating to a concrete mixer truck and a method for controlling the concrete mixer truck. Background Technology

[0002] Existing concrete mixer trucks suffer from the following problems and defects: 1. When driving on level roads, the fixed angle of the mixing drum results in poor mixing performance, leading to significant differences in mixing effect and quality for different grades of concrete. 2. The fixed height of the mixer truck makes it susceptible to road height restrictions, preventing direct passage. 3. When driving uphill or on slopes with low inclination angles, the mixer truck is prone to dripping. 4. The discharge speed of the mixer truck is significantly affected by the inclination angle of the mixing drum; existing mixer trucks have large inclination angles, resulting in low discharge speeds and consequently low operating efficiency. These problems and defects lead to poor performance and adaptability of existing concrete mixer trucks, low operating efficiency, and high operating costs. Summary of the Invention

[0003] In view of the above-mentioned deficiencies or defects in the prior art, the present invention provides a mixer truck and a mixer truck control method, aiming to solve the technical problems of poor performance and adaptability, low operating efficiency and high operating costs of existing mixer trucks.

[0004] To achieve the above objectives, the present invention provides a mixer truck, the mixer truck comprising:

[0005] The chassis has a rear-end section at the rear.

[0006] A stirring drum is mounted on the chassis and its tail cone is supported on the back support.

[0007] An angle adjustment mechanism is disposed between the back stage and the stirring drum;

[0008] A slump detection device is used to collect slump information of the concrete inside the mixing drum;

[0009] A discharge detection device is used to collect discharge information from the discharge port of the mixing drum;

[0010] An obstacle detection device is used to collect information about a first obstacle above the mixing drum;

[0011] The control unit is communicatively connected to the angle adjustment mechanism, the slump detection device, the discharge detection device, and the obstacle detection device, respectively, and is used to control the angle adjustment mechanism to drive the mixing drum to move relative to the chassis based on the slump information, the discharge information, and the first obstacle information, so as to adjust the angle between the mixing drum and the chassis.

[0012] Optionally, the mixer truck further includes a support roller, which is mounted on the back stage and supports the tail cone of the mixing drum. The angle adjustment mechanism includes a first electric push rod and a second electric push rod. One end of the first electric push rod and the second electric push rod are respectively hinged to both ends of the wheel axle of the support roller, and the other ends of the first electric push rod and the second electric push rod extend in a direction away from the tail cone of the mixing drum and are respectively hinged to the back stage.

[0013] Optionally, the slump testing device is a concrete rheometer, which is installed inside the mixing drum.

[0014] Optionally, the discharge detection device is a camera module, which is mounted on the back stage and positioned opposite to the discharge port of the mixing drum.

[0015] Optionally, the mixer truck further includes:

[0016] Feed hopper;

[0017] A height adjustment mechanism is provided between the feed hopper and the back stage;

[0018] The obstacle detection device is also used to collect information about a second obstacle above the feed hopper. The control unit is communicatively connected to the height adjustment mechanism and is also used to control the height adjustment mechanism to drive the feed hopper to move up and down relative to the back stage according to the second obstacle information, so as to adjust the height of the feed hopper.

[0019] Optionally, the obstacle detection device is disposed at the top edge of the feed hopper.

[0020] Optionally, the height adjustment mechanism includes a third electric push rod and a fourth electric push rod. One end of the third electric push rod is hinged to the side of the feed hopper and the other end is hinged to the rear end. One end of the fourth electric push rod is hinged to the rear of the feed hopper and the other end is hinged to the rear end. The synchronous extension and retraction of the third and fourth electric push rods can drive the feed hopper to move up and down relative to the rear end.

[0021] The present invention also provides a mixer truck control method for the aforementioned mixer truck, the mixer truck control method comprising:

[0022] If it is determined that the mixer truck is in motion, and based on the first obstacle information, if an obstacle is found within a preset range above the mixing drum, the angle between the mixing drum and the chassis is reduced. If, based on the discharge information, material is dripping from the discharge port of the mixing drum, the angle between the mixing drum and the chassis is increased. If, based on the slump information, the slump rate of the concrete in the mixing drum exceeds a preset slump rate threshold, the angle between the mixing drum and the chassis is reduced.

[0023] Optionally, the mixer truck further includes a feed hopper and a height adjustment mechanism disposed between the feed hopper and the back stage. The obstacle detection device is also used to collect information about a second obstacle above the feed hopper. The control unit is communicatively connected to the height adjustment mechanism and is also used to control the height adjustment mechanism to drive the feed hopper to move up and down relative to the back stage according to the second obstacle information, so as to adjust the height of the feed hopper. The mixer truck control method further includes:

[0024] If it is determined that the mixer truck is in motion, and based on the second obstacle information, if it is determined that there is an obstacle within a preset range above the feed hopper, the height of the feed hopper is lowered.

[0025] Optionally, the mixer truck control method further includes:

[0026] If it is determined that the mixer truck is in the discharge state, and based on the discharge information, if it is determined that the discharge speed of the mixing drum is lower than the preset discharge speed threshold, the angle between the mixing drum and the chassis is reduced.

[0027] Optionally, the mixer truck control method further includes:

[0028] If it is determined that the mixer truck is in the feeding state, and based on the second obstacle information, if the distance between the feed hopper and the discharge port of the mixing host located above is greater than a preset distance threshold, the height of the feed hopper is increased.

[0029] Through the above technical solutions, the control unit can adjust the angle between the mixing drum and the chassis based on the slump information collected by the slump detection device, thereby adjusting the tilt angle of the mixing drum and effectively improving the mixing performance of the mixing drum to suit the mixing of different grades of concrete, thus effectively improving concrete quality. The control unit can also adjust the angle between the mixing drum and the chassis based on the first obstacle information collected by the obstacle detection device, thereby adjusting the height of the mixer truck and enabling it to travel on roads with height restrictions, making it suitable for more road conditions. Furthermore, the control unit can adjust the angle between the mixing drum and the chassis based on the discharge information collected by the discharge detection device to avoid dripping. Simultaneously, during discharge, the tilt angle of the mixing drum can be reduced by decreasing the angle between the mixing drum and the chassis, thereby increasing the discharge speed and improving operating efficiency. In this way, the performance, adaptability, and operating efficiency of the mixer truck are effectively improved, and operating costs are reduced. The mixer truck can automatically adjust the angle between the mixing drum and the chassis according to different situations, greatly improving the automation and intelligence of the mixer truck.

[0030] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0031] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0032] Figure 1 This is a schematic diagram of the structure of a mixer truck according to one embodiment of the present invention;

[0033] Figure 2 for Figure 1 A partial structural diagram of the mixer truck, mainly showing the connection structure of the support rollers, the first electric push rod, and the second electric push rod;

[0034] Figure 3 This is a partial structural diagram of a mixer truck in one embodiment of the present invention, mainly showing the connection structure of the feed hopper, the third electric push rod, and the fourth electric push rod;

[0035] Figure 4 This is a flowchart of a mixer truck control method in one embodiment of the present invention.

[0036] Explanation of reference numerals in the attached figures:

[0037] 1. Chassis 8. Second Electric Push Rod

[0038] 2. Mixing drum; 9. Feed hopper

[0039] 3. Slump detection device 10. Third electric push rod

[0040] 4. Discharge detection device 11. Fourth electric push rod

[0041] 5 Obstacle detection device 12 Backstage

[0042] 6. Support rollers

[0043] 7 First Electric Actuator Detailed Implementation

[0044] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0045] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other.

[0046] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used to describe the relative positions of components in relation to the directions shown in the accompanying drawings or in relation to the vertical, perpendicular, or gravitational directions.

[0047] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0048] The present invention first provides a mixer truck.

[0049] In one implementation, refer to the appendix. Figure 1 As shown, the mixer truck includes a chassis 1, a mixing drum 2, an angle adjustment mechanism, a slump detection device 3, a discharge detection device 4, an obstacle detection device 5, and a control unit. The rear of the chassis 1 is provided with a back support 12. The mixing drum 2 is mounted on the chassis 1 and its tail cone is supported on the back support 12. The angle adjustment mechanism is located between the back support 12 and the mixing drum 2. The slump detection device 3 is used to collect the slump information of the concrete in the mixing drum 2. The discharge detection device 4 is used to collect the discharge information of the discharge port of the mixing drum 2. The obstacle detection device 5 is used to collect the information of the first obstacle above the mixing drum 2. The control unit is communicatively connected to the angle adjustment mechanism, the slump detection device 3, the discharge detection device 4, and the obstacle detection device 5, and is used to control the angle adjustment mechanism to drive the mixing drum 2 to move relative to the chassis 1 according to the slump information, the discharge information, and the first obstacle information, so as to adjust the angle between the mixing drum 2 and the chassis 1.

[0050] In this embodiment, the control unit can adjust the angle between the mixing drum 2 and the chassis 1 based on the slump information collected by the slump detection device 3, thereby adjusting the tilt angle of the mixing drum 2 and effectively improving the mixing performance of the mixing drum 2 to be suitable for mixing concrete of different grades, thus effectively improving the quality of concrete. The control unit can also adjust the angle between the mixing drum 2 and the chassis 1 based on the first obstacle information collected by the obstacle detection device 5, thereby adjusting the height of the mixer truck, enabling the mixer truck to travel on roads with height restrictions and be suitable for more road conditions. The control unit can also adjust the angle between the mixing drum 2 and the chassis 1 based on the discharge information collected by the discharge detection device 4 to avoid dripping. At the same time, when the mixer truck discharges material, the tilt angle of the mixing drum can be reduced by decreasing the angle between the mixing drum 2 and the chassis 1, thereby increasing the discharge speed and improving operating efficiency. In this way, the performance, adaptability, and operating efficiency of the mixer truck are effectively improved, and operating costs are reduced. The mixer truck can automatically adjust the angle between the mixing drum and the chassis according to different situations, greatly improving the automation and intelligence of the mixer truck.

[0051] Specifically, in this embodiment, the head of the chassis 1 is also provided with a front platform, and the head of the mixing drum is connected to the front platform through a reducer and can rotate in the front-rear direction of the chassis 1.

[0052] In one implementation, refer to the appendix. Figure 2 As shown, the mixer truck also includes a support roller 6, which is mounted on the back stage 12 and supports the tail cone of the mixing drum 2. The angle adjustment mechanism includes a first electric push rod 7 and a second electric push rod 8. One end of the first electric push rod 7 and the second electric push rod 8 are respectively hinged to both ends of the wheel axle of the support roller 6. The other ends of the first electric push rod 7 and the second electric push rod 8 extend in the direction away from the tail cone of the mixing drum 2 and are respectively hinged to the back stage 12.

[0053] Specifically, the tail cone of the mixing drum 2 is fixedly sleeved with a circular raceway, which is supported on the support roller 6 and rolls in cooperation with the support roller 6. It should be noted that the cooperation between the support roller 6 and the circular raceway to support the rotation of the mixing drum 2 is a conventional technical means in this field, and its specific structure and working principle will not be described in detail here.

[0054] In this embodiment, the mixer truck may include two support rollers 6, which are respectively supported on both sides of the bottom of the tail cone of the mixing drum 2. Each support roller 6 is correspondingly equipped with a first electric push rod 7 and a second electric push rod 8.

[0055] Understandably, the movement of the support roller 6 can be driven by the extension and retraction of the first electric push rod 7 and / or the second electric push rod 8, thereby driving the movement of the mixing drum 2 and achieving the purpose of adjusting the angle between the mixing drum 2 and the chassis 1. In practical applications, the first electric push rod 7 can be positioned on the side of the support roller 6 facing the head of the mixing drum 2, and the second electric push rod 8 can be positioned on the other side of the support roller 6 facing away from the head of the mixing drum 2. The control unit can increase the angle between the mixing drum 2 and the chassis 1 by controlling the extension of the second electric push rod 8, or by controlling the extension of the second electric push rod 8 and the first electric push rod 7 simultaneously at different degrees; conversely, the control unit can decrease the angle between the mixing drum 2 and the chassis 1 by controlling the retraction of the second electric push rod 8, or by controlling the retraction of the second electric push rod 8 and the first electric push rod 7 simultaneously at different degrees. For example, when the discharge speed of the mixer truck needs to be increased rapidly, the angle between the mixing drum 2 and the chassis 1 can be rapidly reduced by controlling the retraction of the second electric push rod 8 and the first electric push rod 7 simultaneously at different degrees.

[0056] In other embodiments, the first electric actuator 7 and the second electric actuator 8 may be replaced by other power devices such as hydraulic cylinders.

[0057] In one embodiment, the slump detection device 3 is a concrete rheometer, which is installed inside the mixing drum 2. The concrete rheometer can accurately collect the slump information of the concrete inside the mixing drum 2.

[0058] In this embodiment, the concrete rheometer and the controller can interact wirelessly.

[0059] In one embodiment, the discharge detection device 4 is a camera module. The camera module is set on the back-end 12 and is positioned opposite to the discharge port of the mixing drum 2. Understandably, the camera module collects the discharge information of the discharge port of the mixing drum 2 by means of image information acquisition.

[0060] In this embodiment, the camera module and the controller can interact with each other via wireless communication.

[0061] In other embodiments, the discharge detection device 4 may also be a flow detection device installed inside the tail cone of the mixing drum 2 and / or installed on the discharge trough.

[0062] In one implementation, refer to the appendix. Figure 3As shown, the mixer truck also includes a feed hopper 9 and a height adjustment mechanism, which is located between the feed hopper 9 and the back stage 12. The obstacle detection device 5 is also used to collect information about a second obstacle above the feed hopper 9. The control unit is connected in communication with the height adjustment mechanism and is also used to control the height adjustment mechanism to drive the feed hopper 9 to move up and down relative to the back stage 12 according to the second obstacle information, so as to adjust the height of the feed hopper 9.

[0063] Understandably, the top of the feed hopper 9 is generally roughly level with the top of the tail cone of the mixing drum 2, and the height of the two is the top height of the mixer truck. During the operation of the mixer truck, the control unit synchronously adjusts the angle between the mixing drum 2 and the chassis 1 and the height of the feed hopper 9 according to the first obstacle information and the second obstacle information collected by the obstacle detection device 5. In this way, the top height of the mixer truck can be adjusted according to the actual road conditions to achieve the function of automatic obstacle avoidance.

[0064] In one embodiment, the obstacle detection device 5 is disposed at the top edge of the feed hopper 9.

[0065] Specifically, the obstacle detection device 5 can be a sensor capable of identifying obstacles, such as an ultrasonic sensor, a visual sensor, an infrared sensor, or a laser sensor.

[0066] In one embodiment, the height adjustment mechanism includes a third electric push rod 10 and a fourth electric push rod 11. One end of the third electric push rod 10 is hinged to the side of the feed hopper 9 and the other end is hinged to the back stage 12. One end of the fourth electric push rod 11 is hinged to the rear of the feed hopper 9 and the other end is hinged to the chassis 1. The synchronous extension and retraction of the third electric push rod 10 and the fourth electric push rod 11 can drive the feed hopper 9 to move up and down relative to the back stage 12.

[0067] Specifically, the two sides of the feed hopper 9 are respectively provided with inclined supports, and one end of the third electric push rod 10 and the fourth electric push rod 11 are respectively hinged to the two inclined supports.

[0068] In other embodiments, the third electric actuator 10 and the fourth electric actuator 11 may be replaced by other power devices such as hydraulic cylinders.

[0069] The present invention also provides a method for controlling a mixer truck, for use in the aforementioned mixer truck.

[0070] In one implementation, refer to the appendix. Figure 4 As shown, the control method for the mixer truck includes:

[0071] If the mixer truck is determined to be in motion, and an obstacle is found within a preset range above the mixing drum 2 based on the first obstacle information, the angle between the mixing drum 2 and the chassis 1 is reduced. If material is found to be dripping from the discharge port of the mixing drum 2 based on the discharge information, the angle between the mixing drum 2 and the chassis 1 is increased. If the slump information is found to be such that the slump rate of the concrete in the mixing drum 2 exceeds the preset slump rate threshold, the angle between the mixing drum 2 and the chassis 1 is reduced.

[0072] Understandably, by adjusting the angle between the mixing drum 2 and the chassis 1 based on the information of the first obstacle, the discharge information, and the slump information, the mixer truck can achieve automatic adjustment of the mixing drum in various scenarios, greatly improving the automation and intelligence level of mixer truck operation.

[0073] In practical applications, refer to the appendix. Figure 4 As shown, when the mixer truck is in motion, the adjustment process of the angle between the mixing drum 2 and the chassis 1 can be set with priority. Specifically, the priority of adjusting the angle between the mixing drum 2 and the chassis 1 based on the first obstacle information is the highest, the priority of adjusting the angle between the mixing drum 2 and the chassis 1 based on the discharge information is the second highest, and the priority of adjusting the angle between the mixing drum 2 and the chassis 1 based on the slump information is the lowest.

[0074] In one embodiment, the mixer truck further includes a feed hopper 9 and a height adjustment mechanism disposed between the feed hopper 9 and the back stage 12. The obstacle detection device 5 is also used to collect information about a second obstacle above the feed hopper 9. The control unit is communicatively connected to the height adjustment mechanism and is also used to control the height adjustment mechanism to drive the feed hopper 9 to move up and down relative to the back stage 12 according to the second obstacle information, so as to adjust the height of the feed hopper 9. The mixer truck control method further includes:

[0075] If it is determined that the mixer truck is in motion, and based on the second obstacle information, it is determined that there is an obstacle within a preset range above the feed hopper 9, the height of the feed hopper 9 is lowered.

[0076] In practical applications, when the mixer truck is in motion, the height of the mixing drum 2 and the feed hopper 9 are adjusted synchronously according to the first obstacle information and the second obstacle information.

[0077] In one implementation, refer to the appendix. Figure 4 As shown, the control method for the mixer truck also includes:

[0078] If it is determined that the mixer truck is in the discharge state, and the discharge speed of the mixing drum 2 is lower than the preset discharge speed threshold, the angle between the mixing drum 2 and the chassis 1 is reduced.

[0079] In this way, the discharge speed of the mixing drum 2 can be automatically adjusted.

[0080] In one implementation, refer to the appendix. Figure 4 As shown, the control method for the mixer truck also includes:

[0081] Once it is determined that the mixer truck is in the feeding state, and based on the second obstacle information, when it is determined that the distance between the feed hopper 9 and the discharge port of the mixing host located above is greater than the preset distance threshold, the height of the feed hopper 9 is increased.

[0082] Understandably, when the mixer truck is in the feeding state, the obstacle above the feed hopper 9, as determined by the second obstacle information, is the discharge port of the mixing host. At this time, by adjusting the height of the feed hopper 9 according to the second obstacle information, the feed hopper 9 can automatically and accurately connect with the discharge port of the mixing host, thereby improving the feeding quality.

[0083] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0084] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0085] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A mixer truck, characterized in that, The mixer truck includes: Chassis (1), with a rear end (12) at the rear. A mixing drum (2) is set on the chassis (1) and its tail cone is supported on the back stage (12); An angle adjustment mechanism is provided between the back stage (12) and the stirring drum (2); A slump detection device (3) is used to collect slump information of the concrete in the mixing drum (2); The discharge detection device (4) is used to collect the discharge information of the discharge port of the mixing drum (2); An obstacle detection device (5) is used to collect information about the first obstacle above the mixing drum (2); The control unit is communicatively connected to the angle adjustment mechanism, the slump detection device (3), the discharge detection device (4) and the obstacle detection device (5) respectively, and is used to control the angle adjustment mechanism to drive the stirring drum (2) to move relative to the chassis (1) according to the slump information, the discharge information and the first obstacle information, so as to adjust the angle between the stirring drum (2) and the chassis (1); The control unit is configured such that, when the mixer truck is in motion, the priority of the first obstacle information is higher than the priority of the discharge information, and the priority of the discharge information is higher than the priority of the slump information.

2. The mixer truck according to claim 1, characterized in that, The mixer truck also includes a support roller (6), which is set on the back stage (12) and supports the tail cone of the mixing drum (2). The angle adjustment mechanism includes a first electric push rod (7) and a second electric push rod (8). One end of the first electric push rod (7) and the second electric push rod (8) are respectively hinged to both ends of the wheel axle of the support roller (6). The other ends of the first electric push rod (7) and the second electric push rod (8) extend in the direction away from the tail cone of the mixing drum (2) and are respectively hinged to the back stage (12).

3. The mixer truck according to claim 1, characterized in that, The slump testing device (3) is a concrete rheometer, which is installed inside the mixing drum (2).

4. The mixer truck according to claim 1, characterized in that, The discharge detection device (4) is a camera module, which is set on the back stage (12) and is positioned opposite to the discharge port of the mixing drum (2).

5. The mixer truck according to claim 1, characterized in that, The mixer truck also includes: Feed hopper (9); A height adjustment mechanism is provided between the feed hopper (9) and the back stage (12); The obstacle detection device (5) is also used to collect information on the second obstacle above the feed hopper (9). The control unit is connected to the height adjustment mechanism and is also used to control the height adjustment mechanism to drive the feed hopper (9) to move up and down relative to the back stage (12) according to the second obstacle information, so as to adjust the height of the feed hopper (9).

6. The mixer truck according to claim 5, characterized in that, The obstacle detection device (5) is located at the top edge of the feed hopper (9).

7. The mixer truck according to claim 5, characterized in that, The height adjustment mechanism includes a third electric push rod (10) and a fourth electric push rod (11). One end of the third electric push rod (10) is hinged to the side of the feed hopper (9) and the other end is hinged to the back stage (12). One end of the fourth electric push rod (11) is hinged to the rear of the feed hopper (9) and the other end is hinged to the back stage (12). The synchronous extension and retraction of the third electric push rod (10) and the fourth electric push rod (11) can drive the feed hopper (9) to move up and down relative to the back stage (12).

8. A method for controlling a concrete mixer truck, characterized in that, For a mixer truck according to any one of claims 1 to 7, the mixer truck control method comprises: If it is determined that the mixer truck is in motion, and if an obstacle is found within a preset range above the mixing drum (2) based on the first obstacle information, the angle between the mixing drum (2) and the chassis (1) is reduced. If material is found to be dripping from the discharge port of the mixing drum (2) based on the discharge information, the angle between the mixing drum (2) and the chassis (1) is increased. If the slump rate of the concrete in the mixing drum (2) exceeds the preset slump rate threshold based on the slump information, the angle between the mixing drum (2) and the chassis (1) is reduced.

9. The mixer truck control method according to claim 8, characterized in that, The mixer truck also includes a feed hopper (9) and a height adjustment mechanism disposed between the feed hopper (9) and the back stage (12). The obstacle detection device (5) is also used to collect information on a second obstacle above the feed hopper (9). The control unit is communicatively connected to the height adjustment mechanism and is also used to control the height adjustment mechanism to drive the feed hopper (9) to move up and down relative to the back stage (12) according to the second obstacle information, so as to adjust the height of the feed hopper (9). The mixer truck control method also includes: If it is determined that the mixer truck is in motion, and if an obstacle is found within a preset range above the feed hopper (9) based on the second obstacle information, the height of the feed hopper (9) is reduced.

10. The mixer truck control method according to claim 9, characterized in that, The mixer truck control method also includes: If it is determined that the mixer truck is in the discharge state, and the discharge speed of the mixing drum (2) is lower than the preset discharge speed threshold, the angle between the mixing drum (2) and the chassis (1) is reduced according to the discharge information.

11. The mixer truck control method according to claim 10, characterized in that, The mixer truck control method also includes: If it is determined that the mixer truck is in the feeding state, and the distance between the feed hopper (9) and the discharge port of the mixing host located above is greater than a preset distance threshold, the height of the feed hopper (9) is increased according to the second obstacle information.

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