Material level detection methods and devices, pumping equipment

Abstract

A kind of material level detection method, comprising obtaining the reference fitting curve of the angle data of stirring blade and the torque data of driving motor under different material level regions;Obtain the real-time fitting curve of the angle data of stirring blade and the torque data of driving motor in the stirring process;Stirring blade rotates along the plane perpendicular to material level surface, the angle data of stirring blade is abscissa, the torque data of driving motor is ordinate, the zero position of stirring blade is coordinate origin;Based on the comparison result of real-time fitting curve and reference fitting curve, obtain real-time material level.The material level detection method obtains the real-time fitting curve of the angle data of stirring blade and the torque data of driving motor in real time, compares with the reference fitting curve of the angle data of stirring blade and the torque data of driving motor under different liquid level obtained in advance, can detect real-time material level region, has very strong practicability.The application also provides a detection device and pumping equipment.

Description

Technical Field

[0001] This invention relates to the field of material level detection technology in mixing vessels, and in particular to a material level detection method, detection device, and pumping equipment. Background Technology

[0002] When preparing concrete batches, it is necessary to monitor the discharge status of the concrete mixer truck and the feeding status of the pumping equipment in real time. On the one hand, this is to prevent concrete from overflowing and causing waste due to the discharge speed of the concrete mixer truck being too fast. On the other hand, it is also to prevent insufficient mixing of concrete due to the discharge speed of the concrete mixer truck being too slow, which would affect the pumping efficiency or even cause pipe blockage.

[0003] Existing technologies for on-site material level detection rely on sensors to sense the material level location and pressure, or on cameras and radar to detect the material level height. However, during pumping operations, residual material remains in and around the hopper. If this material is not removed promptly and thoroughly, it can solidify and cause irreversible damage to the performance of sensors, cameras, and radar. Therefore, due to the harsh operating environment, most existing technologies are difficult to apply in actual production.

[0004] Currently, new energy technologies are beginning to be gradually applied to concrete pumping equipment, such as new energy pump trucks, and electric-driven mixing designs are emerging, which provides other possibilities for material level detection. Summary of the Invention

[0005] In view of this, the present invention provides a material level detection method and detection device, and a pumping equipment, which acquires real-time fitting curves of the angle data of the stirring blades and the torque data of the drive motor, and compares them with reference fitting curves of the angle data of the stirring blades and the torque data of the drive motor under different material level areas in advance, so as to detect the real-time material level area and has strong practicality.

[0006] To achieve the above objectives:

[0007] In a first aspect, this application provides a material level detection method. The material level detection method is applied to an agitator in a pumping device. The agitator includes a hopper and agitator components disposed opposite each other on both sides of the hopper. Each agitator component is driven by a drive motor and includes at least two agitator blades spaced apart along its rotation center. The material level detection method includes: acquiring a reference fitting curve of the angle data of the agitator blades and the torque data of the drive motor under different material level areas; acquiring a real-time fitting curve of the angle data of the agitator blades and the torque data of the drive motor during the agitation process; wherein the agitator blades rotate along a plane perpendicular to the material level surface, the angle data of the agitator blades is the abscissa, the torque data of the drive motor is the ordinate, and the zero-degree position of the agitator blades is the origin of the coordinate system; and obtaining the real-time material level area based on the comparison result of the real-time fitting curve and the reference fitting curve.

[0008] In one embodiment, the first material level region is located above the top position of the stirring blade when the stirring assembly is at its highest position during rotation; the second material level region is located between the rotation center of the stirring assembly and the top position of the stirring blade when the stirring assembly is at its highest position during rotation; the third material level region is located at the rotation center of the stirring assembly; the fourth material level region is located between the rotation center of the stirring assembly and the bottom position of the stirring blade when the stirring assembly is at its lowest position during rotation; and the fifth material level region is located below the bottom position of the stirring blade when the stirring assembly is at its lowest position during rotation.

[0009] In one embodiment, the step of obtaining the real-time material level region based on the comparison result of the real-time fitted curve and the reference fitted curve further includes: if the curve shape of the real-time fitted curve is approximately a straight line with a real-time torque magnitude of not 0, then controlling the pumping equipment to suck up material to adjust the material level region; determining whether the real-time material level region is the fourth material level region based on the comparison result of the real-time fitted curve after material suction and the reference fitted curve; if yes, then determining that the real-time material level region is the third material level region; if no, then determining that the real-time material level region is the first material level region.

[0010] In one embodiment, the material level detection method further includes: if the real-time material level area is determined to be any one of the third material level area, the fourth material level area, and the fifth material level area, then issuing a material feeding prompt; if the real-time material level area is determined to be the first material level area or the second material level area, then issuing a pumpable prompt.

[0011] In one embodiment, the step of issuing a pumpable prompt if the real-time material level area is determined to be either the first material level area or the second material level area further includes: recording the torque range of the current drive motor; and matching the corresponding concrete material number based on the torque range of the current drive motor to obtain the pumpable performance status of the current concrete.

[0012] In one embodiment, if the real-time material level area is determined to be any one of the third material level area, the fourth material level area, and the fifth material level area, the step of issuing a feeding prompt includes: transmitting the feeding prompt to the material conveying device and / or the pumping device, and transmitting the pumpable prompt to the pumping device; controlling the discharge speed of the material conveying device based on the feeding prompt.

[0013] In one embodiment, the material level detection method includes: acquiring a first reference fitting curve of the angle data of the first stirring blade and the torque data of the first drive motor under different material level regions, and a second reference fitting curve of the angle data of the second stirring blade and the torque data of the second drive motor; acquiring a first real-time fitting curve of the angle data of the first stirring blade and the torque data of the first drive motor and a second real-time fitting curve of the angle data of the second stirring blade and the torque data of the second drive motor during the stirring process; acquiring a first real-time material level region and a second real-time material level region based on the comparison results of the first real-time fitting curve and the first reference fitting curve, and the comparison results of the second real-time fitting curve and the second reference fitting curve; wherein, the first stirring blade and the second stirring blade are arranged opposite to each other, and the starting positions of the first stirring blade and the second stirring blade form a preset angle, so that the first reference fitting curve and the second reference fitting curve have a part with similar curve shape, and the first real-time fitting curve and the second real-time fitting curve have a part with similar curve shape; if the first reference fitting curve and the second reference fitting curve do not have a part with similar curve shape, then the first reference fitting curve and the second reference curve are both invalid data; if the first real-time fitting curve and the second real-time fitting curve do not have a part with similar curve shape, then the first real-time fitting curve and the second real-time fitting curve are both invalid data.

[0014] In one embodiment, the preset angle is any one of 0°, 90° and 180°.

[0015] Secondly, this application provides a material level detection device, comprising: a processor and a memory storing a computer program, wherein when the processor runs the computer program, it implements the steps of the material level detection method of any one of claims 1 to 8.

[0016] Thirdly, this application provides a pumping device equipped with the aforementioned material level detection device.

[0017] The material level detection method, detection device, and pumping equipment provided by this invention can obtain real-time fitting curves of the angle data of the stirring blades and the torque data of the drive motor, and compare them with reference fitting curves of the angle data of the stirring blades and the torque data of the drive motor under different liquid level areas. This allows for real-time detection of the material level area, avoiding the drawbacks of using material level sensors for material level detection in the prior art, and has strong practicality. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 The schematic diagram illustrates the overall process of the material level detection method according to an embodiment of the present invention.

[0020] Figure 2 The schematic diagram illustrates the frame structure of the stirring device in an embodiment of the present invention.

[0021] Figure 3 The schematic diagram illustrates the arrangement of the stirring blades in an embodiment of the present invention.

[0022] Figure 4 The illustration shows the principle of establishing a fitting curve between the angle data of the stirring blades and the torque data of the drive motor in an embodiment of the present invention.

[0023] Figure 5 The diagram illustrates the locations of different material level areas in an embodiment of the present invention.

[0024] Figure 6 The diagram illustrates the reference fitting curves of the angle data of the stirring blades and the torque data of the drive motor under different material level areas in the embodiments of the present invention.

[0025] Figure 7 and Figure 8 The methods for recording the angle data of the stirring blades and the torque data of the drive motor in embodiments of the present invention are illustrated schematically.

[0026] Figure 9 The illustration shows a method for comparing the real-time fitting curve of the stirring blade with a reference fitting curve in an embodiment of the present invention.

[0027] Figure 10 The illustration shows the state of the material suction operation in an embodiment of the present invention. Detailed Implementation

[0028] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. Based on the description of the present invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present invention.

[0029] In the description of this invention, unless otherwise explicitly specified and limited, the terms "first," "second," "third," "fourth," "fifth," etc., are merely for distinguishing elements with similar properties, and do not indicate or imply relative importance or a specific order. Descriptions such as "S11" to "S19," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or indicating the order of execution of the methods.

[0030] The term “include” or any other variation thereof is intended to cover non-exclusive inclusion, which includes not only the elements listed, but also other elements not expressly listed.

[0031] like Figures 1 to 3 As shown, this application provides a material level detection method applied to a mixing device in a pumping equipment. The mixing device includes a hopper 14 and mixing components disposed opposite each other on both sides of the hopper 14. Each mixing component is driven by a drive motor 12. Each mixing component includes mixing blades 11 disposed opposite each other along its rotation centerline. The pumping equipment can be a pump truck, a truck-mounted pump, or a trailer pump. The material level detection method includes: S11, obtaining a reference fitting curve of the angle data of the mixing blades 11 and the torque data of the drive motor 12 under different material level areas; S12, obtaining a real-time fitting curve of the angle data θf of the mixing blades 11 and the torque data Tf of the drive motor 12 during the mixing process; reference Figures 2 to 4 In this system, the stirring blade 11 rotates along a plane perpendicular to the material level surface 13. The angle data θf of the stirring blade 11 is the abscissa, the torque data Tf of the drive motor 12 is the ordinate, and the zero-degree position of the stirring blade 11 is the origin of the coordinate system. Figure 5 and Figure 6 S13. Obtain the real-time material level area based on the comparison results between the real-time fitted curve and the reference fitted curve. Specifically, when the drive motor 12 drives the stirring blade 11 to rotate, the real-time torque data Tf can be obtained. Based on the current rotor position of the drive motor 12, the angle data θf of the stirring blade 11 can be obtained. The specific method can refer to the existing technology, and will not be elaborated here. Specifically, in the construction preparation stage, since no material is pumped and only new material is added, the position of the real-time fitted curve will change, which can determine whether it is in the material feeding stage.

[0032] like Figure 7 As shown, specifically, the angle data θf of the stirring blade 11 and the torque data Tf of the drive motor 12 are recorded and stored. This can be done by taking n points within every 180° range and recording their horizontal and vertical coordinate data. Multiple sets of data can be recorded. Each set of n raw data needs to be filtered to obtain processed data. The data processing method can use various methods in the existing technology, such as the average value method, the least squares method, etc.

[0033] like Figure 2 and Figure 8 As shown in the real-time fitting curve of the stirring blade 111, two points na and nb are randomly selected in the second quadrant, where the x-coordinate of nb is greater than the x-coordinate of na, and θfa(nb) > θfa(na). The result is G; record m sets of G values ​​using this method; take the average value Gave from G1 to Gm; similarly, randomly select values ​​from the first quadrant. The result is H; record the values ​​of H for m groups using this method; take the average value Have from H1 to Hm; multiple groups of data can be compared, and if a group of data does not match the characteristics of other data, then exclude the erroneous data in that group.

[0034] like Figure 9 As shown, the method for comparing the real-time fitting curve of the stirring blade 111 with the reference fitting curve is as follows:

[0035] If the average value Gave is positive and its absolute value is greater than the calibration value G' of the reference fitted curve, and the average value Have is negative and its absolute value is greater than the calibration value H' of the reference fitted curve, then the real-time fitted curve of the stirring blade 111 is determined to belong to the fourth material region Sdw.

[0036] If the average value Gave is positive and its absolute value is less than the calibration value G' of the reference fitted curve, and the average value Have is negative and its absolute value is less than the calibration value H' of the reference fitted curve, then the real-time fitted curve of the stirring blade 111 is determined to be a straight line.

[0037] If the average value Gave is negative and its absolute value is greater than the calibration value G' of the reference fitted curve, and the average value Have is positive and its absolute value is greater than the calibration value H' of the reference fitted curve, then the real-time fitted curve of the stirring blade 111 is determined to belong to the second material level region Sup.

[0038] If the average value Gave is negative and its absolute value is less than the calibration value G' of the reference fitted curve, and the average value Have is positive and its absolute value is less than the calibration value H' of the reference fitted curve, then the real-time fitted curve of the stirring blade 111 is determined to be a straight line.

[0039] The material level detection method of this application embodiment acquires the real-time fitting curve of the angle data θf of the stirring blade 11 and the torque data Tf of the drive motor 12 in real time, and compares it with the reference fitting curve of the angle data θf of the stirring blade 11 and the torque data Tf of the drive motor 12 in different material level areas in advance. It can detect the real-time material level and has strong practicality.

[0040] like Figure 5As shown, specifically, in one embodiment, the relative positions of the material level regions relative to the stirring blades 11 can be divided as follows: First material level region Sfl: located above the top position of the stirring blades 11 at their highest position when the stirring assembly rotates; Second material level region Sup: located between the rotation center of the stirring assembly and the top position of the stirring blades 11 at their highest position when the stirring assembly rotates; Third material level region Smid: located at the rotation center of the stirring assembly; Fourth material level region Sdw: located between the rotation center of the stirring assembly and the bottom position of the stirring blades 11 at their lowest position when the stirring assembly rotates; Fifth material level region S0: located below the bottom position of the stirring blades 11 at their lowest position when the stirring assembly rotates.

[0041] like Figure 1 and Figure 5 , Figure 6 and Figure 10 As shown, specifically, in one embodiment, the step of obtaining the real-time material level region based on the comparison result of the real-time fitting curve and the reference fitting curve further includes: S14, if the curve shape of the real-time fitting curve is approximately a straight line where the real-time torque is not zero, then control the pumping equipment to suck up material to adjust the material level region; S15, based on the comparison result of the real-time fitting curve after material suction and the reference fitting curve, determine whether the real-time material level region is the fourth material level region Sdw; if yes, then determine that the real-time material level region is the third material level region Smid; if no, then determine that the real-time material level region is the first material level region Sfl. Specifically, as Figure 6 and Figure 9 As shown in the fitted curves, some locations exhibit similar shapes. For example, in the third material level region Smid, the fifth material level region S0, and the first material level region Sfl, the fitted curves are approximately straight lines. In the fifth material level region S0, since the torque is close to 0, the fitted curve can be well determined. The main difficulty in distinguishing the shapes lies in the fitted curves of the third material level region Smid and the first material level region Sfl. Due to the differences in concrete density and properties, judging solely by the magnitude of torque can lead to errors. Therefore, a new control approach is introduced to address these issues. Since the pumping equipment needs to suck material through the concrete cylinder 15 during operation, and the suction distance L and piston area of ​​the concrete cylinder 15 are known, the suction volume can be obtained from the suction distance and piston area. Without adding new material, the suction and pushing cycle of the concrete cylinder 15 can cause a significant change in the material level surface 13 within the hopper 14. By comparing these changes, the states of the third material level region Smid and the first material level region Sfl can be distinguished, thus eliminating interference.

[0042] like Figure 1As shown, specifically, in one embodiment, the material level detection method further includes: S16, if the real-time material level is determined to be any one of the third material level area Smid, the fourth material level area Sdw, and the fifth material level area S0, then a feeding prompt is issued; if the real-time material level area is determined to be the first material level area Sfl or the second material level area Sup, then a pumpable prompt is issued.

[0043] like Figure 1 As shown, further, in one embodiment, if the real-time material level area is determined to be either the first material level area Sfl or the second material level area Sup, the step of issuing a pumpable prompt further includes: S17, recording the torque range of the current drive motor 12; based on the torque range of the current drive motor 12, matching the corresponding concrete material number to obtain the pumpable performance status of the current concrete. Specifically, by establishing a correspondence between the motor torque range at full load and different concrete material numbers, for example, there is a relationship that the larger the concrete material number, the larger the motor torque at full load, which can obtain the pumpable performance status of the current concrete. For concrete with poor pumpability, the engine speed can be increased, the main pump displacement current reduced, the chassis engine power increased, and the pumping speed reduced to ensure sufficient power. The constant pressure pump displacement current can also be increased, and the swing speed and force of the swing cylinder can be increased. Through the above-mentioned methods in the prior art, pipe blockage can be prevented, which will not be elaborated in detail here.

[0044] like Figure 1 As shown, specifically, in one embodiment, if the real-time material level area is determined to be any one of the third material level area Smid, the fourth material level area Sdw, and the fifth material level area S0, a feeding prompt is issued; if the real-time material level area is determined to be the first material level area Sfl or the second material level area Sup, a pumpable prompt is issued. This step further includes: S18, transmitting the feeding prompt to the material conveying device, such as a mixer truck and / or pumping equipment, and transmitting the pumpable prompt to the pumping equipment; S19, controlling the discharge speed of the material conveying device based on the feeding prompt. Specifically, through the coordinated control of pumping equipment such as pump trucks, truck-mounted pumps, and trailer pumps with mixing equipment such as mixer trucks, the discharge speed of the mixing equipment is controlled based on the material level area, automatically feeding the material and achieving self-closing control without additional manual operation. Because the motor system has higher precision than the hydraulic system, the judgment of the pumpability of the concrete material is more accurate. In a straightforward manner, for a system that combines non-mixing equipment with pumping equipment, the operator can be alerted to add material by using the alarm devices of pumping equipment such as pump trucks, truck-mounted pumps, and trailer pumps when the material level is low during the construction phase, based on the material level area.

[0045] like Figure 1 , Figure 2 , Figure 4 and Figure 6As shown, specifically, in one embodiment, the material level detection method includes: S111, acquiring a first reference fitting curve of the angle data θfa of the first stirring blade 111 and the torque data Tfa of the first drive motor 121 under different material level areas, and a second reference fitting curve of the angle data θfb of the second stirring blade 112 and the torque data Tfb of the second drive motor 122; S121, acquiring a first real-time fitting curve of the angle data θfa of the first stirring blade 111 and the torque data Tfa of the first drive motor 112 during the stirring process, and a second real-time fitting curve of the angle data θfb of the second stirring blade 112 and the torque data Tfb of the second drive motor 122; S131, based on the comparison result of the first real-time fitting curve and the first reference fitting curve, and the second real-time fitting curve... The comparison results between the line and the second reference fitting curve are used to obtain the first real-time material level region and the second real-time material level region, respectively. The first stirring blade 111 and the second stirring blade 112 are arranged opposite each other, with their starting positions forming a preset angle, so that the first reference fitting curve and the second reference fitting curve have a portion with similar curve shapes, and the first real-time fitting curve and the second real-time fitting curve have a portion with similar curve shapes. S132: If the first reference fitting curve and the second reference fitting curve do not have a portion with similar curve shapes, then both the first and second reference curves are invalid data; if the first real-time fitting curve and the second real-time fitting curve do not have a portion with similar curve shapes, then both the first and second real-time fitting curves are invalid data. Specifically, in one embodiment, the preset angle is any angle among 0°, 90°, and 180°.

[0046] like Figure 4 and Figure 6As shown, the first stirring blade 111 and the second stirring blade 112 are at a 90° angle to each other, so that the first reference fitting curve and the second reference fitting curve can be checked against each other, the first real-time fitting curve and the second real-time fitting curve can be checked against each other, and the first reference fitting curve and the second reference fitting curve can be checked against each other. The curve shape of the first reference fitting curve in the horizontal axis 0° to 90° should be close to or match the curve shape of the second reference fitting curve in the horizontal axis -90° to 0°, and the curve shape of the first real-time fitting curve in the horizontal axis 0° to 90° should be close to or match the curve shape of the second real-time fitting curve in the horizontal axis -90° to 0°. If the difference is large, it is judged as invalid data. Specifically, based on the dual-motor driven stirring device, the system has good energy saving and economy. It adopts two sets of stirring blades 111 and 112 to stir separately. The two sets of stirring blades 111 and 112 are mutually checked to avoid single input and small control error. The two sets of stirring blades 111 and 112 are respectively arranged on the two opposite inner sides of the hopper 14, and there is no connecting shaft between the stirring blades 111 and 112. When discharging, the material will not be directly poured onto the stirring blades or blade shaft, which has little impact on the torque feedback during stirring.

[0047] Based on the same inventive concept as the foregoing embodiments, this application also provides a material level detection device, including: a processor and a memory storing a computer program, wherein when the processor runs the computer program, the steps of the foregoing material level detection method are implemented.

[0048] Based on the same inventive concept as the foregoing embodiments, this application also provides a pumping device equipped with the aforementioned material level detection device.

[0049] As can be seen from the above embodiments, the material level detection method, detection device, and pumping equipment of the present invention can detect the real-time material level region by acquiring the real-time fitting curve of the angle data of the stirring blade and the torque data of the drive motor in real time, and comparing it with the reference fitting curve of the angle data of the stirring blade and the torque data of the drive motor under different material level regions in advance, and has strong practicality.

[0050] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A method of material level detection, characterized in that, The material level detection method is applied to a stirring device in a pumping device, the stirring device comprising a hopper and stirring assemblies oppositely arranged on both sides of the hopper, each of the stirring assemblies being driven by a driving motor, and each of the stirring assemblies comprising at least two stirring blades arranged along a rotation center of the stirring assembly; the material level detection method comprising: acquiring reference fitting curves of angle data of the stirring blades and torque data of the driving motors under different material level regions; acquiring real-time fitting curves of angle data of the stirring blades and torque data of the driving motors in a stirring process; wherein the stirring blades rotate along a plane perpendicular to a material level plane, the angle data of the stirring blades are horizontal coordinates, the torque data of the driving motors are vertical coordinates, and a zero-degree position of the stirring blades is a coordinate origin; acquiring a real-time material level region based on a comparison result of the real-time fitting curves and the reference fitting curves.

2. The method of claim 1, wherein, The real-time material level region comprises: a first material level region located above a top position of the stirring blades at a highest position when the stirring assembly rotates; a second material level region located between a position of a rotation center of the stirring assembly and the top position of the stirring blades at the highest position when the stirring assembly rotates; a third material level region located at the position of the rotation center of the stirring assembly; a fourth material level region located between the position of the rotation center of the stirring assembly and a bottom position of the stirring blades at a lowest position when the stirring assembly rotates; a fifth material level region located below the bottom position of the stirring blades at the lowest position when the stirring assembly rotates.

3. The method of claim 2, wherein, The step of acquiring the real-time material level region based on the comparison result of the real-time fitting curves and the reference fitting curves further comprises: if a curve shape of the real-time fitting curve is approximately a straight line with a real-time torque size not being 0, controlling the pumping device to suck material to adjust the material level region; judging whether the real-time material level is the fourth material level region based on a comparison result of the real-time fitting curve after the material is sucked and the reference fitting curve; if yes, judging that the real-time material level region is the third material level region; if no, judging that the real-time material level region is the first material level region.

4. The material level detection method according to claim 2 or 3, characterized in that The material level detection method further comprises: if it is judged that the real-time material level region is any one of the third material level region, the fourth material level region and the fifth material level region, issuing a material adding prompt; if it is judged that the real-time material level region is the first material level region or the second material level region, issuing a pumping prompt.

5. The method of claim 4, wherein, The step of issuing the pumping prompt if it is judged that the real-time material level region is the first material level region or the second material level region further comprises: recording a torque range of the driving motor at present; based on the torque range of the driving motor at present, matching a corresponding concrete grade to acquire a pumping performance state of the concrete at present.

6. The method of claim 4, wherein, The step of issuing the material adding prompt if it is judged that the real-time material level region is any one of the third material level region, the fourth material level region and the fifth material level region comprises: the material adding prompt is delivered to a material conveying device, and the pumping prompt is delivered to the pumping device. Control the discharging speed of the material conveying device based on the feeding prompt.

7. The method of level detection according to any one of claims 1 to 3, wherein, Comprise: Obtain the first reference fitting curve of the angle data of the first stirring blade and the torque data of the first driving motor, and the second reference fitting curve of the angle data of the second stirring blade and the torque data of the second driving motor under different material level regions; Obtain the first real-time fitting curve of the angle data of the first stirring blade and the torque data of the first driving motor, and the second real-time fitting curve of the angle data of the second stirring blade and the torque data of the second driving motor during the stirring process; Based on the comparison results of the first real-time fitting curve and the first reference fitting curve, and the comparison results of the second real-time fitting curve and the second reference fitting curve, obtain the first real-time material level region and the second real-time material level region respectively; Wherein, the first stirring blade and the second stirring blade are arranged oppositely, and the starting positions of the first stirring blade and the second stirring blade form a preset included angle, so that the first reference fitting curve and the second reference fitting curve have a part of approximate curve form, and the first real-time fitting curve and the second real-time fitting curve have a part of approximate curve form. If the first reference fitting curve and the second reference fitting curve do not have a part of approximate curve form, the first reference fitting curve and the second reference fitting curve are invalid data. If the first real-time fitting curve and the second real-time fitting curve do not have a part of approximate curve form, the first real-time fitting curve and the second real-time fitting curve are invalid data.

8. The method of material level detection of claim 7, wherein, The starting positions of the first stirring blade and the second stirring blade form a preset included angle, and the angle of the preset included angle is any angle of 0°, 90° and 180°.

9. A level detection device, characterized in that Comprise: A processor and a memory storing a computer program, when the processor runs the computer program, the steps of the material level detection method in any one of claims 1 to 8 are realized.

10. A pumping device characterized by, The material level detection device as claimed in claim 9 is configured.

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