Cloud control system of mixing station

Abstract

The invention belongs to the technical field of control systems, and particularly relates to a mixing station cloud control system which comprises a central control module arranged in a mixing station and a cloud server, a display module, a data acquisition module and a positioning module which are electrically connected with the central control module, and the central control module comprises a route planning unit; the route planning unit calculates and generates a transport route priority ranking result according to the positioning information, the road information and the vehicle information, the central control module determines the transport route with the highest priority as the optimal transport route, the optimal transport route is displayed through the display module, and the routes where transport vehicles cannot pass are screened out according to the limitation information on the transport routes. According to the method, a plurality of transport routes are optimized, priority ranking is carried out on the rest of the transport routes through optimization information, a priority ranking result is generated, the transport route which most accords with the condition is obtained and is specified as the optimal transport route, and driving safety is guaranteed to the maximum extent through use of various modules which play a monitoring function in the transport vehicle driving process.

Description

Technical Field

[0001] The present invention belongs to the technical field of control systems, and in particular relates to a cloud control system for a mixing station. Background Art

[0002] With the development of engineering construction and the need for unified urban planning and construction, decentralized concrete mixing has gradually been replaced by centralized mixing stations. Mixing stations are a general term for large-scale machinery used for civil engineering mixing construction in industrial construction. They are mainly used to mix raw materials such as sand, stone, cement, etc. into concrete or other building materials in a certain proportion. They are the core equipment for concrete production.

[0003] According to the actual situation of the project site, the mixing station generally responds to the requirements of different construction sites for concrete and mixes the precast concrete in proportion, and then transports the specific concrete to the construction site where it is needed by selecting a specific concrete transport truck.

[0004] Since concrete transport trucks are generally equipped with rotating mixing equipment to mix concrete in real time during transportation to ensure the uniformity of concrete and prevent solidification, and large-scale concrete transport trucks are subject to restrictions such as weight and height, drivers need to avoid congested sections and dangerous areas when choosing transport routes, and choose transport routes with good road conditions, low accident rates, and height and weight limits that meet the requirements of the transport truck to ensure smooth and safe driving;

[0005] Moreover, the initial setting time of concrete is limited. Choosing the best route can shorten the transportation time to the maximum extent, ensuring that the concrete is still in ideal working condition when it arrives at the construction site, and avoiding the degradation of concrete performance or unusability due to excessive time, which affects the construction progress.

[0006] Therefore, it is necessary to propose a technology to solve the above problems. Summary of the invention

[0007] In order to solve the above problems existing in the prior art, the present invention provides a mixing station cloud control system, which solves the route planning of concrete transport vehicles in the mixing station and the subsequent monitoring of the transport vehicles.

[0008] The object of the present invention can be achieved by the following technical solutions: A mixing station cloud control system, comprising a central control module arranged inside the mixing station and a cloud server, a display module, a data acquisition module and a positioning module electrically connected to the central control module respectively, wherein the central control module comprises a route planning unit;

[0009] The positioning module is used to locate the transport vehicle in real time and send the positioning information to the central control module;

[0010] The data acquisition module is used to collect the road information between the transport vehicle to the mixing plant for loading and then from the mixing plant to the construction site for unloading, and send it to the central control module;

[0011] The cloud server is used to store the data of the central control module and the vehicle information of the transport vehicle is pre-stored in the cloud server;

[0012] The route planning unit calculates and generates a transportation route priority ranking result according to the positioning information, road information and vehicle information. The central control module determines the transportation route with the highest priority as the optimal transportation route and displays it through the display module.

[0013] Preferably, the vehicle information includes vehicle height, vehicle length and load weight, the road information includes all transportation route information of the transport vehicle between the three location nodes of the starting point, the mixing plant and the construction point, as well as restriction information and optimization information on multiple transportation routes, the restriction information includes height limit, weight limit, width limit, slope difference and flatness of the transport road, and the optimization information includes the number of traffic lights, the number of road turns, fuel consumption and transportation time.

[0014] Preferably, the route planning unit performs the following steps:

[0015] First, the corresponding pre-constraint conditions are generated according to the vehicle height data, vehicle width data and load weight data of the transport vehicle and the mix ratio of the transported concrete, and the routes with height restrictions, weight restrictions, width restrictions and insufficient road flatness among multiple transport routes are excluded to obtain a set of routes that meet the transport conditions;

[0016] Then prioritize the subsets in the route set

[0017] Preferably, it also includes an oil quantity monitoring module, which is electrically connected to the central control module. The oil quantity monitoring module is arranged on the transport vehicle and is used to monitor the remaining oil quantity in the fuel tank of the transport vehicle and send it to the central control module. The central control module compares the remaining oil quantity with the theoretical oil quantity:

[0018] When the remaining oil volume is less than the theoretical oil volume, the central control module instructs the data acquisition module to add the location information of gas stations along multiple transportation lines to the restriction information collected, and the route planning unit adds whether there is a gas station and the location of the gas station on the transportation route to the prior constraints for subsequent judgment.

[0019] Preferably, it further comprises an alarm module, which responds to the alarm instruction of the central control module.

[0020] Preferably, during transportation, the central control module is provided with an oil quantity difference setting value, the central control module instructs the oil quantity monitoring module to perform detection at a certain time interval, the central control module makes a difference between the oil quantities at two adjacent time nodes uploaded by the oil quantity monitoring module to obtain the oil quantity difference, and when the oil quantity difference is greater than the oil quantity difference setting value, the central control module instructs the alarm module to alarm.

[0021] Preferably, it also includes a communication module, which is arranged on multiple transport vehicles and is used to realize communication between the multiple transport vehicles and the central control module respectively.

[0022] Preferably, it also includes an identity recognition module, which is electrically connected to the central control module. The central control module grasps the position of the transport vehicle in real time according to the positioning module, and compares it with the theoretical position of the transport vehicle on the selected transport route. If the comparison fails, the central control module generates an identification instruction and sends it to the identity recognition module. The identity recognition module is used to execute the identification instruction to identify the identity of the corresponding transport vehicle driver. The central control module compares the driver's identity recognition information with the driver information database pre-stored in the cloud server:

[0023] In compliance, the operator in the mixing station communicates with the driver of the corresponding transport vehicle through the communication module;

[0024] If not, the central control module instructs the alarm module to sound an alarm.

[0025] Preferably, it also includes a temperature detection module and a heating module, the heating module is arranged on the transport vehicle and is used to heat the concrete on the transport vehicle, the heating module and the temperature detection module are respectively connected to the central control module, the temperature detection module is used to detect the corresponding external real-time temperature of the transport vehicle in transportation and upload the detection result to the central control module, the central control module is preset with an external temperature setting value, and the central control module compares the external real-time temperature with the external temperature setting value;

[0026] When the external real-time temperature is lower than the external temperature setting value, the central control module controls the heating module to heat;

[0027] Otherwise, the central control module does not control the heating module.

[0028] Preferably, it comprises a mixing module, which is arranged on the transport vehicle and electrically connected to the central control module, and the mixing module is used for mixing concrete and feeding back the execution result to the central control module.

[0029] The beneficial effects of the present invention are:

[0030] Through the route planning unit set up, the data acquisition module collects all the transportation route information of the transport vehicle between the three location nodes of the starting point, the mixing plant location, and the construction point location, and obtains all the transportation routes between the three node locations. Then, according to the restriction information on the multiple transportation routes, the routes that the transport vehicle cannot pass are screened out, and then the remaining multiple transportation routes are prioritized through optimization information to generate priority sorting results. The transportation route that best meets the conditions is stipulated as the optimal transportation route. The driver drives according to the optimal transportation route with the highest driving efficiency and safety. Whether there is a gas station on the transportation route is also used as a restriction condition for route selection. Full consideration is given to avoid wasting time and replanning the route when the transport vehicle finds that it needs to refuel during transportation, which affects the subsequent construction progress. In addition, the use of various modules that perform monitoring functions during the driving of the transport vehicle can maximize driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0032] Figure 1 It is a structural block diagram of the present invention. DETAILED DESCRIPTION

[0033] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0034] The connection method used in the present invention should take into account the connection relationship between two connected devices or systems. Wireless connection and wireless communication connection can both indicate that two connected devices are connected through a wireless device. Technical personnel in this field should incorporate the connection relationship described in the present invention into the actual relationship between the two connected devices or systems.

[0035] See also Figure 1 This embodiment discloses a cloud control system for a mixing station, including a central control module arranged inside the mixing station and a cloud server, a display module, a data acquisition module and a positioning module electrically connected to the central control module respectively, the central control module includes a route planning unit, the route planning unit realizes the integration of various data and calculates the priority ranking of the transportation route according to the integrated data;

[0036] Because the transport vehicle is not necessarily parked in the mixing station, for example, the car wash device after the transport vehicle completes the transportation task is located outside the mixing station or in other situations, it is necessary to locate the transport vehicle with an uncertain position. Therefore, a positioning module is set on the transport vehicle for real-time positioning of the transport vehicle and sending the positioning information to the central control module. The positioning module is implemented using a GPS positioning device.

[0037] The data acquisition module acquires the required information through the geographic information system (GIS) or professional map service providers such as Google Maps, Baidu Maps, vehicle-mounted cameras, laser radar (LiDAR), etc. In the networked state, it is used to collect road information between the three location nodes of the transport vehicle position to the mixing plant to load concrete, and then from the mixing plant to the construction site to unload the transported concrete, and classify the road information and send it to the central control module. The road information includes three categories: all transportation route information between the three location nodes of the transport vehicle from the starting point position, the mixing plant position, and the construction site position, as well as restriction information and optimization information on multiple transportation routes. The restriction information includes height limit, weight limit, width limit, slope difference and transportation road flatness. The optimization information includes the number of traffic lights, the number of road turns, fuel consumption and transportation time. The flatness of the transportation road and the road slope difference data come from the navigation system and various traffic data platforms, but the specific amount of road flatness and slope difference that will affect the driving safety of large concrete transport vehicles is specified when the transport vehicle leaves the factory or is further limited according to the specific weight of the concrete carried.

[0038] Since different roads and bridges have different requirements for vehicle height and width limits, and the height, width and carrying weight of large concrete transport trucks are much higher than those of ordinary cars, just like the existence of bridges will inevitably bring height and weight limits, then the roads suitable for most transport trucks may not be suitable for large concrete transport trucks, causing concrete transport trucks to be unable to pass smoothly, so it is necessary to screen these restrictive factors. On the one hand, it can ensure that the transport truck must be able to pass all roads and bridges along the way smoothly to avoid collisions or damage, thereby ensuring transportation safety. On the other hand, it is necessary to avoid the situation where restrictions on the transport route require changing routes, which affects the transportation time, and then affects the quality of concrete and construction progress. In addition, some roads may become narrower or uneven due to construction, maintenance or natural disasters. Due to the heavy weight of the transport truck, the rotation of the mixing device installed on the transport truck itself will affect the stability of the transport truck in motion. Driving on uneven roads will cause accidents such as vehicle tilting and rollover. Therefore, these restrictive factors must be understood in advance and avoided when choosing the transport route.

[0039] The cloud server is used to store the data of the central control module, and the central control module reads and writes the data. The route planning unit integrates the positioning information, transportation route information, restriction information and optimization information, and uses the priority queue algorithm to calculate and generate the priority sorting results of the transportation routes. The central control module determines the transportation route with the highest priority as the best transportation route, and displays it through the display module set on the transport vehicle. Of course, in order to ensure smooth transportation, the central control module will upload the transportation route priority sorting results to the cloud server for storage. Once problems are found in the aforementioned best transportation route, the transportation route can be selected according to the priority order to ensure smooth transportation and retain alternative options, which can avoid the occurrence of accidental factors affecting the subsequent construction progress.

[0040] In one embodiment, in order to reduce the calculation time of the route planning unit to improve the system operation rate, the route planning unit performs the following steps:

[0041] The first step is to generate corresponding pre-constraints based on the vehicle height data, vehicle width data and load weight data of the transport vehicle, because these are the constraints on whether the transport vehicle can drive safely, which are used to exclude routes with height restrictions, weight restrictions, width restrictions, too large road slope differences and insufficient road flatness in multiple transport routes, so as to exclude transport routes with restrictions and obtain a set of routes that meet the transport conditions;

[0042] The second step is to prioritize the subsets in the route set using the ε-constraint method or the hierarchical method: for example, the route planning unit integrates various optimization information to form constraints on the travel time, fuel consumption and route complexity of each transportation route, and generates a corresponding objective function for each transportation route. According to the constraints, the priority score of each transportation route is calculated according to the corresponding objective function, and the transportation routes are prioritized according to the priority score. The lower the score, the higher the priority. The multi-objective algorithm is an algorithm that can optimize multiple objective functions at the same time. Through the calculation steps of screening first and then sorting, the operation speed of the route planning unit is improved, and the system rate is improved.

[0043] The decision of whether to refuel or not to determine the fuel consumption of the transport vehicle based on the travel distance and time of the transport vehicle depends entirely on the driver's personal experience, but subjective experience is limited and not necessarily accurate. Moreover, when the transport route is located in a remote place, especially when the construction project is in a remote place, the density of gas stations is not high, and the location of the gas stations that need to be refueled needs to be calculated in time to prevent the transport route from being changed due to the discovery that the fuel tank of the transport vehicle is insufficient and needs to be refueled during the rescue, which wastes time and affects the construction progress of the construction site. This embodiment also includes an oil quantity monitoring module, which is electrically connected to the central control module. The oil quantity monitoring module is arranged on the transport vehicle and is used to monitor the remaining oil quantity in the fuel tank of the transport vehicle and send it to the central control module. The oil quantity monitoring module uses a fuel tank oil level sensor to connect the fuel tank oil level sensor and the central control module in communication.

[0044] When the transportation route is not determined, the central control module instructs the fuel level monitoring module to detect the remaining fuel level in the fuel tank. When the remaining fuel level monitored by the fuel level monitoring module is less than the theoretical fuel level, the theoretical fuel level is the theoretical fuel consumption of the selected optimal transportation route. The theoretical fuel consumption can be calculated based on the data acquisition module and the vehicle data. Since the remaining fuel level in the transport vehicle's fuel tank is insufficient to complete the transportation, when selecting the route, it is necessary to consider whether there are gas stations along the transport route, and whether the remaining fuel level in the fuel tank can support the transport vehicle to reach the gas station. Therefore, the central control module instructs the data acquisition module to collect restriction information to add the locations of gas stations along multiple transport lines. The route planning unit adds whether there are gas stations and the locations of gas stations on the transport route to the constraints for subsequent determination of the transport route, thereby avoiding the need to temporarily find a gas station while the transport vehicle is traveling, saving time and ensuring that the transportation is completed on time.

[0045] Continuing from the previous embodiment, in order to further ensure the driving safety of the transport vehicle and avoid danger during driving, such as leakage problems in components such as the fuel tank, fuel pipe or engine, which may cause continuous loss of fuel during transportation; or human factors, such as theft or misoperation causing a sudden drop in fuel. No matter which situation occurs, it will cause danger, so when the transport vehicle starts to transport, the central control module instructs the fuel tank oil level sensor to detect at a certain time interval, and the central control module generates a sequence of the remaining fuel data uploaded by the fuel tank oil level sensor according to time. The central control module makes a difference between adjacent data in the sequence. If it is detected that the difference between the remaining fuel data uploaded at two adjacent time nodes is greater than the fuel difference setting value preset by the central control module, it means that the fuel has leaked or the driver has violated the regulations, and the central controller generates an alarm instruction. Of course, in order to take into account that the transport vehicle may refuel on the way, the difference in fuel volume between adjacent time nodes = the remaining fuel volume at the next time node - the remaining fuel volume at the previous time node. The calculation result is a constant negative value at the two time nodes on the left and right that are not the refueling time. Once a positive value appears, it means that the transport vehicle has refueled between the adjacent time nodes. The central control module will not determine that the difference in the remaining fuel volume between the adjacent time nodes exceeds the fuel volume difference setting value. The specific fuel volume difference setting value is determined according to the transport vehicle's own energy consumption and the transportation route.

[0046] Continuing from the previous embodiment, it also includes an alarm module, which responds to the alarm command of the central control module. The alarm module can be a buzzer installed in the mixing station or an indicator light connected to the control room of the mixing station, which can serve as a reminder to the operator or the on-duty personnel. In order to facilitate the information exchange between the driver and the central control module, it also includes a communication module. The communication module is arranged on the transport vehicle to realize the communication between the transport vehicle and the central control module. A human-computer interaction module or a telephone or other communication means can be used to facilitate the driver to request help in time in case of an emergency or the central control module to communicate with the driver when a problem is discovered.

[0047] In order to further ensure transportation safety and prevent dangerous situations during driving, an identity recognition module is also included. The identity recognition module is electrically connected to the central controller. The central control module grasps the position of the transport vehicle in real time according to the positioning module and compares it with the theoretical position on the transport route. If the comparison fails, the central control module generates an identification instruction and sends it to the identity recognition module. The identity recognition module is used to execute the identification instruction to identify the driver's identity. The central control module compares the driver's identity recognition information with the driver information database pre-stored in the cloud server:

[0048] If yes, the operator communicates with the driver of the transport vehicle through the communication module to understand why the transport route is changed so as to facilitate subsequent adjustments;

[0049] If it does not meet the requirements, the driver forgets to lock the vehicle and a stranger takes over the driving position, causing a safety problem for the transport vehicle. The central control module instructs the alarm module to sound an alarm, and the operators in the mixing station handle the problem.

[0050] The driver's information pre-stored in the cloud server includes facial information. The identity recognition module can be a driver detection module built into the transport vehicle. The DMS system can be used to capture the driver's facial image through a camera, and use image processing technology and biometric algorithms to identify the driver, thereby realizing the functional requirements of the identity recognition module of this system. However, the driver's identity information collected by the identity recognition module must match the information in the information database before the subsequent central control module can make a judgment. For example, if the information database includes the driver's facial information, then the information collected by the identity detection module must include the driver's facial information.

[0051] In the extremely cold winter in the north, or in the plateau area, under extremely low temperature environment, the temperature of concrete will drop rapidly, which will affect the hydration reaction rate and strength development of concrete and further affect the stability of concrete, and affect the subsequent construction. The ambient temperature is monitored by setting a temperature detection module, and a heating module is also included on the transport vehicle, which is used to heat the concrete on the transport vehicle to achieve the insulation effect during transportation. The heating module and the temperature detection module are respectively connected to the central control module. The temperature detection module is used to detect the corresponding external real-time temperature of the transport vehicle in transportation and upload the detection result to the central control module. The central control module is preset with an external temperature setting value, and the central control module compares the external real-time temperature with the external temperature setting value;

[0052] When the external real-time temperature is lower than the external temperature setting value, the external temperature setting value is specified according to the concrete's own characteristics, such as the mix ratio. It can be found in the experimental environment that different types of concrete will affect the performance at which temperature range and require heating intervention to maintain the performance. The external temperature setting value is set, and the central control module controls the heating module to heat the concrete in transit;

[0053] When the outside temperature is equal to or higher than the outside temperature setting value, the central control module does not control the heating module.

[0054] Continuing with the above embodiment, if an emergency occurs during the driving of the transport vehicle and the transport route needs to be changed or other emergencies that delay the transportation time occur, the extension of the transportation time period will affect the performance of the concrete on the transport vehicle. For example, when an emergency occurs on the selected transport route, the route planning unit re-plans the transport route. In order to maintain the performance of the concrete, a mixing module is provided on the transport vehicle. The mixing module is connected to the central control module. The mixing module is used to mix concrete and feed back the execution results to the central control module. The mixing module maintains the performance of the concrete on the transport vehicle through mixing to facilitate subsequent construction use.

[0055] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A cloud control system for a mixing station, characterized in that: It includes a central control module arranged inside the mixing station and a cloud server, a display module, a data acquisition module and a positioning module electrically connected to the central control module respectively, and the central control module includes a route planning unit; The positioning module is used to locate the transport vehicle in real time and send the positioning information to the central control module; The data acquisition module is used to collect the road information between the transport vehicle loading at the mixing plant and unloading from the mixing plant to the construction site and send it to the central control module; The cloud server is used to store the data of the central control module and the vehicle information of the transport vehicle is pre-stored in the cloud server; The route planning unit calculates and generates a transportation route priority ranking result according to the positioning information, road information and vehicle information. The central control module determines the transportation route with the highest priority as the optimal transportation route and displays it through the display module.

2. A mixing station cloud control system according to claim 1, characterized in that: The vehicle information includes vehicle height, vehicle length and load weight; the road information includes all transportation route information between the three location nodes of the transport vehicle: the starting point, the mixing plant, and the construction point, as well as restriction information and optimization information on multiple transportation routes. The restriction information includes height limit, weight limit, width limit, slope difference and flatness of the transportation road; the optimization information includes the number of traffic lights, the number of road turns, fuel consumption and transportation time.

3. A mixing station cloud control system according to claim 2, characterized in that: The route planning unit performs the following steps: First, the corresponding pre-constraint conditions are generated according to the vehicle height data, vehicle width data and load weight data of the transport vehicle and the mix ratio of the transported concrete, and the routes with height restrictions, weight restrictions, width restrictions and insufficient road flatness among multiple transport routes are excluded to obtain a set of routes that meet the transport conditions; Subsets of the set of routes are then prioritized.

4. A mixing station cloud control system according to claim 3, characterized in that: It also includes an oil quantity monitoring module, which is electrically connected to the central control module. The oil quantity monitoring module is arranged on the transport vehicle and is used to monitor the remaining oil quantity in the fuel tank of the transport vehicle and send it to the central control module. The central control module compares the remaining oil quantity with the theoretical oil quantity: When the remaining oil volume is less than the theoretical oil volume, the central control module instructs the data acquisition module to add the location information of gas stations along multiple transportation lines to the restriction information collected, and the route planning unit adds whether there is a gas station and the location of the gas station on the transportation route to the prior constraints for subsequent judgment.

5. A mixing station cloud control system according to claim 4, characterized in that: It also includes an alarm module, which responds to the alarm instruction of the central control module.

6. A mixing station cloud control system according to claim 5, characterized in that: During transportation, the central control module is provided with an oil quantity difference setting value. The central control module instructs the oil quantity monitoring module to perform detection at a certain time interval. The central control module makes a difference between the oil quantities at two adjacent time nodes uploaded by the oil quantity monitoring module to obtain the oil quantity difference. When the oil quantity difference is greater than the oil quantity difference setting value, the central control module instructs the alarm module to alarm.

7. A mixing station cloud control system according to claim 5, characterized in that: It also includes a communication module, which is arranged on multiple transport vehicles and is used to realize communication between the multiple transport vehicles and the central control module respectively.

8. A mixing station cloud control system according to claim 7, characterized in that: It also includes an identity recognition module, which is electrically connected to the central control module. The central control module grasps the position of the transport vehicle in real time according to the positioning module, and compares it with the theoretical position of the transport vehicle on the selected transport route. If the comparison fails, the central control module generates an identification instruction and sends it to the identity recognition module. The identity recognition module is used to execute the identification instruction to identify the identity of the corresponding transport vehicle driver. The central control module compares the driver's identity recognition information with the driver information database pre-stored in the cloud server: In compliance, the operator in the mixing station communicates with the driver of the corresponding transport vehicle through the communication module; If not, the central control module instructs the alarm module to sound an alarm.

9. A mixing station cloud control system according to claim 1, characterized in that: It also includes a temperature detection module and a heating module, wherein the heating module is arranged on the transport vehicle and is used to heat the concrete on the transport vehicle, the heating module and the temperature detection module are respectively connected to the central control module, the temperature detection module is used to detect the external real-time temperature of the corresponding transport vehicle in transportation and upload the detection result to the central control module, the central control module is preset with an external temperature setting value, and the central control module compares the external real-time temperature with the external temperature setting value; When the external real-time temperature is lower than the external temperature setting value, the central control module controls the heating module to heat; Otherwise, the central control module does not control the heating module.

10. A mixing station cloud control system according to claim 2, characterized in that: It includes a mixing module, which is arranged on the transport vehicle and electrically connected to the central control module. The mixing module is used to execute the mixing instruction of the central control module to mix concrete and feed back the execution result to the central control module.

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