A control system based on concrete mixing truck

Abstract

The present invention provides a control system based on a concrete mixing truck, comprising a data acquisition module, for obtaining the weight value of a ton bag hung on a lifting device and the torque value of a stirring device; a proportion processing module, for calculating the weight of an initial material poured into the stirring device according to a change in the weight value, and for indexing a corresponding amount of water added in a preset proportioning model according to a preset viscosity of the concrete, the weight of the initial material, and a preset stirring time and stirring rate; a viscosity feedback module, for judging the actual viscosity of the concrete corresponding to the torque value when the stirring device completes the stirring time, and for outputting a viscosity error by comparing the actual viscosity of the concrete with the preset viscosity of the concrete; and a water replenishment control module, for calculating the amount of water added through a proportioning function according to the viscosity error and the preset stirring time and stirring rate in the stirring device. The present invention has the advantages of being able to automatically match the amount of water added according to the amount of material and different parameters, and being able to adjust whether water replenishment is needed during the stirring process.

Description

Technical Field

[0001] The present invention relates to the technical field of concrete mixing equipment, and more particularly to a control system based on a concrete mixing truck. Background Art

[0002] Concrete mixers are widely used in concrete production and mixing in the fields of construction, roads, bridges, water conservancy, etc. At present, mobile concrete mixers are mainly vehicle-mounted. Cement, sand, gravel and water are poured into the mixing drum in the mixing truck in a certain proportion, and the mixing drum rotates for mixing.

[0003] However, the main mixing methods of this type of mixer truck include traditional manual watering or automatic watering of the vehicle body. For manual watering, it depends on the experience of the workers, but it is often difficult to meet the viscosity requirements of the concrete, resulting in too little or too much water. For automatic watering, the current automatic watering system cannot automatically adjust the water volume according to the requirements of different parameters. The water volume needs to be set in advance and lacks intelligent control. Therefore, it is difficult to meet the control requirements of the automated integrated concrete mixer truck. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a control system based on a concrete mixing truck.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A control system based on a concrete mixing truck, comprising a vehicle body, a lifting device and a stirring device, wherein the lifting device is located on the top of the vehicle body, a weighing sensor is provided on the lifting device, the stirring device is located in the vehicle body below the lifting device, and a torque sensor is provided on the stirring device; and further comprising:

[0007] A data acquisition module, for acquiring the weight value of the ton bag hanging on the lifting device acquired by the weighing sensor, and acquiring the torque value of the stirring device acquired by the torque sensor;

[0008] a proportion processing module, which calculates the weight of the initial material poured into the mixing device according to the change of the weight value, indexes the corresponding water addition amount in the preset proportion model according to the preset viscosity of the concrete, the weight of the initial material, and the preset mixing time and mixing rate in the mixing device, and controls the water addition of the water system in the vehicle body according to the indexed water addition amount;

[0009] A viscosity feedback module, which determines the actual viscosity of the concrete corresponding to the torque value when the stirring device completes the stirring time, compares the actual viscosity of the concrete with the preset viscosity of the concrete and outputs a viscosity error;

[0010] The water replenishment control module calculates the water replenishment amount through a ratio function according to the viscosity error and the stirring time and stirring rate preset in the stirring device.

[0011] Furthermore, a conveying device is provided below the stirring device.

[0012] It also includes a lifting module, which matches the conveying slope of the conveying device in the index library according to the preset viscosity of the concrete.

[0013] Furthermore, the lifting module triggers the first lifting condition when receiving the weight value of the ton bag hanging on the lifting device, and controls the lifting device to switch from a first folded state to a propped-up state. The first folded state reflects that the lifting device is folded and attached to the vehicle body, and the propped-up state reflects that the lifting device is erected and forms a conveying channel between the lifting device and the vehicle body.

[0014] Furthermore, the lifting module triggers a second lifting condition when receiving a signal from the water system inside the vehicle body to replenish water according to the replenishment amount, and controls the conveying device part to switch from a second folded state to an extended state. The second folded state reflects that the conveying device part is folded to fit the vehicle body, and the extended state reflects that the conveying device part is extended outside the vehicle body.

[0015] Furthermore, the matching function is configured as follows:

[0016] ,

[0017] ,

[0018] in, For water replenishment, is the error viscosity, is the actual viscosity of concrete, is the preset viscosity of concrete, is the matching function, is the preset mixing time, is the preset stirring rate, is the base of natural logarithms, , , , , , They are the first constant, the second constant, the third constant, the fourth constant, the fifth constant and the sixth constant respectively.

[0019] Furthermore, the conveying device is provided with a pressure sensor and also includes a discharge feedback module.

[0020] The data acquisition module acquires the pressure value of the concrete on the conveying device acquired by the pressure sensor as pressure information;

[0021] The discharging feedback module marks the initial pressure value of the conveying device in the pressure information, accumulates all pressure values ​​greater than the initial pressure value in the pressure information within a discharging cycle of the mixing device to obtain the actual discharging weight, calculates the discharging loss amount through a loss function according to the preset viscosity of the concrete, the preset mixing time in the mixing device, the mixing rate, the sum of the amount of water added and the amount of water replenished, the weight of the initial material and the volume of the mixing device, accumulates the weight of the initial material, the amount of water added, the amount of water replenished and the discharging loss amount, and compares them with the actual discharging weight, and outputs a normal instruction or a cleaning instruction according to the comparison result.

[0022] Furthermore, the loss function is configured as:

[0023] ,

[0024] in, is the material loss, is the preset mixing time, is the preset stirring rate, is the volume of the stirring device, is the sum of the amount of water added and the amount of water replenished, is the preset viscosity of concrete, For one discharging cycle of the stirring device, is the weight of the initial material.

[0025] Furthermore, photoelectric sensors are provided on both sides of the vehicle body.

[0026] The data acquisition module acquires the photoelectric signals collected by the photoelectric sensor on the fences on both sides of the vehicle body;

[0027] It also includes an early warning module, which triggers the early warning condition and outputs an emergency stop instruction for stirring when no electrical sensor signal is received.

[0028] Furthermore, the photoelectric signal of the photoelectric sensor constitutes a photoelectric fence at the edge of the vehicle body.

[0029] Furthermore, guide sensors are provided at both ends of the vehicle body.

[0030] The data acquisition module acquires the actual distance between the steering sensor and the road obstacles on both sides of the vehicle body;

[0031] The early warning module outputs a stop instruction when the received actual distance is less than the alarm distance, otherwise, it outputs a normal instruction.

[0032] The beneficial effects of the present invention are as follows: through the linkage of the multi-sensor arrangement, the amount of material put into the mixing device and the required parameters are detected to output the amount of water added, and then the viscosity of the concrete after mixing is judged according to the torque value detected in the mixing device, and whether water needs to be added again is judged according to the viscosity of the concrete. If necessary, the amount of water to be added can be inferred according to the viscosity error, so that the discharged concrete meets the specified requirements. Compared with the traditional automatic water addition, the present invention can automatically match the amount of water added according to the amount of material and different parameters, and can adjust whether water is needed during the mixing process, so as to achieve the purpose of intelligent monitoring; in addition, the conveying slope of the conveying device can be controlled according to the viscosity of the concrete to avoid excessive adhesion of concrete to the conveying device, and then the pressure on the conveying device can be detected to deduce the actual amount of material discharged, and the amount normally adhered to the inner wall of the mixing device is calculated as the theoretical loss amount, so as to judge whether the loss amount exceeds the standard. If it exceeds the standard, it means that the amount of adhesion on the inner wall of the mixing device is too much, and it needs to be cleaned in time to avoid affecting the subsequent mixing. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a framework diagram of the control system in the present invention;

[0034] Figure 2 It is a framework diagram of the discharging feedback in the present invention;

[0035] Figure 3 It is the overall structure diagram of the concrete mixer truck in the present invention;

[0036] Figure 4 It is a folding diagram of the lifting frame in the present invention;

[0037] Figure 5 It is a support diagram of the lifting frame in the present invention;

[0038] Figure 6 It is a folded diagram of the conveying mechanism in the present invention;

[0039] Figure 7 It is an expanded view of the conveying mechanism in the present invention.

[0040] : 1. vehicle body; 2. lifting device; 21. main frame; 211. crossbeam; 212. reinforcement arm; 22. sub-frame; 23. support arm; 24. first diagonal rod; 25. first power member; 26. second power member; 27. second diagonal rod; 28. slide; 291. traction slide; 292. traction winch; 3. stirring device; 4. conveying device; 41. first conveyor belt frame; 401. first conveying section; 402. second conveying section; 42. second conveyor belt frame; 43. first driving member; 44. hanging rod; 45. second driving member; 46. connecting member; 47. fastener; 48. extension section; 49. discharge cover; 5. pressure roller; 6. connecting column; 7. push rod. DETAILED DESCRIPTION

[0041] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The same parts are represented by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the accompanying drawings, and the words "bottom surface" and "top surface", "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0042] For manual water addition, it depends on the experience of workers, but it is often difficult to meet the requirements of concrete viscosity, resulting in too little or too much water addition. For automatic water addition, the current automatic water addition system cannot automatically adjust the water volume according to the requirements of different parameters, and the water addition volume needs to be set in advance. It lacks intelligent control, so it is difficult to meet the control requirements of the automated integrated concrete mixing truck; therefore, the present invention designs such a control system based on the concrete mixing truck, such as Figure 3 As shown, it includes a vehicle body 1, a lifting device 2 and a stirring device 3. The lifting device 2 is located on the top of the vehicle body 1. A weighing sensor is provided on the lifting device 2. The stirring device 3 is located in the vehicle body 1 below the lifting device 2. The specific structure of the stirring device is as follows Figure 3 As shown, the stirring device 3 includes at least one stirring pot (the present invention includes two stirring pots, which are respectively arranged in the length direction of the lifting frame), the stirring pot is located in the vehicle body 1 below the lifting frame, and the concrete raw materials are stirred by the paddles in the stirring pot. The bottom of the stirring pot is provided with a discharge port, which runs through the bottom of the vehicle body 1, and a torque sensor is provided on the stirring device; Figure 1 As shown, it also includes,

[0043] The data acquisition module obtains the weight value of the ton bag hung on the hook of the lifting device collected by the weighing sensor, and obtains the torque value of the stirring shaft rotating in the stirring device collected by the torque sensor.

[0044] The proportion processing module calculates the weight of the initial material poured into the mixing device according to the change of the weight value. Specifically, by continuously detecting the data of the weighing sensor, when the ton bag moves to the top of the mixing pot, the weight value collected is m1, and when the ton bag is discharged downward, the weight value collected is m2. The weight of the initial material is m1-m2, and the initial material can include sand, cement powder and other additives. According to the preset viscosity of the concrete, the weight of the initial material, and the preset mixing time and mixing rate in the mixing device, the corresponding water addition amount is indexed in the preset proportion model. Among them, the construction of the preset proportion model includes the construction of the data set and the training of the model. Specifically, the data set includes the preset viscosity of concrete, the weight of initial materials, the preset mixing time, mixing rate and water addition amount in the mixing device in the historical data. The data set is divided into training set, verification set and test set in a certain proportion. The data set is trained and constructed through the existing convolutional neural network. Finally, the model is tested to ensure the accuracy of the model. When it is actually applied, any several parameters can be input to obtain a required parameter, such as the water addition amount to be output in the present invention. The water addition of the water system in the vehicle body is controlled according to the indexed water addition amount. At this time, the water system will control the water tank to supply water to the mixing pot for mixing.

[0045] The viscosity feedback module determines the actual viscosity of the concrete corresponding to the torque value when the mixing device completes the mixing time. The actual viscosity of the concrete is also obtained by indexing according to the preset model or parameter table. The torque value is substituted into the estimated actual viscosity of the concrete, and the actual viscosity of the concrete is compared with the preset viscosity of the concrete to output the viscosity error.

[0046] The water replenishment control module calculates the water replenishment amount through a ratio function according to the viscosity error and the stirring time and stirring rate preset in the stirring device;

[0047] Among them, the matching function is configured as:

[0048] ,

[0049] ,

[0050] in, For water replenishment, is the error viscosity, is the actual viscosity of concrete, is the preset viscosity of concrete, is the matching function, is the preset mixing time, is the preset stirring rate, is the base of natural logarithms, , , , , , They are the first constant, the second constant, the third constant, the fourth constant, the fifth constant and the sixth constant respectively.

[0051] When the mixing pot completes the preset mixing time with the first matched water addition amount, the actual viscosity of the concrete is judged according to the torque value. When the actual viscosity does not reach the specified preset viscosity, it means that the material in the mixing pot is loose and the torque is relatively small. In this case, it is necessary to calculate the water replenishment amount through the proportioning function to allow the material to be fully mixed to increase the viscosity. At this time, the preset mixing time and mixing rate are the same as the parameters set for the first time. Of course, different mixing times and mixing rates can also be reset. After the water replenishment amount is obtained, it is transported to the water system, and the water system drives the water tank to replenish water into the mixing pot.

[0052] In addition, the above-mentioned proportioning model can be updated according to the total amount of replenished water and the amount of added water.

[0053] It also includes a lifting module. When the weight value of the ton bag hanging on the lifting device is received, the lifting module triggers the first lifting condition and controls the lifting device to switch from a first folded state to a propped-up state. The first folded state reflects that the lifting device is folded and attached to the vehicle body, and the propped-up state reflects that the lifting device is erected and a conveying channel is formed between the lifting device and the vehicle body.

[0054] Specifically, the structure of the lifting device 2 is as follows: Figure 4 and Figure 5 As shown, the lifting device 2 includes a lifting frame and a traction member slidably connected to the lifting frame. A supporting mechanism is provided between the lifting frame and the vehicle body 1. The supporting mechanism is used to drive the lifting frame to move so that the lifting frame is away from the top of the vehicle body 1 and is in a supported state, or the lifting frame is close to the top of the vehicle body 1 and is in a folded state, which is convenient for the use and storage of the main frame 21. When it is used on a concrete mixer truck, the lifting frame is used to be installed on the vehicle body 1, and the main frame 21 is used to lift ton bags. By supporting the main frame 21, space for transporting ton bags can be provided, and by folding the main frame 21, the height of the entire vehicle can be reduced.

[0055] The supporting mechanism also includes a sub-frame 22, which is located below the main frame 21. The sub-frame 22 is used to connect to the top of the vehicle body 1, and the length and width of the sub-frame 22 are adapted to the top frame of the vehicle body 1. The sliding direction of the traction member is defined as the first direction. The length of the main frame 21 in the first direction is greater than the length of the sub-frame 22 in the first direction. The purpose is to extend the sliding distance of the traction member to adapt to long-distance transportation. In addition, it is more suitable for installation on the concrete mixer vehicle body 1. The extended length of the main frame 21 makes it convenient for workers to stand behind the vehicle body 1 and hang ton bags on the traction member of the main frame 21; the supporting mechanism includes a support arm 23 (four), a first diagonal rod 24 and a first power member 25 (cylinder). The support arm 23 is located between the main frame 21 and the sub-frame 22. One end of the support arm 23 is rotatably connected to the main frame 21, and the other end is rotatably connected to the sub-frame 22 (in order to improve the main frame 21). The stability of the main frame 21 when it is propped up, the support arms 23 are optimally arranged at the four corners of the sub-frame 22), one end of the first oblique rod 24 is rotatably connected to the support arm 23, and the other end is movably connected to the sub-frame 22 (the sub-frame 22 is provided with a slide rail arranged along the first direction, the end of the first oblique rod 24 is provided with a slider, and the end of the first oblique rod 24 is rotatably connected to the slider), the first power member 25 is used to drive one end of the first oblique rod 24 connected to the sub-frame 22 to move, so that the support arm 23 is rotated to stand up or rotated and folded onto the sub-frame 22. The support arm 23 is initially stacked between the sub-frame 22 and the main frame 21. When the main frame 21 needs to be propped up, the first power member 25 drives the first oblique rod 24 to be pushed in the first direction. At this time, the support arm 23 is folded to stand up. When the first oblique rod 24 slides a certain distance, the support arm 23 is 90 degrees perpendicular to the sub-frame 22.

[0056] Since the length of the main frame 21 is greater than that of the sub-frame 22, the first diagonal rods 24 in the present invention are divided into two groups, which are symmetrically arranged at the end of the main frame 21 that does not extend from the sub-frame 22. However, in order to facilitate the rapid propping up of the main frame 21, the propping up mechanism also includes a second power member 26 (cylinder). The second power member 26 is located at the end of the sub-frame 22 away from the first power member 25. When the main frame 21 is in a folded state, the driving end of the second power member 26 is connected to the lower surface of the main frame 21. When the first power member 25 starts to push the first diagonal rod 24, the driving end of the second power member 26 starts to lift the main frame 21 upward, and prop up the main frame 21 synchronously with the first power member 25.

[0057] Since the length of the main frame 21 is greater than the auxiliary frame 22, when the weight of the object to be lifted is too heavy, in order to facilitate the stability of the main frame 21, a second diagonal rod 27 is also provided between the main frame 21 and the auxiliary frame 22, and the slide 28 is located on one side of the auxiliary frame 22. The slide 28 is arranged along the first direction, and a slide groove is provided in the extension direction of the slide 28. One end of the second diagonal rod 27 is slidably connected in the slide groove of the slide 28, and the other end is rotatably connected to the end of the main frame 21 that extends outside the auxiliary frame 22. When the main frame 21 is in a folded state, one end of the second diagonal rod 27 in the slide groove is located close to one end of the first diagonal rod 24. When the main frame 21 is propped up, one end of the second diagonal rod 27 in the slide groove slides along the direction of the slide groove until the second diagonal rod 27, the main frame 21 and the support arm 23 are arranged in a triangle, which can provide better stability.

[0058] In addition, the slide 28 has a slope section and a flat section, and the slope section is located close to the first power member 25, that is, the end of the slide 28 close to the first power member 25 is higher than the end away from the first power member 25. When the main frame 21 is in a folded state, one end of the second diagonal rod 27 in the slide groove is located on the slope section. When the main frame 21 is propped up, one end of the second diagonal rod 27 in the slide groove slides down along the slope section to facilitate the movement and propping up of the second diagonal rod 27 until the second diagonal rod 27 slides into the flat section and continues to slide.

[0059] The traction member is located on the main frame 21, and the traction member includes a traction slide 291 (traction vehicle) and a traction winch 292 (winch and winch rope). The traction slide 291 is provided with a hook at one end facing the sub-frame 22, and the weighing sensor is located on the hook. The main frame 21 is provided with a crossbeam 211 along the first direction. The traction winch 292 is used to drive the traction slide 291 to slide on the crossbeam 211. The main frame 21 is also provided with a plurality of reinforcing arms 212 for connecting the crossbeam 211 and the main frame 21, so as to improve the stability of the crossbeam 211.

[0060] like Figure 3 As shown, a conveying device is provided below the stirring device.

[0061] The lifting module matches the conveying slope of the conveying device in the index library according to the preset viscosity of the concrete. When concretes of different viscosities are conveyed horizontally, the amount of concrete adhered to the conveyor belt of the conveying device is different. Therefore, when the viscosity is greater, the conveying slope of the conveying device is thrown downward.

[0062] The lifting module triggers the second lifting condition when receiving the water replenishment from the water system in the vehicle body 1 according to the replenishment amount, and controls the conveying device 4 to switch from the second folding state to the extended state. The second folding state reflects that the conveying device 4 is partially folded and fits the vehicle body 1, and the extended state reflects that the conveying device 4 is partially extended to the outside of the vehicle body 1.

[0063] Specifically, the structure of the conveying device 4 is as follows: Figure 6 and Figure 7 As shown, the conveying device 4 includes a first conveyor belt frame 41 and a second conveyor belt frame 42, the first conveyor belt frame 41 is located below the discharge port, and the second conveyor belt frame 42 is located outside the vehicle body 1, the first conveyor belt frame 41 and the second conveyor belt frame 42 are rotatably connected, and the first conveyor belt frame 41 is provided with a first driving member 43, and the first driving member 43 is used to drive the second conveyor belt frame 42 to move, so that the second conveyor belt frame 42 can be folded or stretched relative to the first conveyor belt frame 41. By rotating the first conveyor belt frame 41 and the second conveyor belt frame 42, and then driving the second conveyor belt frame 42 to move by the first driving member 43, the folding or stretching relative to the first conveyor belt frame 41 is achieved, which is convenient for storage and use, and can be applied to more specific scenarios, such as transporting concrete to a certain position on a concrete mixer truck. If the excessively long conveyor belt frame cannot be moved, it will cause too much space to be occupied, and the vehicle body 1 is too long, which will affect construction or traffic.

[0064] One end of the first driving member 43 (cylinder) is rotatably connected to one side of the first conveyor belt frame 41, and the other end is rotatably connected to one side of the second conveyor belt frame 42 (in order to stably drive the second conveyor belt frame, the first driving member 43 includes two groups, which are respectively arranged on the opposite sides of the first conveyor belt frame 41 and the second conveyor belt frame 42). The driving direction of the first driving member 43 and the transmission direction of the second conveyor belt frame have an angle, which facilitates the extension and retraction of the first driving member 43 to drive the rotation of the second conveyor belt frame from folding to stretching. Compared with the driving direction of the first driving member 43 being parallel to the transmission direction of the second conveyor belt frame, the setting of this angle can ensure that the rotation of the second conveyor belt frame will not be stuck and restricted.

[0065] The two sides of the second conveyor belt frame 42 are rotatably connected with hanging rods 44 for limiting the second conveyor belt frame 42. Fasteners 47 are also provided on both sides of the second conveyor belt frame 42. When the hanging rods 44 are parallel to the transmission direction of the second conveyor belt frame 42, the hanging rods 44 are snapped into the fasteners 47. On the concrete mixer truck, the first conveyor belt frame is located at the bottom of the concrete mixer truck and is used to carry the concrete unloaded from the bottom of the vehicle. The second conveyor belt frame extends outside the vehicle body 1. When the first driving member 43 drives the second conveyor belt frame to rotate and fold and stand up, in order to improve the stability of the second conveyor belt frame when it is folded and stood up, it is hung on the vehicle body 1 through the hanging rods 44 on both sides. The hanging rods 44 can rotate to adapt to the second conveyor belt frame 42 folded at different angles. When the second conveyor belt frame 42 is unfolded, in order to facilitate the placement of the hanging rods 44, the hanging rods 44 are snapped into the fasteners 47.

[0066] In order to adjust the discharge position height of the second conveyor belt frame, the first conveyor belt frame 41 includes a first conveying section 401 and a second conveying section 402, which is applied to a concrete mixer truck. The length of the first conveying section 401 is the same as the length of the vehicle body 1 and is horizontally located at the bottom of the vehicle body 1. The second conveying section 402 is shorter and exposed outside the vehicle body 1. One end of the second conveying section 402 is rotatably connected to the second conveyor belt frame 42, and the other end is rotatably connected to the first conveyor belt segment. The two sides of the second conveying section 402 are rotatably connected to the second driving The second driving member 45 (cylinder) drives the second conveying section 402 to move so that the second conveying section 402 is parallel or inclined relative to the first conveying section 401, that is, the second conveying section 402 is pulled by the second driving member 45 to change the height of the second conveying section 402, thereby changing the height of the second conveying belt frame 42; in the structure of the concrete mixer truck, one end of the second driving member 45 away from the second conveying section 402 is rotatably connected to the connecting member 46, and the connecting member 46 rotatably fixes the end of the second driving member 45 on the vehicle body 1.

[0067] An extension section 48 is provided at one end of the second conveyor belt frame 42 away from the first conveyor belt frame 41, and a feeding angle is provided between the extension section 48 and the transmission direction of the second conveyor belt frame 42, so that the material is thrown downwardly from the second conveyor belt frame 42. Compared with the traditional conveyor belt being thrown directly upwardly, the downward throwing of the extension section 48 can make the material (concrete) conveying position more accurate; the outer cover of the extension section 48 is provided with a discharge cover 49 for limiting the falling concrete.

[0068] The transmission surface of the first conveyor belt frame 41 and the transmission surface of the second conveyor belt frame 42 are both provided with pressure rollers 5 for pressing the conveyor belt. The pressure rollers 5 are located at the connection between the first conveying section 401 and the second conveying section 402 and at the connection between the second conveying section 402 and the second conveyor belt frame 42, and are used to press the conveyor belt to ensure that the conveyor belt does not become loose. A plurality of connecting columns 6 are provided on both sides of the first conveyor belt frame 41, and the connecting columns 6 are mainly used to connect the first conveyor belt frame 41 to the bottom of the concrete mixer truck.

[0069] like Figure 2 As shown, a pressure sensor is provided on the transmission shaft of the second conveyor belt frame 42 in the conveying device 4. After the concrete is discharged, it is output to the discharge cover through the transmission shaft. A discharge feedback module is also included.

[0070] A data acquisition module, which acquires the pressure value of the concrete on the conveying device collected by the pressure sensor as pressure information, wherein the pressure information includes the pressure value collected by the pressure sensor when the mixing pot starts to discharge material downward, until the mixing pot is discharged and the conveyor belt repeats one circle;

[0071] The discharge feedback module marks the initial pressure value of the conveying device in the pressure information. During a discharge cycle of the mixing device, all pressure values ​​in the pressure information that are greater than the initial pressure value are accumulated to obtain the actual discharge weight. The discharge loss is calculated through the loss function according to the preset viscosity of the concrete, the preset mixing time in the mixing device, the mixing rate, the sum of the added water amount and the replenished water amount, the weight of the initial material and the volume of the mixing device. The weight of the initial material is accumulated with the added water amount, the replenished water amount and the discharge loss amount, and compared with the actual discharge weight. A normal instruction or a cleaning instruction is output according to the comparison result.

[0072] Specifically, the loss function is configured as:

[0073] ,

[0074] in, is the material loss, The discharge loss caused by concrete viscosity. The loss of discharge caused by adding water and replenishing water can be integrated to obtain the total loss in the entire mixing process. is the preset mixing time, is the preset stirring rate, is the volume of the stirring device, is the sum of the amount of water added and the amount of water replenished, is the preset viscosity of concrete, For one discharging cycle of the stirring device, is the weight of the initial material.

[0075] The principle of judging the loss amount is as follows: Assuming that mixing pot A starts to discharge material, after time t0, the concrete is transported to the transmission shaft equipped with a pressure sensor, and the pressure value at that time is recorded. After mixing pot A has gone through a discharge cycle t, all the concrete has passed through the transmission shaft. At this time, the pressure value exceeding the initial pressure value (the pressure value collected by the pressure sensor before t0) during the above time can be accumulated as the actual discharge weight, and then the weight of the initial material is subtracted from the calculated discharge loss amount, and then compared with the actual discharge weight. If it is close to the actual discharge weight, it means that the amount of adhesion on the inner wall of the mixing pot is within the negligible range. If it is greater than the actual discharge weight, it means that the amount of adhesion on the inner wall of the mixing pot is too much and needs to be flushed.

[0076] like Figure 3 As shown, rotatable fences are provided on both sides of the vehicle body 1. When the fences are rotated down, workers can stand to clean. When the fences are rotated up, the occupied space can be reduced. Photoelectric sensors are provided on both sides of the vehicle body 1.

[0077] The data acquisition module acquires the photoelectric signals collected by the photoelectric sensors on the fences on both sides of the vehicle body;

[0078] It also includes an early warning module. The photoelectric signal of the photoelectric sensor constitutes a photoelectric fence at the edge of the vehicle body 1. When no electrical sensor signal is received, it means that a worker is standing on the fence. At this time, the early warning condition is triggered and an emergency stop command for mixing is output.

[0079] like Figure 3 As shown, a push rod 7 for connecting to a sliding film paver is provided at one end of the vehicle body 1. The vehicle body 1 in the present invention is pushed by the sliding film paver. The discharge of the second conveyor belt frame 42 is to the sliding film paver. Therefore, the vehicle body 1 is connected to the sliding film paver through two push rods 7. Guide sensors (which output ultrasonic waves, similar to radar ranging) are provided at both ends of the vehicle body.

[0080] The data acquisition module acquires the actual distance from the guidance sensor to the obstacles on the road on both sides of the vehicle;

[0081] The early warning module outputs a stop command when the actual distance received is less than the alarm distance. Otherwise, it outputs a normal command. Since the vehicle body 1 is pushed by the sliding film paver through the push rod 7, it is impossible to judge whether there are obstacles on both sides of the vehicle body 1, and the early warning module is relied upon for early warning.

[0082] The above are only preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A control system based on a concrete mixing truck, characterized in that: The invention comprises a vehicle body (1), a lifting device (2) and a stirring device (3), wherein the lifting device (2) is located on the top of the vehicle body (1), a weighing sensor is provided on the lifting device (2), the stirring device (3) is located in the vehicle body (1) below the lifting device (2), and a torque sensor is provided on the stirring device (3); and further comprises: A data acquisition module, for acquiring the weight value of the ton bag hanging on the lifting device (2) acquired by the weighing sensor, and acquiring the torque value of the stirring device (3) acquired by the torque sensor; The mix model building module uses the preset viscosity of concrete, the weight of the initial material, the preset mixing time, mixing rate and water addition amount in the mixing device in the historical data as a data set, and then divides the data set into a training set, a validation set and a test set in a certain ratio to build a model to obtain a preset mix model; a mix ratio processing module, which calculates the weight of the initial material poured into the mixing device (3) according to the change of the weight value, indexes the corresponding water addition amount in the preset mix ratio model according to the preset viscosity of the concrete, the weight of the initial material, and the preset mixing time and mixing rate in the mixing device (3), and controls the addition of water to the water system in the vehicle body according to the indexed water addition amount; A viscosity feedback module, for determining an actual viscosity of the concrete corresponding to a torque value when the stirring device (3) completes the stirring time, and for comparing the actual viscosity of the concrete with a preset viscosity of the concrete to output a viscosity error; The water replenishment control module calculates the water replenishment amount through a ratio function according to the viscosity error and the stirring time and stirring rate preset in the stirring device.

2. A control system based on a concrete mixer truck according to claim 1, characterized in that: A conveying device (4) is provided below the stirring device (3). It also comprises a lifting module, wherein the lifting module matches the conveying inclination of the conveying device (4) in the index library according to the preset viscosity of the concrete.

3. A control system based on a concrete mixer truck according to claim 2, characterized in that: The lifting module triggers a first lifting condition when receiving the weight value of the ton bag hanging on the lifting device (2), and controls the lifting device (2) to switch from a first folded state to a propped-up state, wherein the first folded state reflects that the lifting device (2) is folded and attached to the vehicle body (1), and the propped-up state reflects that the lifting device (2) is erected and forms a conveying channel with the vehicle body (1).

4. A control system based on a concrete mixing truck according to claim 2 or 3, characterized in that: The lifting module triggers a second lifting condition when receiving water replenishment from the water system in the vehicle body (1) according to the replenishment amount, and controls the conveying device (4) to switch from a second folded state to an extended state, wherein the second folded state reflects that the conveying device (4) is partially folded to fit the vehicle body, and the extended state reflects that the conveying device is partially extended to the outside of the vehicle body (1).

5. A control system based on a concrete mixer truck according to claim 4, characterized in that: The matching function is configured as follows: ， ， in, For water replenishment, is the error viscosity, is the actual viscosity of concrete, is the preset viscosity of concrete, is the matching function, is the preset mixing time, is the preset stirring rate, is the base of natural logarithms, , , , , , They are the first constant, the second constant, the third constant, the fourth constant, the fifth constant and the sixth constant respectively.

6. A control system based on a concrete mixer truck according to claim 5, characterized in that: The conveying device (4) is provided with a pressure sensor and also includes a discharge feedback module. The data acquisition module acquires the pressure value of the concrete on the conveying device (4) acquired by the pressure sensor as pressure information; The discharge feedback module marks the initial pressure value of the conveying device (4) in the pressure information, accumulates all pressure values ​​greater than the initial pressure value in the pressure information during a discharge cycle of the mixing device (3) to obtain the actual discharge weight, calculates the discharge loss amount through a loss function based on the preset viscosity of the concrete, the preset mixing time in the mixing device (3), the mixing rate, the sum of the amount of water added and the amount of water replenished, the weight of the initial material and the volume of the mixing device (3), accumulates the weight of the initial material, the amount of water added, the amount of water replenished and the discharge loss amount, and compares them with the actual discharge weight, and outputs a normal instruction or a cleaning instruction based on the comparison result.

7. A control system based on a concrete mixer truck according to claim 6, characterized in that: The loss function is configured as: ， in, is the material loss, is the preset mixing time, is the preset stirring rate, is the volume of the stirring device, is the sum of the amount of water added and the amount of water replenished, is the preset viscosity of concrete, For one discharging cycle of the stirring device, is the weight of the initial material.

8. The control system based on a concrete mixer truck according to claim 1, characterized in that: Photoelectric sensors are provided on both sides of the vehicle body (1). The data acquisition module acquires the photoelectric signals collected by the photoelectric sensor on the fences on both sides of the vehicle body (1); It also includes an early warning module, which triggers the early warning condition and outputs an emergency stop instruction for stirring when no electrical sensor signal is received.

9. A control system based on a concrete mixer truck according to claim 8, characterized in that: The photoelectric signal of the photoelectric sensor forms a photoelectric fence at the edge of the vehicle body (1).

10. The control system based on a concrete mixer truck according to claim 8, characterized in that: The vehicle body (1) is provided with guide sensors at both ends. The data acquisition module acquires the actual distance from the steering sensor to the road obstacles on both sides of the vehicle body (1); The early warning module outputs a stop instruction when the received actual distance is less than the alarm distance, otherwise, it outputs a normal instruction.

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