Intelligent concrete tank car washing platform based on Internet of Things

Abstract

The invention relates to the technical field of flushing, and particularly discloses an intelligent concrete tank car flushing platform based on the Internet of Things. When a tank car is flushed through a flushing platform main body and the concrete tank car is driven into the flushing platform, a sensor automatically detects the arrival of the car and sends a signal to an intelligent control module; the intelligent control module starts the multi-degree-of-freedom mechanical arm and the flushing spray head to automatically flush the tank truck, the moving speed of the mechanical arm and the flushing water pressure are adjusted in the flushing process according to the different areas and thicknesses of stains in all the areas of all the soil tank trucks, and meanwhile, if the soil tank trucks are not flushed thoroughly for the first time and are flushed for the second time, the flushing water pressure is adjusted; the secondary flushing water pressure can be automatically adjusted according to the first-time cleaning degree, and water can be saved to the maximum extent while thorough flushing is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of flushing, and particularly to an intelligent concrete mixer truck flushing platform based on the Internet of Things. Background Art

[0002] In the process of infrastructure construction projects, a large amount of concrete is needed. Currently, most concrete is made in a concrete mixing plant and then transported to the construction site for pouring by a concrete mixer truck. After the concrete mixer truck finishes unloading at the construction site, concrete fragments will remain on the vehicle body surface. Usually, a flushing device is required to flush the surface of the concrete mixer truck. The traditional flushing method of concrete mixer trucks mainly relies on manual flushing, which is not only inefficient but also difficult to guarantee the flushing effect. At the same time, there is also a serious problem of water resource waste in manual flushing.

[0003] In addition, the existing flushing equipment cannot adjust the water pressure and flushing duration in real time according to the state of the earth tank truck during flushing. If the water pressure is too low or the flushing duration is too short, the flushing of the earth tank truck will not meet the standards. If the water pressure is too high or the flushing duration is too long, it will lead to waste of water resources. With the rapid development of the Internet of Things technology, applying the Internet of Things technology to the concrete mixer truck flushing platform to achieve intelligent flushing and management has important practical significance. Therefore, the present invention proposes an intelligent concrete mixer truck flushing platform based on the Internet of Things. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent concrete mixer truck flushing platform based on the Internet of Things to solve the above technical problems: The purpose of the present invention can be achieved through the following technical solutions: An intelligent concrete mixer truck flushing platform based on the Internet of Things, the platform comprising: a flushing platform main body, a scanning detection module, a water quality monitoring module, and an intelligent control module; The flushing platform main body is used to achieve intelligent flushing of the concrete mixer truck based on Internet of Things data; The scanning detection module is used to scan the outer shape of the truck and the distribution of concrete stains and send them to the intelligent control module; The water quality monitoring module is used to monitor the turbidity of sewage; The intelligent control module is used to formulate a flushing strategy according to the data sent by the scanning detection module and the water quality detection module.

[0005] As a further description of the solution of the present invention, the main body of the flushing platform includes a frame, flushing nozzles, a multi-degree-of-freedom robotic arm, a sump, and a sedimentation tank. The frame is made of high-strength steel and is used to bear the weight of the concrete mixer truck. The flushing nozzles are connected to the multi-degree-of-freedom robotic arm and are used to flush the truck in all directions. The multi-degree-of-freedom robotic arm is equipped with high-pressure rotary nozzles and flushes precisely according to the planned path. The sump is located below the flushing platform and is used to collect the sewage after flushing. The sedimentation tank is connected to the sump and is used to treat the sewage by sedimentation.

[0006] As a further description of the solution of the present invention, the working process of the scanning and detection module includes: The lidar scans to generate a heat map of the stains on the surface of the tank body, and the stain distribution, area, and thickness of the stains are obtained according to the surface stain heat map; The shape and concrete type of the truck are obtained; The working process of the water quality detection module includes: Sensors are arranged in the sump to measure the pH value and turbidity of the sewage collected in the sump in real time.

[0007] As a further description of the solution of the present invention, the working process of the intelligent control module includes: Step S1: Develop a pre-flushing strategy according to the shape and concrete type of the truck; Step S2: Adjust the pre-flushing strategy according to the surface stain heat map to generate a flushing strategy; Step S3: The scanning and detection module rechecks the cleanliness and performs secondary flushing on the unqualified areas; Step S4: Repeat Step S3 until the cleanliness of all areas meets the standard.

[0008] As a further description of the solution of the present invention, the working process of Step S2 includes: The shape and concrete type of the truck are obtained, and a pre-flushing strategy is generated according to the historical flushing data; According to the surface stain heat map, the stain distribution area is obtained, and the stain area and thickness of each area are obtained; The multi-degree-of-freedom robotic arm drives the flushing nozzles to spray according to the pre-flushing strategy. When the multi-degree-of-freedom robotic arm drives the flushing nozzles through the area, the spraying water pressure and residence time are adjusted; A flushing strategy is developed according to the pre-flushing strategy and the adjusted spraying water pressure and residence time.

[0009] As a further description of the solution of the present invention, the process of adjusting the spraying water pressure and residence time includes: The flushing area of the earthenware truck is divided into several areas, and the areas are numbered. The area numbers are in the counterclockwise order from top to bottom as: 1, 2,..., n; Obtain the area S and thickness D of the i-th region, and obtain the initial water pressure in the pre-rinsing strategy and the rinsing duration of the i-th region ; Construct a mathematical calculation model for the rinsing index of the i-th region, and the expression is: ; Compare the rinsing index of the i-th region with the preset rinsing index interval of the system . If belongs to the interval , then maintain the initial water pressure in the pre-rinsing strategy and the rinsing duration of the i-th region , that is , .

[0010] As a further description of the solution of the present invention, the process of adjusting the jet water pressure and the residence duration further includes: If is greater than , then adjust the rinsing water pressure of the i-th region to: ; If is greater than , then adjust the rinsing duration of the i-th region to: ; If is less than , then adjust the rinsing water pressure of the i-th region to: ; If is greater than , then adjust the rinsing duration of the i-th region to: ; In the formula, and are weight coefficients, and are conversion coefficients, is the standard stain area set by the system according to historical data, is the standard stain thickness set by the system according to historical data, where i belongs to n.

[0011] As a further description of the solution of the present invention, the rinsing strategy is: The multi-degree-of-freedom robotic arm drives the rinsing nozzle to rinse in a spiral path in a counterclockwise direction from top to bottom, and the initial water pressure is , and the initial moving speed of the multi-degree-of-freedom robotic arm is constant at ; When flushing the i-th area, adjust the flushing water pressure and the moving speed of the multi-degree-of-freedom robotic arm in the i-th area according to the flushing index of the i-th area. When the flushing of the i-th area is completed, the water pressure and the moving speed of the multi-degree-of-freedom robotic arm return to the initial water pressure and the initial moving speed; Repeat the above steps until the overall flushing of the earth tank truck is completed.

[0012] As a further description of the solution of the present invention, the strategy for secondary cleaning in step S3 is as follows: Obtain the average sewage turbidity of the sewage entering the sump when flushing the i-th area during the primary flushing ; Obtain the average sewage turbidity of the sewage entering the sump in the previous moment when flushing the i-th area during the second flushing ; Adjust the water pressure when flushing the i-th area during the second flushing to: ; In the formula, k is a conversion coefficient.

[0013] The beneficial effects of the present invention: 1. When the present invention flushes the tank truck through the flushing platform main body, when the concrete tank truck drives into the flushing platform, the sensor automatically detects the arrival of the vehicle and sends a signal to the intelligent control module. The intelligent control module starts the multi-degree-of-freedom robotic arm and the flushing nozzle to automatically flush the tank truck, and adjusts the moving speed of the robotic arm and the flushing water pressure during the flushing process according to the stain area and thickness of each area of each earth tank truck. At the same time, if it is not flushed clean in the first pass, when performing secondary flushing, it can automatically adjust the secondary flushing water pressure according to the cleaning degree of the first pass, ensuring that it is flushed clean while saving water to the greatest extent; 2. The present invention provides a method for adjusting the pre-flushing strategy to generate a flushing strategy and dynamically adjusting the flushing water pressure and duration in real time. The flushing area of the earthenware pot truck is divided into several areas, and the areas are numbered. Then, the flushing index of each area is obtained according to the stain area and thickness of each area, and the flushing index of each area is compared with the preset flushing index interval of the system. If the flushing index belongs to the interval, maintain the initial water pressure and the flushing duration of each area in the pre-flushing strategy. If the flushing index does not belong to the interval, calculate the adjusted flushing water pressure and duration according to the stain area and thickness of the flushing area; 3. The present invention provides a method for dynamically adjusting the water pressure during secondary flushing. When obtaining the primary flushing, the average sewage turbidity of the sewage entering the sump when flushing to each area is obtained. When obtaining the secondary flushing, the average sewage turbidity of the sewage entering the sump at the first tenth moment of the flushing duration when flushing to each area is obtained. Then, the water pressure when flushing to each area during the secondary flushing is calculated according to the ratio of the two sewage turbidities. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention will be further described below with reference to the accompanying drawings.

[0015] Figure 1 It is a schematic structural diagram of an intelligent concrete mixer truck flushing platform based on the Internet of Things according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0017] Please refer to Figure 1 As shown, the present invention provides an intelligent concrete mixer truck flushing platform based on the Internet of Things. The platform includes: a flushing platform main body, a scanning detection module, a water quality monitoring module, and an intelligent control module; The flushing platform main body is used to realize intelligent flushing of the concrete mixer truck based on Internet of Things data; The scanning detection module is used to scan the shape of the truck and the distribution of concrete stains, and send them to the intelligent control module; The water quality monitoring module is used to monitor the sewage turbidity; The intelligent control module is used to formulate a flushing strategy according to the data sent by the scanning detection module and the water quality detection module.

[0018] Through the above technical solutions, when the present invention flushes the truck through the flushing platform main body, when the concrete mixer truck drives into the flushing platform, the sensor automatically detects the arrival of the vehicle and sends a signal to the intelligent control module. The intelligent control module starts the multi-degree-of-freedom robotic arm and the flushing nozzle to automatically flush the truck, and adjusts the moving speed of the robotic arm and the flushing water pressure during the flushing process according to the stain area and thickness of each area of each soil truck. At the same time, if it is not flushed clean in the first pass, when performing secondary flushing, it can automatically adjust the secondary flushing water pressure according to the cleaning degree of the first pass, ensuring thorough flushing while maximizing water conservation.

[0019] As a further description of the solution of the present invention, the main body of the flushing platform includes a frame, flushing nozzles, a multi-degree-of-freedom robotic arm, a sump, and a sedimentation tank. The frame is made of high-strength steel and is used to bear the weight of the concrete mixer truck. The flushing nozzles are connected to the multi-degree-of-freedom robotic arm and are used to flush the truck in all directions. The multi-degree-of-freedom robotic arm is equipped with high-pressure rotating nozzles and flushes precisely according to the planned path. The sump is located below the flushing platform and is used to collect the sewage after flushing. The sedimentation tank is connected to the sump to treat the sewage by sedimentation.

[0020] As a further description of the solution of the present invention, the working process of the scanning and detection module includes: The lidar scans to generate a heat map of the stains on the tank body surface, and the stain distribution, area, and thickness are obtained according to the surface stain heat map; The shape of the truck and the type of concrete are obtained; The working process of the water quality detection module includes: Sensors are arranged in the sump to measure the pH value and turbidity of the sewage collected in the sump in real time.

[0021] As a further description of the solution of the present invention, the working process of the intelligent control module includes: Step S1: Develop a pre-flushing strategy according to the shape of the truck and the type of concrete; Step S2: Adjust the pre-flushing strategy according to the surface stain heat map to generate a flushing strategy; Step S3: The scanning and detection module rechecks the cleanliness and performs secondary flushing on the unqualified areas; Step S4: Repeat Step S3 until the cleanliness of all areas meets the standard.

[0022] Through the above technical solutions, this embodiment provides a flushing strategy formulation solution. When the truck enters the flushing area, the shape of the tank body and the type of transported concrete are obtained, and a pre-flushing strategy is formulated according to the obtained data. The lidar scans to generate a heat map of the stains on the tank body surface, and the pre-flushing strategy is adjusted according to the surface stain heat map to generate a flushing strategy. When performing secondary flushing on the unqualified areas, the flushing water pressure can be adjusted in real time according to the effect of the first flushing, ensuring that the flushing meets the standard while maximizing water resource conservation.

[0023] As a further description of the solution of the present invention, the working process of Step S2 includes: The shape of the truck and the type of concrete are obtained, and a pre-flushing strategy is generated according to the historical flushing data; According to the surface stain heat map, the stain distribution area is obtained, and the stain area and thickness of each area are obtained; The multi-degree-of-freedom robotic arm drives the flushing nozzle to spray according to the pre-flushing strategy. When the multi-degree-of-freedom robotic arm drives the flushing nozzle through the area, the spraying water pressure and residence time are adjusted. A flushing strategy is formulated based on the pre-flushing strategy and the adjusted spraying water pressure and residence time.

[0024] As a further description of the solution of the present invention, the process of adjusting the spraying water pressure and residence time includes: The flushing area of the tanker is divided into several areas, and the areas are numbered. The area numbers are successively: 1, 2,..., n in the counterclockwise order from top to bottom; Obtain the area S and thickness D of the i-th area, and obtain the initial water pressure in the pre-flushing strategy and the flushing duration of the i-th area ; Construct a mathematical calculation model for the flushing index of the i-th area, and the expression is: ; Compare the flushing index of the i-th area with the preset flushing index interval of the system. If belongs to the interval , then maintain the initial water pressure in the pre-flushing strategy and the flushing duration of the i-th area, that is , .

[0025] As a further description of the solution of the present invention, the process of adjusting the spraying water pressure and residence time further includes: If is greater than , then adjust the flushing water pressure of the i-th area to: ; If is greater than , then adjust the flushing duration of the i-th area to: ; If is less than , then adjust the flushing water pressure of the i-th area to: ; If is greater than , then adjust the flushing duration of the i-th area to: ; In the formula, and are weight coefficients, and is the conversion coefficient, is the standard stain area set by the system according to historical data, is the standard stain thickness set by the system according to historical data, where i belongs to n.

[0026] Through the above technical solutions, this embodiment provides a method for adjusting the pre-rinsing strategy to generate a rinsing strategy and dynamically adjusting the rinsing water pressure and duration in real time. The rinsing area of the tank truck is divided into several areas, and the areas are numbered. Then, the rinsing index of each area is obtained according to the stain area and thickness of each area. The rinsing index of each area is compared with the preset rinsing index interval of the system. If the rinsing index belongs to the interval, the initial water pressure and the rinsing duration of each area in the pre-rinsing strategy are maintained. If the rinsing index does not belong to the interval, the adjusted rinsing water pressure and duration are calculated according to the stain area and thickness of the rinsing area.

[0027] As a further description of the solution of the present invention, the rinsing strategy is: The multi-degree-of-freedom robotic arm drives the rinsing nozzle to rinse in a spiral path from top to bottom in a counterclockwise order, and the initial water pressure is The initial moving speed of the multi-degree-of-freedom robotic arm is constantly ; When rinsing the i-th area, the rinsing water pressure and the moving speed of the multi-degree-of-freedom robotic arm in the i-th area are adjusted according to the rinsing index of the i-th area. When the rinsing of the i-th area is completed, the water pressure and the moving speed of the multi-degree-of-freedom robotic arm are restored to the initial water pressure and the initial moving speed; Repeat the above steps until the overall rinsing of the earth tank truck is completed.

[0028] It should be noted that the moving speed of the multi-degree-of-freedom robotic arm is obtained according to the moving track length of the multi-degree-of-freedom robotic arm / rinsing duration.

[0029] As a further description of the solution of the present invention, the strategy for secondary cleaning in step S3 is: Obtain the average sewage turbidity of the sewage entering the sump when rinsing the i-th area during the first rinsing ; Obtain the average sewage turbidity of the sewage entering the sump during the first moments when rinsing the i-th area during the second rinsing ; Adjust the water pressure when rinsing the i-th area during the second rinsing to: ; In the formula, k is the conversion coefficient.

[0030] Through the above technical solution, this embodiment provides a method for dynamically adjusting the water pressure during the secondary flushing. When obtaining the primary flushing, the average sewage turbidity of the sewage entering the sump when flushing to each area is obtained. When obtaining the secondary flushing, the average sewage turbidity of the sewage entering the sump at the first tenth moment of the flushing duration when flushing to each area is obtained. Then, the water pressure when flushing to each area during the secondary flushing is calculated according to the ratio of the two sewage turbidities.

[0031] The above has described in detail an embodiment of the present invention, but the content described is only a preferred embodiment of the present invention and cannot be considered as limiting the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the application of the present invention should still fall within the scope covered by the patent of the present invention.

Claims

1. An intelligent concrete tanker washing platform based on the Internet of Things, characterized in that: The platform includes: a flushing platform body, a scanning detection module, a water quality monitoring module and an intelligent control module; The flushing platform body is used to realize intelligent flushing of the concrete tank truck based on the Internet of Things data; The scanning and detection module is used to scan the tank truck shape and concrete stain distribution, and send them to the intelligent control module; The water quality monitoring module is used to monitor sewage turbidity; The intelligent control module is used to formulate a flushing strategy according to the data sent by the scanning detection module and the water quality detection module.

2. According to the IoT-based intelligent concrete tanker washing platform of claim 1, it is characterized in that: The main body of the flushing platform includes a frame, a flushing nozzle, a multi-degree-of-freedom robotic arm, a water collection tank and a sedimentation tank. The frame is made of high-strength steel and is used to bear the weight of the concrete tank truck. The flushing nozzle is connected to the multi-degree-of-freedom robotic arm and is used to flush the tank truck in all directions. The multi-degree-of-freedom robotic arm is equipped with a high-pressure rotating nozzle for precise flushing according to the planned path. The water collection tank is located under the flushing platform and is used to collect sewage after flushing. The sedimentation tank is connected to the water collection tank to precipitate the sewage.

3. The intelligent concrete tanker washing platform based on the Internet of Things according to claim 2 is characterized in that: The working process of the scanning detection module includes: The laser radar scans and generates a thermal map of the stains on the tank surface. The distribution of the stains and the area and thickness of the stains are obtained based on the thermal map of the stains on the surface. Get the tanker's profile and concrete type; The working process of the water quality detection module includes: Sensors are arranged in the water collection tank to measure the pH value and turbidity of the sewage collected in the water collection tank in real time.

4. The intelligent concrete tanker washing platform based on the Internet of Things according to claim 2 is characterized in that: The working process of the intelligent control module includes: Step S1, formulating a pre-flushing strategy according to the shape of the tank truck and the type of concrete; Step S2: adjusting the pre-rinsing strategy to generate a flushing strategy according to the surface stain heat map; Step S3, the scanning detection module rechecks the cleanliness and performs a second flush on the areas that do not meet the standards; Step S4: Repeat step S3 until the cleanliness of all areas meets the standard.

5. The intelligent concrete tanker washing platform based on the Internet of Things according to claim 4 is characterized in that: The working process of step S2 includes: Obtain the tanker's shape and concrete type, and generate a pre-flushing strategy based on historical flushing data; According to the surface stain heat map, obtain the stain distribution area, and obtain the stain area and thickness of each area; The multi-degree-of-freedom robotic arm drives the flushing nozzle to spray according to the pre-flushing strategy. When the multi-degree-of-freedom robotic arm drives the flushing nozzle to pass through the area, the spraying water pressure and the dwell time are adjusted; Develop a flushing strategy based on the pre-flushing strategy and adjusted jet water pressure and dwell time.

6. The intelligent concrete tanker washing platform based on the Internet of Things according to claim 5 is characterized in that: The process of adjusting the spray water pressure and the dwell time includes: The tank car washing area is divided into several areas and numbered. The area numbers are in the counterclockwise order from top to bottom: 1, 2, ..., n; Get the area S and thickness D of the i-th region, and get the initial water pressure in the pre-rinsing strategy and the flushing time of the i-th area ; Construct a mathematical calculation model for the flushing index of the i-th area, and the expression is: ; Set the flushing index of the ith region The flushing index interval preset by the system Compare, if Belong to the interval , then maintain the initial water pressure in the pre-rinse strategy and the flushing time of the i-th area ,Right now , .

7. The intelligent concrete tanker washing platform based on the Internet of Things according to claim 6 is characterized in that: The process of adjusting the spray water pressure and the dwell time also includes: like Greater than , then the flushing water pressure of the i-th area is adjusted to: ； like Greater than , then the flushing time of the i-th area is adjusted to: ； like Less than , then the flushing water pressure of the i-th area is adjusted to: ； like Greater than , then the flushing time of the i-th area is adjusted to: ； In the formula, and is the weight coefficient, and is the conversion factor, The area of ​​the standard stain area is set by the system based on historical data. is the standard stain thickness set by the system based on historical data, where i belongs to n.

8. The intelligent concrete tanker washing platform based on the Internet of Things according to claim 7 is characterized in that: The flushing strategy is: The multi-degree-of-freedom robotic arm drives the flushing nozzle to flush from top to bottom in a counterclockwise order along a spiral path. The initial water pressure is , the initial moving speed of the multi-degree-of-freedom manipulator is constant ; When flushing to the i-th area, the flushing water pressure and the moving speed of the multi-degree-of-freedom robot arm of the i-th area are adjusted according to the flushing index of the i-th area. When flushing of the i-th area is completed, the water pressure and the moving speed of the multi-degree-of-freedom robot arm are restored to the initial water pressure and initial moving speed; Repeat the above steps until the entire earth tank truck is flushed.

9. The intelligent concrete tanker washing platform based on the Internet of Things according to claim 4 is characterized in that: The strategy for secondary cleaning in step S3 is: Get the average sewage turbidity of the sewage entering the sump when flushing to the i-th area during the first flush ; When getting the second flush, when flushing to the i-th area, the front The average turbidity of sewage entering the sump at any time ; The water pressure when flushing the i-th area during the second flushing is adjusted to: ; Where k is the conversion coefficient.

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