Load determination method of electric mixer truck, controller, electric mixer truck and medium

Abstract

The invention provides a load determination method of an electric mixer truck, a controller, the electric mixer truck and a medium, and relates to the technical field of electric mixer trucks. The method comprises the steps that the current motor rotating speed and the current motor torque of a mixing drum motor of the electric mixer truck are obtained; according to the current motor torque, determining a current torque characteristic value of the mixing drum motor; and determining the load of the electric mixer truck according to the current motor rotating speed, the corresponding relation of the preset rotating speed and the characteristic threshold value and the current torque characteristic value. According to the method, the load of the electric mixer truck can be accurately identified.

Description

Technical Field

[0001] The present application relates to the technical field of electric mixer trucks, and particularly to a method for determining the load of an electric mixer truck, a controller, an electric mixer truck, and a medium. Background Art

[0002] A mixer truck, usually referred to as a concrete mixer truck, is a vehicle specifically used for transporting concrete, such as an electric mixer truck. Its main function is to transport the ready-mixed concrete from the production site to the construction site, and at the same time keep the concrete uniform and prevent solidification by rotating the mixing drum.

[0003] In the related art, the vehicle load of an electric mixer truck varies greatly between the no-load and full-load states, and the power consumption required for vehicle control also varies significantly for different loads. Therefore, in order to achieve refined control of the power consumption of the electric mixer truck, it is necessary to identify the load of the electric mixer truck during vehicle operation.

[0004] However, there is no solution in the prior art that can accurately identify the load of an electric mixer truck. Summary of the Invention

[0005] Embodiments of the present application provide a method for determining the load of an electric mixer truck, a controller, an electric mixer truck, and a medium, which can accurately identify the load of the electric mixer truck.

[0006] In a first aspect, embodiments of the present application provide a method for determining the load of an electric mixer truck, including:

[0007] Obtain the current motor speed and the current motor torque of the mixing drum motor of the electric mixer truck;

[0008] Determine the current torque characteristic value of the mixing drum motor according to the current motor torque;

[0009] Determine the load of the electric mixer truck according to the current motor speed, the preset corresponding relationship between the speed and the torque characteristic threshold, and the current torque characteristic value.

[0010] In a possible implementation manner, the determining the load of the electric mixer truck according to the current motor speed, the preset corresponding relationship between the speed and the torque characteristic threshold, and the current torque characteristic value includes:

[0011] Determine the no-load torque characteristic threshold corresponding to the current motor speed according to the preset corresponding relationship between the speed and the torque characteristic threshold in the no-load state;

[0012] Determine the full-load torque characteristic threshold corresponding to the current motor speed according to the preset corresponding relationship between the speed and the torque characteristic threshold in the full-load state;

[0013] Determine the load of the electric mixer truck according to the current torque characteristic value, the no-load torque characteristic threshold, and the full-load torque characteristic threshold, where the load includes one of no-load, half-load, and full-load.

[0014] In a possible implementation manner, the correspondence between the rotational speed and the torque characteristic threshold in the no-load state is obtained through the following method:

[0015] Step A1: When the electric mixer truck is in the no-load state, control the mixing drum motor to operate at a set motor speed, and obtain the corresponding motor torque.

[0016] Step A2: Determine the torque characteristic value corresponding to the mixing drum motor according to the motor torque and a preset period.

[0017] Step A3: Repeat the above steps A1 - A2 multiple times to obtain multiple torque characteristic values corresponding to the motor speed. Determine the torque characteristic threshold corresponding to the motor speed according to the maximum torque characteristic value among the multiple torque characteristic values.

[0018] Step A4: Adjust the set motor speed multiple times, and repeat the above steps A1 - A3 to obtain torque characteristic thresholds corresponding to different motor speeds respectively.

[0019] Step A5: Determine the correspondence between the rotational speed and the torque characteristic threshold in the no-load state according to the torque characteristic thresholds corresponding to different motor speeds respectively.

[0020] In a possible implementation manner, the correspondence between the rotational speed and the torque characteristic threshold in the full-load state is obtained through the following method:

[0021] Step B1: When the electric mixer truck is in the full-load state, control the mixing drum motor to operate at a set motor speed, and obtain the corresponding motor torque.

[0022] Step B2: Determine the torque characteristic value corresponding to the mixing drum motor according to the motor torque and a preset period.

[0023] Step B3: Repeat the above steps B1 - B2 multiple times to obtain multiple torque characteristic values corresponding to the motor speed. Determine the torque characteristic threshold corresponding to the motor speed according to the minimum torque characteristic value among the multiple torque characteristic values.

[0024] Step B4: Adjust the set motor speed multiple times, and repeat the above steps B1 - B3 to obtain torque characteristic thresholds corresponding to different motor speeds respectively.

[0025] Step B5: Determine the correspondence between the rotational speed and the torque characteristic threshold under the full load condition according to the torque characteristic thresholds corresponding to the different motor rotational speeds.

[0026] In a possible implementation manner, the determining of the load of the electric mixer truck according to the current torque characteristic value, the no-load torque characteristic threshold, and the full-load torque characteristic threshold includes:

[0027] Judge whether the current torque characteristic value is greater than the no-load torque characteristic threshold;

[0028] If it is less than or equal to the no-load torque characteristic threshold, determine that the load of the electric mixer truck is no load;

[0029] If it is greater than the no-load torque characteristic threshold, judge whether the current torque characteristic value is less than the full-load torque characteristic threshold; if it is less than the full-load torque characteristic threshold, determine that the load of the electric mixer truck is half load; if it is greater than or equal to the full-load torque characteristic threshold, determine that the load of the electric mixer truck is full load.

[0030] In a possible implementation manner, the determining of the current torque characteristic value of the mixing drum motor according to the current motor torque includes:

[0031] Use the following formula to calculate the current torque characteristic value of the mixing drum motor:

[0032]

[0033] Wherein, represents the current torque characteristic value, represents the preset period, represents the current motor torque.

[0034] In a possible implementation manner, it further includes:

[0035] When the load of the electric mixer truck is no load, control the operation of the electric mixer truck according to the first throttle opening and the first energy recovery efficiency;

[0036] When the load of the electric mixer truck is half load, control the operation of the electric mixer truck according to the second throttle opening and the second energy recovery efficiency;

[0037] When the load of the electric mixer truck is full load, control the operation of the electric mixer truck according to the third throttle opening and the third energy recovery efficiency;

[0038] Wherein, the first throttle opening < the second throttle opening < the third throttle opening, and the first energy recovery efficiency < the second energy recovery efficiency < the third energy recovery efficiency.

[0039] In a second aspect, an embodiment of the present application provides an electric mixer truck controller, including:

[0040] a processor, and a memory communicatively connected to the processor;

[0041] The memory is used to store computer-executable instructions;

[0042] The processor is configured to execute the computer-executable instructions stored in the memory, so that the processor performs the first aspect and / or various possible implementation manners of the first aspect as described above.

[0043] In a third aspect, an embodiment of the present application provides an electric mixer truck, including: the electric mixer truck controller as described in the second aspect.

[0044] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement the first aspect and / or various possible implementation manners of the first aspect as described above.

[0045] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it is used to implement the first aspect and / or various possible implementation manners of the first aspect as described above.

[0046] An embodiment of the present application provides a method, a controller, an electric mixer truck and a medium for determining the load of an electric mixer truck. The motor speed and motor torque of the mixing drum motor of the electric mixer truck can be collected in advance when the electric mixer truck is actually at different loads, and the corresponding relationship between different motor speeds and torque characteristic thresholds can be calculated accordingly and stored in the electric mixer truck controller in advance. During the actual operation of the electric mixer truck, the electric mixer truck controller can obtain the current motor speed and current motor torque of the mixing drum motor, calculate the current torque characteristic value of the mixing drum motor according to the current motor torque, and accurately determine the torque characteristic threshold corresponding to the current motor speed according to the pre-stored corresponding relationship between the speed and the characteristic threshold. Then, according to the magnitude relationship between the current torque characteristic value and the torque characteristic threshold corresponding to the current motor speed, it is possible to quickly and accurately determine whether the load of the electric mixer truck is no-load, half-load or full-load, so as to accurately identify the load of the electric mixer truck. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0048] Figure 1 It is a system architecture diagram of an embodiment of the present application;

[0049] Figure 2 Flow chart of the load determination method for an electric mixer truck according to an embodiment of the present application;

[0050] Figure 3 Structural schematic diagram of an electric mixer truck controller according to an embodiment of the present application;

[0051] Figure 4 Structural schematic diagram of an electric mixer truck controller according to another embodiment of the present application.

[0052] Through the above-mentioned drawings, specific embodiments of the present application have been shown, and there will be more detailed descriptions hereinafter. These drawings and text descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0053] Here, exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0054] Terms such as "first", "second", "third", "fourth", etc. (if any) in the specification, claims and above-mentioned drawings of the present application are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0055] It should be noted that in the embodiments of the present application, some industry-existing solutions such as certain software, components, models, etc. may be mentioned, and they should be regarded as exemplary. The purpose is only to illustrate the feasibility in the implementation of the technical solution of the present application, but it does not mean that the applicant has already or necessarily used this solution.

[0056] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data that have been authorized by the user or fully authorized by all parties. And the collection, use, and processing of relevant data need to comply with relevant laws, regulations, and standards, and corresponding operation entrances are provided for users to choose to authorize or reject.

[0057] The load determination method, controller, electric mixer truck, and medium of this application can be used in the technical field of electric mixer trucks, and can also be used in any field other than the technical field of electric mixer trucks, such as the field of vehicle weighing, etc. The application fields of the load determination method, controller, electric mixer truck, and medium of this application are not limited.

[0058] The load determination method, controller, electric mixer truck, and medium of this application can be applied to the scenario of an electric mixer truck or a hybrid mixer truck identifying the vehicle load. Any scenario where a mixer truck with a motor installed on the mixing drum identifies the vehicle load can apply the load determination method, controller, electric mixer truck, and medium of this application.

[0059] First, the nouns involved in this application are explained:

[0060] The mixing drum is the core component of a concrete mixer truck. Its main function is to hold and mix concrete to prevent the concrete from solidifying or separating during transportation. The mixing drum is usually cylindrical or slightly conical to effectively mix the concrete when rotating. The drum is equipped with spiral blades that push the concrete forward or backward when the drum rotates, thus achieving mixing and uniform blending. The mixing drum is driven to rotate by a hydraulic system or an electric motor. The rotation direction can be changed to achieve different functions during loading and unloading (usually rotating clockwise during loading and counterclockwise during unloading). One end of the mixing drum is usually equipped with a feed hopper for loading concrete, and the other end is equipped with a discharge chute or slideway to unload the concrete to the construction site. Due to the viscosity and setting characteristics of concrete, the mixing drum needs to be cleaned regularly to prevent the accumulation of concrete residues. Usually, it is cleaned after each use to keep the inside of the drum clean and functioning properly. In addition, the mixing drum of the mixer truck should also keep rotating normally during transportation, usually rotating at a low speed of 1 - 3 revolutions per minute to ensure the homogeneity of the concrete and prevent the segregation of the concrete.

[0061] The mixing drum motor is an important component of a concrete mixer truck. It is responsible for driving the rotation of the mixing drum to maintain the uniformity and fluidity of the concrete during transportation.

[0062] A mixer truck, usually known as a concrete mixer truck, is a vehicle specifically designed for transporting concrete, such as an electric mixer truck. Its main function is to transport the ready-mixed concrete from the production site to the construction site, while maintaining the uniformity of the concrete and preventing solidification by rotating the mixing drum.

[0063] In the related art, the vehicle load of an electric mixer truck varies greatly between no-load and full-load conditions, and the power consumption required for vehicle control also varies significantly for different loads. Therefore, in order to achieve refined control of the power consumption of an electric mixer truck, it is necessary to identify the load of the electric mixer truck during vehicle operation, so as to adopt different control strategies for different loads, thereby reducing the power consumption of the electric mixer truck.

[0064] However, there is no solution in the prior art that can accurately identify the load of an electric mixer truck.

[0065] Based on the above technical problems, the inventive concept of this application lies in: how to provide a load determination solution for an electric mixer truck that can accurately identify the load of the electric mixer truck.

[0066] The embodiments of this application provide a load determination method, a controller, an electric mixer truck, and a medium for an electric mixer truck. The electric mixer truck controller can obtain the current motor speed and the current motor torque of the mixing drum motor during the actual operation of the electric mixer truck, and calculate the current torque characteristic value of the mixing drum motor based on the current motor torque. Different corresponding relationships between the motor speed and the torque characteristic threshold are pre-stored in the electric mixer truck controller, and the torque characteristic threshold corresponding to the current motor speed can be accurately determined according to this corresponding relationship. By comparing the magnitude relationship between the current torque characteristic value and the torque characteristic threshold corresponding to the current motor speed, it is possible to quickly and accurately determine whether the load of the electric mixer truck is no-load, half-load, or full-load, thereby accurately identifying the load of the electric mixer truck.

[0067] The following uses specific embodiments to elaborate in detail on the technical solutions of this application and how the technical solutions of this application solve the above technical problems. These several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will be described below in conjunction with the drawings.

[0068] Figure 1 It is the system architecture diagram of an embodiment of this application, as Figure 1As shown, the electric mixer truck controller is connected to the motor controller of the mixing drum motor through the CAN bus, and can use the CAN bus to obtain the current motor speed and current motor torque of the mixing drum motor of the electric mixer truck; according to the current motor torque, determine the current torque characteristic value of the mixing drum motor; according to the current motor speed, the preset corresponding relationship between the speed and the torque characteristic threshold, and the current torque characteristic value, determine the load of the electric mixer truck.

[0069] Figure 2 FIG. 4 is a flowchart of a method for determining the load of an electric mixer truck according to an embodiment of the present application. In this embodiment, the execution subject is the electric mixer truck controller to illustrate the method for determining the load of the electric mixer truck. As Figure 2 shown, the method for determining the load of the electric mixer truck may include the following steps:

[0070] S201: Obtain the current motor speed and current motor torque of the mixing drum motor of the electric mixer truck.

[0071] In this embodiment, the electric mixer truck may be any mixer truck driven by a motor to drive the mixing drum.

[0072] In this embodiment, the electric mixer truck controller may obtain the current motor speed and current motor torque of the mixing drum motor through the CAN bus.

[0073] S202: Determine the current torque characteristic value of the mixing drum motor according to the current motor torque.

[0074] In this embodiment, during the rotation of the mixing drum, the speed of the mixing drum motor is controlled at a constant speed. Therefore, the torque performance of different upper-mounted motors (mixing drum motors) can be analyzed in advance according to different loads, and the torque characteristic formula of the upper-mounted motor can be found. According to the torque characteristic formula, the current motor torque, and the preset period, the current torque characteristic value of the mixing drum motor can be determined.

[0075] In this embodiment, the preset period may be the calculation period of the torque characteristic formula, which can be flexibly set by those skilled in the art according to the actual situation. For example, the preset period may be 1 min or 30 s, and no limitation is made here.

[0076] S203: Determine the load of the electric mixer truck according to the current motor speed, the preset corresponding relationship between the speed and the characteristic threshold, and the current torque characteristic value.

[0077] In this embodiment, those skilled in the art can pre-collect the motor speed and motor torque of the mixing drum motor of the electric mixer truck when it is actually unloaded and fully loaded respectively, and calculate the corresponding relationships between different motor speeds and the no-load torque characteristic threshold and the full-load torque characteristic threshold respectively based on this, and pre-store them in the electric mixer truck controller. After obtaining the current motor speed, the corresponding no-load torque characteristic threshold and full-load torque characteristic threshold can be determined by referring to the pre-stored corresponding relationships.

[0078] In this embodiment, the no-load torque characteristic threshold and the full-load torque characteristic threshold are not fixed, but change with the motor speed and the preset period. Therefore, those skilled in the art can determine the corresponding relationships between different motor speeds and the no-load torque characteristic threshold / full-load torque characteristic threshold under the preset period.

[0079] In this embodiment, for a certain motor speed, the no-load torque characteristic threshold can be the maximum torque characteristic value when the electric mixer truck is unloaded, and the full-load torque characteristic threshold can be the minimum torque characteristic value when the electric mixer truck is fully loaded.

[0080] In this embodiment, the load can include one of no-load, half-load, and full-load.

[0081] In this embodiment, in order to save the calculation amount and reflect the load of the electric mixer truck under different working conditions as much as possible, and realize the refined control of the power consumption of the electric mixer truck, the load of the electric mixer truck can be set as no-load, half-load, and full-load.

[0082] In this embodiment, if the current torque characteristic value is less than or equal to the no-load torque characteristic threshold, it can be determined that the load of the electric mixer truck is no-load; if the current torque characteristic value is greater than the no-load torque characteristic threshold and less than the full-load torque characteristic threshold, it can be determined that the load of the electric mixer truck is half-load; if the current torque characteristic value is greater than or equal to the full-load torque characteristic threshold, it can be determined that the load of the electric mixer truck is full-load.

[0083] In this embodiment, the motor speed and motor torque of the mixing drum motor of the electric mixer truck at different actual loads can be collected in advance, and the corresponding relationship between different motor speeds and torque characteristic thresholds can be calculated accordingly and stored in the electric mixer truck controller in advance. During the actual operation of the electric mixer truck, the electric mixer truck controller can obtain the current motor speed and the current motor torque of the mixing drum motor, calculate the current torque characteristic value of the mixing drum motor according to the current motor torque, and accurately determine the torque characteristic threshold corresponding to the current motor speed according to the pre-stored corresponding relationship between the speed and the characteristic threshold. Then, according to the magnitude relationship between the current torque characteristic value and the torque characteristic threshold corresponding to the current motor speed, it is possible to quickly and accurately determine whether the load of the electric mixer truck is no-load, half-load or full-load, so as to accurately identify the load of the electric mixer truck.

[0084] In a possible implementation manner, step S202 of determining the current torque characteristic value of the mixing drum motor according to the current motor torque may include:

[0085] Using the following formula (1), calculate the current torque characteristic value of the mixing drum motor:

[0086]

[0087] Wherein, represents the current torque characteristic value, represents the preset period, represents the current motor torque.

[0088] In this embodiment, the preset period can be the calculation period of the torque characteristic formula, and those skilled in the art can set it flexibly according to the actual situation. For example, the preset period can be 1 min or 30 s, and no limitation is made here.

[0089] In this embodiment, after obtaining the current motor torque, according to the set preset period and the above formula (1), the current torque characteristic value of the mixing drum motor can be simply and accurately determined.

[0090] In a possible implementation manner, step S203 of determining the load of the electric mixer truck according to the current motor speed, the pre-set corresponding relationship between the speed and the torque characteristic threshold, and the current torque characteristic value may include:

[0091] S11: Determine the no-load torque characteristic threshold corresponding to the current motor speed according to the pre-set corresponding relationship between the speed and the torque characteristic threshold in the no-load state.

[0092] S12: Determine the full-load torque characteristic threshold corresponding to the current motor speed according to the pre-set corresponding relationship between the speed and the torque characteristic threshold in the full-load state.

[0093] S13: Determine the load of the electric mixer truck according to the current torque characteristic value, no-load torque characteristic threshold, and full-load torque characteristic threshold. The load includes one of no-load, half-load, and full-load.

[0094] In this embodiment, the correspondence between the rotational speed and the torque characteristic threshold in the no-load state can be the correspondence between different motor rotational speeds and the torque characteristic threshold when the electric mixer truck is in the no-load state. This correspondence can be a correspondence diagram (such as a line graph, etc.) or a correspondence table, and no restrictions are imposed here.

[0095] In this embodiment, the correspondence between the rotational speed and the torque characteristic threshold in the full-load state can be the correspondence between different motor rotational speeds and the torque characteristic threshold when the electric mixer truck is in the full-load state. This correspondence can be a correspondence diagram (such as a line graph, etc.) or a correspondence table, and no restrictions are imposed here.

[0096] In this embodiment, those skilled in the art can pre-collect the motor rotational speed and motor torque of the mixing drum motor of the electric mixer truck when it is actually in the no-load and full-load states respectively, and calculate the correspondence between different motor rotational speeds and the no-load torque characteristic threshold and the full-load torque characteristic threshold respectively based on this, and store them in the electric mixer truck controller in advance. After obtaining the current motor rotational speed, according to the preset correspondence between the rotational speed and the characteristic threshold in the no-load state, the no-load torque characteristic threshold corresponding to the current motor rotational speed can be determined; according to the preset correspondence between the rotational speed and the characteristic threshold in the full-load state, the full-load torque characteristic threshold corresponding to the current motor rotational speed can be determined.

[0097] In a possible embodiment, the correspondence between the rotational speed and the torque characteristic threshold in the no-load state in step S11 above can be obtained through the following method:

[0098] Step A1: When the electric mixer truck is in the no-load state, control the mixing drum motor to run at the set motor rotational speed and obtain the corresponding motor torque.

[0099] Step A2: Determine the torque characteristic value corresponding to the mixing drum motor according to the motor torque and the preset period.

[0100] Step A3: Repeat the above steps A1 - A2 multiple times to obtain multiple torque characteristic values corresponding to the motor rotational speed, and determine the torque characteristic threshold corresponding to the motor rotational speed according to the maximum torque characteristic value among the multiple torque characteristic values.

[0101] Step A4: Adjust the set motor rotational speed multiple times and repeat the above steps A1 - A3 to obtain the torque characteristic thresholds corresponding to different motor rotational speeds respectively.

[0102] Step A5: Determine the corresponding relationship between the rotational speed and the torque characteristic threshold value in the no-load state according to the torque characteristic threshold values corresponding to different motor rotational speeds.

[0103] In this embodiment, the number of repetitions of the above Steps A1 - A2 can be flexibly set by those skilled in the art according to the actual situation, and no limitation is imposed herein.

[0104] In this embodiment, during the rotation of the mixing drum, the rotational speed of the mixing drum motor is controlled at a constant speed, and there are usually several fixed speed gears. Therefore, the motor rotational speed in Step A1 and the motor rotational speeds set through multiple adjustments in Step A4 can be flexibly set by those skilled in the art according to the actual situation, as long as the motor rotational speed includes the common motor rotational speeds during the rotation of the mixing drum. The number of repetitions of Steps A1 - A3 (the number of adjustments of the motor rotational speed) can also be flexibly set by those skilled in the art according to the actual situation, and no limitation is imposed herein.

[0105] In this embodiment, when the electric mixer truck is in the no-load state, the motor rotational speed and motor torque of the mixing drum motor can be collected, and the torque characteristic value corresponding to the mixing drum motor can be determined according to the motor torque and the preset period. To reduce the interference caused by errors, the above steps can be repeated multiple times, and multiple torque characteristic values corresponding to the motor rotational speed can be calculated, and the maximum one among them can be selected as the torque characteristic threshold value corresponding to the motor rotational speed. Then, the set motor rotational speed is adjusted multiple times, and the above steps are repeated to accurately obtain the torque characteristic threshold values corresponding to different motor rotational speeds, thereby determining the corresponding relationship between the rotational speed and the torque characteristic threshold value in the no-load state.

[0106] In a possible embodiment, the corresponding relationship between the rotational speed and the torque characteristic threshold value in the full-load state in the above Step S12 can be obtained through the following method:

[0107] Step B1: When the electric mixer truck is in the full-load state, control the mixing drum motor to operate at the set motor rotational speed, and obtain the corresponding motor torque.

[0108] Step B2: Determine the torque characteristic value corresponding to the mixing drum motor according to the motor torque and the preset period.

[0109] Step B3: Repeat the above Steps B1 - B2 multiple times to obtain multiple torque characteristic values corresponding to the motor rotational speed, and determine the torque characteristic threshold value corresponding to the motor rotational speed according to the minimum torque characteristic value among the multiple torque characteristic values.

[0110] Step B4: Adjust the set motor rotational speed multiple times, and repeat the above Steps B1 - B3 to obtain the torque characteristic threshold values corresponding to different motor rotational speeds.

[0111] Step B5: Determine the corresponding relationship between the rotational speed and the torque characteristic threshold under the full-load state according to the torque characteristic thresholds corresponding to different motor rotational speeds.

[0112] In this embodiment, those skilled in the art can flexibly set the number of repetitions of the above Steps B1 - B2 according to the actual situation, and no limitation is imposed here.

[0113] In this embodiment, during the rotation of the mixing drum, the rotational speed of the mixing drum motor is controlled at a constant speed, and there are usually several fixed speed gears. Therefore, those skilled in the art can flexibly set the motor rotational speed in Step B1 and the motor rotational speeds set through multiple adjustments in Step B4, as long as the motor rotational speeds include the common motor rotational speeds during the rotation of the mixing drum. Those skilled in the art can also flexibly set the number of repetitions of Steps B1 - B3 (the number of adjustments of the motor rotational speed), and no limitation is imposed here.

[0114] In this embodiment, when the electric mixer truck is in the full-load state, the rotational speed and torque of the mixing drum motor can be collected, and the torque characteristic value corresponding to the mixing drum motor can be determined according to the motor torque and the preset period. To reduce the interference caused by errors, the above steps can be repeated multiple times, and multiple torque characteristic values corresponding to this motor rotational speed can be calculated, and the smallest one can be selected as the torque characteristic threshold corresponding to this motor rotational speed. Then, the motor rotational speed set through multiple adjustments is repeated, and the above steps can be repeated to accurately obtain the torque characteristic thresholds corresponding to different motor rotational speeds, so as to determine the corresponding relationship between the rotational speed and the torque characteristic threshold under the full-load state.

[0115] In a possible embodiment, Step S13 determines the load of the electric mixer truck according to the current torque characteristic value, the no-load torque characteristic threshold, and the full-load torque characteristic threshold, and may include:

[0116] S21: Determine whether the current torque characteristic value is greater than the no-load torque characteristic threshold.

[0117] S22: If it is less than or equal to the no-load torque characteristic threshold, determine that the load of the electric mixer truck is no-load.

[0118] S23: If it is greater than the no-load torque characteristic threshold, determine whether the current torque characteristic value is less than the full-load torque characteristic threshold.

[0119] S24: If it is less than the full-load torque characteristic threshold, determine that the load of the electric mixer truck is half-load.

[0120] S25: If it is greater than or equal to the full-load torque characteristic threshold, determine that the load of the electric mixer truck is full-load.

[0121] In this embodiment, the no-load torque characteristic threshold is the maximum torque characteristic value at the current motor speed when the electric mixer truck is unloaded. If the current torque characteristic value is less than or equal to the no-load torque characteristic threshold, it can be determined that the load of the electric mixer truck is unloaded. The full-load torque characteristic threshold is the minimum torque characteristic value at the current motor speed when the electric mixer truck is fully loaded. If the current torque characteristic value is greater than or equal to the full-load torque characteristic threshold, it can be determined that the load of the electric mixer truck is fully loaded. If the current torque characteristic value is between the two, that is, greater than the no-load torque characteristic threshold and less than the full-load torque characteristic threshold, it can be determined that the load of the electric mixer truck is half-loaded.

[0122] In this embodiment, after determining the current torque characteristic value, the no-load torque characteristic threshold, and the full-load torque characteristic threshold, according to the magnitude relationship between the current torque characteristic value and the no-load torque characteristic threshold and the full-load torque characteristic threshold, the load of the electric mixer truck can be simply and accurately determined.

[0123] In a possible embodiment, the method may further include:

[0124] S31: When the load of the electric mixer truck is unloaded, control the operation of the electric mixer truck according to the first throttle opening and the first energy recovery efficiency.

[0125] S32: When the load of the electric mixer truck is half-loaded, control the operation of the electric mixer truck according to the second throttle opening and the second energy recovery efficiency.

[0126] S33: When the load of the electric mixer truck is fully loaded, control the operation of the electric mixer truck according to the third throttle opening and the third energy recovery efficiency.

[0127] Wherein, the first throttle opening < the second throttle opening < the third throttle opening, and the first energy recovery efficiency < the second energy recovery efficiency < the third energy recovery efficiency.

[0128] In this embodiment, the throttle opening may also be the throttle opening of the electric mixer truck.

[0129] In this embodiment, when the load of the electric mixer truck is unloaded, the throttle opening and the energy recovery efficiency of the vehicle are relatively small; when the load of the electric mixer truck is fully loaded, the throttle opening and the energy recovery efficiency of the vehicle are relatively large (the existing normal values); when the load of the electric mixer truck is half-loaded, the throttle opening and the energy recovery efficiency of the vehicle are between the two.

[0130] In this embodiment, regardless of the specific load of the electric mixer truck in the prior art, the electric mixer truck uses the same throttle opening and energy recovery efficiency for control. This control strategy is more in line with the full-load state, but it will inevitably cause unnecessary power consumption when the truck is semi-loaded or especially when it is unloaded. Therefore, after determining the specific load of the electric mixer truck, the throttle opening and energy recovery efficiency of the vehicle can be adjusted according to the load, so as to achieve refined control of the power consumption of the electric mixer truck and reduce the vehicle power consumption.

[0131] The following uses a specific embodiment to elaborate on the method for determining the load of the electric mixer truck of the present application.

[0132] In a specific embodiment, the driver drives the electric mixer truck to mix and transport concrete at the construction site. During the operation of the electric mixer truck, it is necessary to determine the load of the electric mixer truck for subsequent refined power consumption control. The specific process is as follows:

[0133] First step, after the electric mixer truck is powered on, the electric mixer truck controller uses the CAN bus to obtain the current motor speed and current motor torque of the mixing drum motor of the electric mixer truck.

[0134] Second step, the electric mixer truck controller determines the current torque characteristic value of the mixing drum motor according to the current motor torque, the preset period of 1 minute, and the above formula (1).

[0135] Third step, the electric mixer truck controller determines the no-load torque characteristic threshold corresponding to the current motor speed according to the preset corresponding relationship between the speed and the characteristic threshold under the no-load state. The corresponding relationship between the speed and the characteristic threshold under the no-load state can be obtained by pre-collecting different motor speeds and motor torques of the mixing drum motor of the electric mixer truck when it is unloaded and calculating.

[0136] Fourth step, the electric mixer truck controller determines the full-load torque characteristic threshold corresponding to the current motor speed according to the preset corresponding relationship between the speed and the characteristic threshold under the full-load state. The corresponding relationship between the speed and the characteristic threshold under the full-load state can be obtained by pre-collecting different motor speeds and motor torques of the mixing drum motor of the electric mixer truck when it is fully loaded and calculating.

[0137] Fifth step, if the electric mixer truck controller determines that the current torque characteristic value is less than the no-load torque characteristic threshold, it determines that the load of the electric mixer truck is no-load.

[0138] Sixth step, the electric mixer truck controller controls the operation of the electric mixer truck according to the smaller first throttle opening and the first energy recovery efficiency.

[0139] Figure 3 The structural schematic diagram of the electric mixer truck controller according to an embodiment of the present application is as Figure 3As shown in the figure, the electric mixer truck controller includes: an acquisition module 31, configured to acquire the current motor speed and the current motor torque of the mixing drum motor of the electric mixer truck; a processing module 32, configured to determine the current torque characteristic value of the mixing drum motor according to the current motor torque; determine the corresponding no-load torque characteristic threshold and full-load torque characteristic threshold according to the current motor speed; and determine the load of the electric mixer truck according to the current motor speed, the preset corresponding relationship between the speed and the characteristic threshold, and the current torque characteristic value.

[0140] The electric mixer truck controller provided in the embodiment of the present application can execute the technical solutions shown in the above method embodiments. The implementation principle and beneficial effects are similar, and will not be elaborated here.

[0141] Figure 4 It is a schematic structural diagram of an electric mixer truck controller according to an embodiment of the present application. As Figure 4 shown in the figure, the electric mixer truck controller includes: a processor 401 and a memory 402 communicatively connected to the processor 401; the memory 402 stores computer-executable instructions; the processor 401 executes the computer-executable instructions stored in the memory 402 to implement the steps of the load determination method of the electric mixer truck in the above method embodiments.

[0142] In the above electric mixer truck controller, the memory 402 and the processor 401 are directly or indirectly electrically connected to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines, such as being connected through a bus. The memory 402 stores computer-executable instructions for implementing the data access control method, including at least one software function module stored in the memory 402 in the form of software or firmware. The processor 401 executes the software programs and modules stored in the memory 402 to perform various functional applications and data processing.

[0143] The memory 402 can be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electric Erasable Programmable Read-Only Memory (EEPROM), etc. Among them, the memory 402 is used to store programs, and after receiving an execution instruction, the processor 401 executes the program. Further, the software programs and modules in the memory 402 may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide a running environment for other software components.

[0144] The processor 401 can be an integrated circuit chip with signal processing capabilities. The above-mentioned processor 401 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0145] An embodiment of the present application further provides an electric mixer truck, which may include an electric mixer truck controller as Figure 4 shown.

[0146] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the steps of the method embodiments of the present application.

[0147] An embodiment of the present application further provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the steps of the method embodiments of the present application.

[0148] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence, because according to this application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0149] Further, it should be noted that although the steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same moment, but can be executed at different moments. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0150] It should be understood that the above device embodiments are only illustrative, and the devices of this application can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0151] In addition, unless otherwise specified, in each embodiment of this application, each functional unit / module can be integrated in one unit / module, or each unit / module can exist physically alone, or two or more units / modules can be integrated together. The above integrated unit / module can be implemented in the form of hardware or in the form of a software program module.

[0152] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0153] Other embodiments of the present application will be readily apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include known common general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and examples are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the appended claims.

[0154] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A method for determining the load capacity of an electric mixer truck, characterized in that, Including: Obtain the current motor speed and current motor torque of the mixing drum motor of the electric mixer truck; Determine the current torque characteristic value of the mixing drum motor according to the current motor torque; Determine the load of the electric mixer truck according to the current motor speed, the corresponding relationship between the preset speed and torque characteristic threshold, and the current torque characteristic value.

2. The method for determining the load of the electric mixer truck according to claim 1, characterized in that, The determining the load of the electric mixer truck according to the current motor speed, the corresponding relationship between the preset speed and torque characteristic threshold, and the current torque characteristic value includes: Determine the no-load torque characteristic threshold corresponding to the current motor speed according to the corresponding relationship between the speed and torque characteristic threshold in the no-load state preset; Determine the full-load torque characteristic threshold corresponding to the current motor speed according to the corresponding relationship between the speed and torque characteristic threshold in the full-load state preset; Determine the load of the electric mixer truck according to the current torque characteristic value, the no-load torque characteristic threshold, and the full-load torque characteristic threshold, where the load includes one of no-load, half-load, and full-load.

3. The method for determining the load of the electric mixer truck according to claim 2, wherein The corresponding relationship between the speed and torque characteristic threshold in the no-load state is obtained by the following method: Step A1: When the electric mixer truck is in the no-load state, control the mixing drum motor to run at a set motor speed and obtain the corresponding motor torque; Step A2: Determine the torque characteristic value corresponding to the mixing drum motor according to the motor torque and a preset period; Step A3: Repeat the above steps A1 - A2 multiple times to obtain multiple torque characteristic values corresponding to the motor speed, and determine the torque characteristic threshold corresponding to the motor speed according to the maximum torque characteristic value among the multiple torque characteristic values; Step A4: Adjust the set motor speed multiple times and repeat the above steps A1 - A3 to obtain the torque characteristic thresholds corresponding to different motor speeds respectively; Step A5: Determine the corresponding relationship between the speed and torque characteristic threshold in the no-load state according to the torque characteristic thresholds corresponding to different motor speeds respectively.

4. The method for determining the load of the electric mixer truck according to claim 2, wherein The corresponding relationship between the speed and torque characteristic threshold in the full-load state is obtained by the following method: Step B1: When the electric mixer truck is in the full-load state, control the mixing drum motor to run at a set motor speed and obtain the corresponding motor torque; Step B2: Determine the torque characteristic value corresponding to the mixing drum motor according to the motor torque and a preset period; Step B3: Repeat the above steps B1 - B2 multiple times to obtain multiple torque characteristic values corresponding to the motor speed, and determine the torque characteristic threshold corresponding to the motor speed according to the minimum torque characteristic value among the multiple torque characteristic values; Step B4: Adjust the set motor speed multiple times and repeat the above steps B1 - B3 to obtain the torque characteristic thresholds corresponding to different motor speeds respectively; Step B5: Determine the corresponding relationship between the speed and torque characteristic threshold in the full-load state according to the torque characteristic thresholds corresponding to different motor speeds respectively.

5. The method for determining the load of the electric mixer truck according to claim 2, wherein Determining the load of the electric mixer truck according to the current torque characteristic value, the no-load torque characteristic threshold value, and the full-load torque characteristic threshold value includes: Judging whether the current torque characteristic value is greater than the no-load torque characteristic threshold value; If it is less than or equal to the no-load torque characteristic threshold value, determining that the load of the electric mixer truck is no-load; If it is greater than the no-load torque characteristic threshold value, judging whether the current torque characteristic value is less than the full-load torque characteristic threshold value; if it is less than the full-load torque characteristic threshold value, determining that the load of the electric mixer truck is half-load; if it is greater than or equal to the full-load torque characteristic threshold value, determining that the load of the electric mixer truck is full-load.

6. The method for determining the load capacity of an electric mixer truck according to any one of claims 1-5, characterized in that, Determining the current torque characteristic value of the mixing drum motor according to the current motor torque includes: Using the following formula to calculate the current torque characteristic value of the mixing drum motor: Among them, represents the current torque eigenvalue, represents the preset period, represents the current motor torque.

7. The method for determining the load capacity of the electric mixer truck according to any one of claims 1-5, characterized in that, Further including: When the load of the electric mixer truck is no-load, controlling the operation of the electric mixer truck according to the first throttle opening and the first energy recovery efficiency; When the load of the electric mixer truck is half-load, controlling the operation of the electric mixer truck according to the second throttle opening and the second energy recovery efficiency; When the load of the electric mixer truck is full-load, controlling the operation of the electric mixer truck according to the third throttle opening and the third energy recovery efficiency; Wherein, the first throttle opening < the second throttle opening < the third throttle opening, and the first energy recovery efficiency < the second energy recovery efficiency < the third energy recovery efficiency.

8. An electric mixer truck controller, characterized in that, Including: A processor, and a memory communicatively connected to the processor; The memory is used to store computer execution instructions; The processor is used to execute the computer execution instructions stored in the memory, so that the processor executes the method for determining the load of the electric mixer truck according to any one of claims 1-7.

9. An electric mixer truck, characterized in that, Including: The electric mixer truck controller according to claim 8.

10. A computer-readable storage medium, characterized in that, Computer execution instructions are stored in the computer-readable storage medium, and when the computer execution instructions are executed by a processor, they are used to implement the method for determining the load of the electric mixer truck according to any one of claims 1-7.

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