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 after it is detected that a mixing drum of the electric mixing truck starts to rotate, operation parameters of the electric mixing truck are obtained, and the operation parameters comprise one or more of the mixing drum rotating direction, the mixing drum rotating speed, the mixing drum motor rotating speed and the mixing drum motor torque; determining an unloading interval and a loading interval of the electric mixer truck according to the operating parameters; according to the unloading interval and the loading interval, the load of the electric mixer truck is determined, and the load comprises one of no load, half load and full load. According to the method, the load of the electric mixer truck can be accurately identified.

Description

Technical Field

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

[0002] An electric mixer truck is a concrete mixing and transporting device driven by electricity, and is usually used in construction sites and other places where concrete is required.

[0003] In the related art, when the mixing drum of an electric mixer truck is filled with concrete, it is in a fully loaded state, and when all the concrete in the mixing drum is unloaded, it is in an unloaded state. Since the mass of concrete is very large, the vehicle load of the electric mixer truck differs greatly between the unloaded and fully loaded states, and the power consumption required for vehicle control at different loads also differs greatly. 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] The embodiments of this 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, the embodiments of this application provide a method for determining the load of an electric mixer truck, including:

[0007] After detecting that the mixing drum of the electric mixer truck starts to rotate, obtain the operating parameters of the electric mixer truck, where the operating parameters include one or more of the mixing drum rotation direction, mixing drum rotation speed, mixing drum motor rotation speed, and mixing drum motor torque;

[0008] Determine the unloading section and loading section of the electric mixer truck according to the operating parameters;

[0009] Determine the load of the electric mixer truck according to the unloading section and loading section, where the load includes one of unloaded, half-loaded, and fully loaded.

[0010] In a possible implementation manner, the determining the unloading section of the electric mixer truck according to the operating parameters includes:

[0011] According to the operating parameters, determine the potential unloading time periods that simultaneously satisfy the first constraint condition during the operation of the electric mixer truck, where the first constraint condition includes: the mixing drum rotation direction is reverse, and the mixing drum rotation speed is less than 0, and the duration is greater than the first duration threshold;

[0012] Determine whether there is a discharging interval period that simultaneously satisfies the second constraint condition within any two adjacent discharging potential periods, where the second constraint condition includes: the time interval is less than the second time threshold, and the mileage change during the period is less than or equal to the first distance threshold;

[0013] If there is a discharging interval period that simultaneously satisfies the second constraint condition, determine the corresponding available discharging period according to the discharging potential period and the discharging interval period;

[0014] If there is no discharging interval period that simultaneously satisfies the second constraint condition, determine the corresponding available discharging period according to the discharging potential period;

[0015] Determine the discharging interval of the electric mixer truck according to the available discharging period and the operating parameters.

[0016] In a possible implementation manner, the determining the discharging interval of the electric mixer truck according to the available discharging period and the operating parameters includes:

[0017] According to the operating parameters, determine the mixing drum cleaning periods in the available discharging period that satisfy any two of the third constraint conditions, where the third constraint conditions include: the continuous duration is less than the third time threshold; the minimum mixing drum motor torque is greater than the first torque threshold; the number of times the minimum mixing drum motor torque is less than the second torque threshold is less than the continuous number of minutes, and the first torque threshold is less than the second torque threshold;

[0018] Determine the abnormal periods in the available discharging period where the mileage change from the start of the period is greater than the second distance threshold;

[0019] Remove the mixing drum cleaning periods and / or the abnormal periods in the available discharging period to obtain the discharging operation periods;

[0020] According to the operating parameters, determine the starting point of the interval that simultaneously satisfies the fourth constraint condition before the discharging operation period, where the fourth constraint conditions include: the mixing drum rotates in the forward direction, the mixing drum speed is greater than 0, and the standard deviation of the mixing drum motor speed within the first preset duration is less than the standard deviation threshold;

[0021] According to the operating parameters, determine the ending point of the interval that simultaneously satisfies the fifth constraint condition after the discharging operation period, where the fifth constraint conditions include: the mixing drum motor speed is greater than the first speed threshold, and the standard deviation of the mixing drum motor speed within the second preset duration is less than the standard deviation threshold;

[0022] Determine the discharging interval of the electric mixer truck according to the starting point and the ending point of the interval.

[0023] In a possible implementation manner, determining the loading interval of the electric mixer truck according to the operating parameters includes:

[0024] According to the operating parameters, determine the potential loading time periods during the operation of the electric mixer truck that simultaneously satisfy the sixth constraint condition. The sixth constraint condition includes: the vehicle speed of the electric mixer truck is 0, the rotation direction of the mixing drum is forward rotation, the rotation speed of the mixing drum is greater than 0, the rotation speed of the mixing drum motor is greater than the second rotation speed threshold, and the continuous duration is greater than the fourth duration threshold;

[0025] Judge whether there is a loading interval time period that simultaneously satisfies the seventh constraint condition between any two adjacent potential loading time periods. The seventh constraint condition includes: the time interval is less than the fifth duration threshold, and the change in mileage during the time period is less than or equal to the third distance threshold;

[0026] If there is a loading interval time period that simultaneously satisfies the seventh constraint condition, then determine the corresponding available loading time period according to the potential loading time period and the loading interval time period;

[0027] If there is no loading interval time period that simultaneously satisfies the seventh constraint condition, then determine the corresponding available loading time period according to the potential loading time period;

[0028] Determine the loading interval of the electric mixer truck according to the available loading time period and the operating parameters.

[0029] In a possible implementation manner, the determining the loading interval of the electric mixer truck according to the available loading time period and the operating parameters includes:

[0030] According to the operating parameters, determine the abnormal time periods in the available loading time periods that satisfy the eighth constraint condition. The eighth constraint condition includes: the continuous duration of the time period is less than the sixth duration threshold, or the continuous duration of the time period is greater than the seventh duration threshold, or the time difference from the adjacent unloading interval is less than the eighth duration threshold, or the distance difference from the adjacent unloading interval is less than the fourth distance threshold, and the sixth duration threshold is less than the seventh duration threshold;

[0031] Remove the abnormal time periods from the available loading time periods to obtain the loading operation time periods;

[0032] According to the operating parameters, determine whether there is a rotation speed stable interval in the loading operation time periods that simultaneously satisfies the ninth constraint condition. The ninth constraint condition includes: the standard deviation of the rotation speed of the mixing drum motor is less than the standard deviation threshold, the range of the rotation speed of the mixing drum motor is less than the range threshold, and the continuous duration is greater than the ninth duration threshold;

[0033] Determine whether the loading operation time period is the loading interval according to the rotation speed stable interval.

[0034] In a possible implementation manner, determining whether the charging operation period is a charging interval according to the rotation speed stable interval includes any one of the following:

[0035] When there is no such rotation speed stable interval in the charging operation period, it is determined that the charging operation period is not a charging interval;

[0036] When there are multiple such rotation speed stable intervals in the charging operation period, determine the sum of the motor torques corresponding to each rotation speed stable interval; if the sum of the motor torques corresponding to any one rotation speed stable interval is greater than a first preset multiple of the sum of the motor torques corresponding to the previous rotation speed stable interval, it is determined that the charging operation period is a charging interval;

[0037] When there is one such rotation speed stable interval in the charging operation period, determine the sum of the motor torques of the rotation speed stable interval, and determine the sum of the motor torques within a third preset time period before the rotation speed stable interval; if the sum of the motor torques of the rotation speed stable interval is greater than a first preset multiple of the sum of the motor torques within the third preset time period, it is determined that the charging operation period is a charging interval.

[0038] In a possible implementation manner, determining the load of the electric mixer truck according to the discharging interval and the charging interval includes any one of the following:

[0039] After the electric mixer truck runs to the end point of the current discharging interval and before the next charging interval, it is determined that the load of the electric mixer truck is no-load;

[0040] When there are multiple such rotation speed stable intervals in the charging interval, determine the target rotation speed stable interval whose sum of the motor torques is greater than a first preset multiple of the sum of the motor torques corresponding to the previous rotation speed stable interval; judge whether the sum of the motor torques of the target rotation speed stable interval is greater than a second preset multiple of the sum of the motor torques corresponding to the previous rotation speed stable interval; if it is greater, after the electric mixer truck runs to the target rotation speed stable interval and before the next discharging interval, it is determined that the load of the electric mixer truck is full-load, and if it is not greater, after the electric mixer truck runs to the target rotation speed stable interval and before the next discharging interval, it is determined that the load of the electric mixer truck is half-load;

[0041] When there is one such rotational speed stable interval in the loading interval, determine whether the sum of the motor torques in the rotational speed stable interval is greater than a second preset multiple of the sum of the motor torques in the third preset time period before the rotational speed stable interval; if it is greater, after the electric mixer truck runs to the rotational speed stable interval and before the next unloading interval, determine that the load of the electric mixer truck is full load, and if it is not greater, after the electric mixer truck runs to the rotational speed stable interval and before the next unloading interval, determine that the load of the electric mixer truck is half load;

[0042] Wherein, the second preset multiple is greater than the first preset multiple.

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

[0044] A processor, and a memory communicatively connected to the processor;

[0045] The memory is used to store computer execution instructions;

[0046] The processor is used to execute the computer execution instructions stored in the memory, so that the processor executes the first aspect and / or various possible implementation manners of the first aspect as described above.

[0047] 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.

[0048] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer execution instructions are stored, and when the computer execution 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.

[0049] 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.

[0050] An embodiment of the present application provides a method for determining the load of an electric mixer truck, a controller, an electric mixer truck and a medium, which can determine the unloading interval and loading interval of the electric mixer truck according to operating parameters such as the rotation direction of the mixing drum, the rotation speed of the mixing drum, the rotation speed of the mixing drum motor, and the torque of the mixing drum motor, and accurately determine whether the load of the electric mixer truck is no load, half load or full load according to the loading and unloading conditions corresponding to the unloading interval and loading interval, so as to accurately identify the load of the electric mixer truck. Description of the Drawings

[0051] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application.

[0052] Figure 1 It is a system architecture diagram of an embodiment of this application;

[0053] Figure 2 It is a flowchart of a method for determining the load of an electric mixer truck according to an embodiment of this application;

[0054] Figure 3 It is a schematic structural diagram of an electric mixer truck controller according to an embodiment of this application;

[0055] Figure 4 It is a schematic structural diagram of an electric mixer truck controller according to another embodiment of this application.

[0056] Through the above accompanying drawings, specific embodiments of this application have been shown, and there will be more detailed descriptions hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept of this application in any way, but to illustrate the concept of this application to those skilled in the art by referring to specific embodiments. Detailed Embodiments

[0057] Exemplary embodiments will be described in detail here, and examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. On the contrary, they are merely examples of devices and methods consistent with some aspects of this application as detailed in the appended claims.

[0058] The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and above accompanying drawings of this application are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of this 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.

[0059] It should be noted that in the embodiments of the present application, some existing industry solutions such as certain software, components, models, etc. may be mentioned. 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.

[0060] 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 the present application are all information and data 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 refuse.

[0061] The load determination method, controller, electric mixer truck, and medium of the present 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 vehicle weighing field, etc. The application fields of the load determination method, controller, electric mixer truck, and medium of the present application are not limited.

[0062] The load determination method, controller, electric mixer truck, and medium of the present application can be applied to the scenario where an electric mixer truck or a hybrid mixer identifies the vehicle load. Any scenario where a mixer 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 the present application.

[0063] First, the terms involved in the present application are explained:

[0064] 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 solidification 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.

[0065] 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.

[0066] An electric mixer truck is a concrete mixing and transportation device driven by electricity, usually used in construction sites and other occasions where concrete is needed.

[0067] When the mixing drum of the electric mixer truck is filled with concrete, it is in a fully loaded state. When all the concrete in the mixing drum is unloaded, it is in an empty loaded state. Since the mass of the concrete is very large, the vehicle load of the electric mixer truck differs greatly between the empty loaded and fully loaded states, and the power consumption required for vehicle control also varies significantly for different loads. 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, so as to adopt different control strategies for different loads, thereby reducing the power consumption of the electric mixer truck.

[0068] However, there is no solution in the prior art that can accurately identify the load of an electric mixer truck.

[0069] 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.

[0070] 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 unloading section and loading section of the electric mixer truck can be determined according to the obtained operating parameters such as the rotation direction of the mixing drum, the rotation speed of the mixing drum, the rotation speed of the mixing drum motor, and the torque of the mixing drum motor. The specific loading and unloading conditions can be determined according to the unloading section and loading section, and then the load of the electric mixer truck can be determined as empty loaded, half loaded, or fully loaded, so as to accurately identify the load of the electric mixer truck.

[0071] The technical solutions of this application and how the technical solutions of this application solve the above technical problems will be described in detail below with specific embodiments. These 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 with reference to the drawings.

[0072] Figure 1 is the system architecture diagram of an embodiment of this application, as Figure 1As shown, the electric mixer truck controller is connected to the mixer drum and the motor controller of the mixer drum motor respectively through the CAN bus. After detecting that the mixer drum starts to rotate, the electric mixer truck controller obtains the operating parameters of the electric mixer truck, such as the rotation direction of the mixer drum, the rotation speed of the mixer drum, the rotation speed of the mixer drum motor, and the torque of the mixer drum motor, through the CAN bus. Determine the discharging interval and the loading interval of the electric mixer truck according to the operating parameters; determine the load of the electric mixer truck according to the discharging interval and the loading interval, and the load includes one of no load, half load, and full load.

[0073] Figure 2 The flowchart of the load determination method for an electric mixer truck according to an embodiment of the present application is shown. In this embodiment, the execution subject is the electric mixer truck controller to illustrate the load determination method for the electric mixer truck. As Figure 2 shown, the load determination method for the electric mixer truck may include the following steps:

[0074] S201: After detecting that the mixer drum of the electric mixer truck starts to rotate, obtain the operating parameters of the electric mixer truck.

[0075] In this embodiment, the electric mixer truck can be any mixer truck with a motor driving the mixer drum.

[0076] In this embodiment, the operating parameters may include one or more of the rotation direction of the mixer drum, the rotation speed of the mixer drum, the rotation speed of the mixer drum motor, and the torque of the mixer drum motor. Of course, the operating parameters of the electric mixer truck are not limited to this, and may also include other parameters such as vehicle speed and mileage change, which are not restricted here.

[0077] In this embodiment, the electric mixer truck controller can obtain each operating parameter of the electric mixer truck through the CAN bus.

[0078] In this embodiment, after the mixer drum starts to rotate, it means that the electric mixer truck starts to perform loading and unloading operations, and then the load of the electric mixer truck can be determined according to the loading and unloading conditions.

[0079] S202: Determine the discharging interval and the loading interval of the electric mixer truck according to the operating parameters.

[0080] In this embodiment, the discharging interval may be the time period when the mixer drum discharges the material, and the loading interval may be the time period when the mixer drum loads the material. Generally speaking, the discharging interval and the loading interval will be arranged alternately, and there will be no situation where two discharging intervals or two loading intervals are adjacent.

[0081] In this embodiment, according to the operating parameters such as the rotation direction of the mixer drum, the rotation speed of the mixer drum, the rotation speed of the mixer drum motor, and the torque of the mixer drum motor, the discharging interval corresponding to the discharging condition and the loading interval corresponding to the loading condition can be identified.

[0082] S203: Determine the load of the electric mixer truck according to the unloading section and the loading section.

[0083] In this embodiment, the load may include one of no load, half load, and full load.

[0084] 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 achieve 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.

[0085] In this embodiment, the unloading section and the loading section are usually arranged at intervals. Therefore, the load of the electric mixer truck can be simply and accurately determined according to the unloading section and the loading section. For example, before the end of the loading section to the start of the unloading section, the load of the electric mixer truck is half load or full load; before the end of the unloading section to the start of the loading section, the load of the electric mixer truck is no load.

[0086] In this embodiment, the unloading section and the loading section of the electric mixer truck can be determined according to the obtained operating parameters such as the rotation direction of the mixing drum, the rotation speed of the mixing drum, the rotation speed of the mixing drum motor, and the torque of the mixing drum motor. The specific loading and unloading working conditions can be determined according to the unloading section and the loading section. Furthermore, the load of the electric mixer truck can be determined as no load, half load, or full load accordingly, so as to accurately identify the load of the electric mixer truck.

[0087] In a possible implementation manner, determining the unloading section of the electric mixer truck according to the operating parameters in the above step S202 may include:

[0088] S11: Determine the potential unloading time period that simultaneously satisfies the first constraint condition during the operation of the electric mixer truck according to the operating parameters. The first constraint condition may include:

[0089] The rotation direction of the mixing drum is reverse, the rotation speed of the mixing drum is less than 0, and the continuous duration is greater than the first duration threshold.

[0090] S12: Determine whether there is an unloading interval time period that simultaneously satisfies the second constraint condition between any two adjacent potential unloading time periods. The second constraint condition may include:

[0091] The time period interval is less than the second duration threshold, and the change in the mileage of the time period is less than or equal to the first distance threshold.

[0092] S13: If there is an unloading interval time period that simultaneously satisfies the second constraint condition, determine the corresponding available unloading time period according to the potential unloading time period and the unloading interval time period.

[0093] S14: If there is no unloading interval time period that simultaneously satisfies the second constraint condition, determine the corresponding available unloading time period according to the potential unloading time period.

[0094] S15: Determine the discharging interval of the electric mixer truck according to the available discharging time period and operating parameters.

[0095] In this embodiment, when the rotation direction of the mixing drum is counterclockwise, it is reverse rotation, and when it is clockwise, it is forward rotation.

[0096] In this embodiment, those skilled in the art can flexibly set the first duration threshold. For example, the first duration threshold can be 30 s or 1 min, and no limitation is imposed here. Similarly, those skilled in the art can also flexibly set the second duration threshold. For example, the second duration threshold can be 30 min or 35 min, and no limitation is imposed here.

[0097] In this embodiment, those skilled in the art can flexibly set the first distance threshold. For example, the first distance threshold can be 500 m or 400 m, and no limitation is imposed here.

[0098] In this embodiment, the time period interval is less than the second duration threshold, which can be that the duration of the discharging interval period (the time interval between two adjacent potential discharging time periods) is less than the second duration threshold. The mileage change is less than or equal to the first distance threshold, which can be that the mileage change between the starting point and the ending point of the discharging interval period (the ending point of the previous potential discharging time period and the starting point of the next potential discharging time period) is less than or equal to the first distance threshold.

[0099] Exemplarily, after the mixing drum starts to rotate, all intervals where the rotation direction of the mixing drum is reverse, the rotational speed of the mixing drum is continuously negative, and the duration is greater than 30 seconds (the first constraint condition) can be found as potential discharging time periods. Then, find the intervals where the time interval between any two adjacent potential discharging time periods is less than 30 minutes and the mileage change does not exceed 500 meters (the second constraint condition), and take this interval as the discharging interval period. Then, merge the potential discharging time periods and the discharging interval periods to obtain the available discharging time period.

[0100] In this embodiment, if the rotation direction of the mixing drum is reverse, the rotation speed of the mixing drum is less than 0, and it lasts for a certain period of time, it can be explained that the electric mixer truck has entered the unloading working condition, and the period that meets this first constraint condition can be used as the potential unloading period. Since the electric mixer truck may unload at multiple locations in the construction site at intervals, or may unload all at one location, but basically unloads at only one construction site, and the interval time and distance will not change significantly. Therefore, if there is an unloading interval period that simultaneously meets the second constraint condition between any two adjacent potential unloading periods, the potential unloading period and the unloading interval period can be combined to obtain the available unloading period, so that the available unloading period can represent a complete unloading process of the electric mixer truck. After the available unloading period, the electric mixer truck has completed unloading and is in an empty state.

[0101] In a possible embodiment, the above step S15 determines the unloading section of the electric mixer truck according to the available unloading period and the operating parameters, which may include:

[0102] S21: According to the operating parameters, determine the mixing drum cleaning period that meets any two of the third constraint conditions during the available unloading period. The third constraint conditions may include:

[0103] The continuous duration is less than the third duration threshold; the minimum mixing drum motor torque is greater than the first torque threshold; the number of times the minimum mixing drum motor torque is less than the second torque threshold is less than the continuous number of minutes, and the first torque threshold is less than the second torque threshold.

[0104] S22: Determine the abnormal period during the available unloading period when the mileage change from the start of the period is greater than the second distance threshold.

[0105] S23: Remove the mixing drum cleaning period and / or the abnormal period during the available unloading period to obtain the unloading operation period.

[0106] S24: According to the operating parameters, determine the starting point of the section that simultaneously meets the fourth constraint conditions before the unloading operation period. The fourth constraint conditions may include:

[0107] The rotation direction of the mixing drum is forward, the rotation speed of the mixing drum is greater than 0, and the standard deviation of the rotation speed of the mixing drum motor within the first preset duration is less than the standard deviation threshold.

[0108] S25: According to the operating parameters, determine the end point of the section that simultaneously meets the fifth constraint conditions after the unloading operation period. The fifth constraint conditions may include:

[0109] The rotation speed of the mixing drum motor is greater than the first rotation speed threshold, and the standard deviation of the rotation speed of the mixing drum motor within the second preset duration is less than the standard deviation threshold.

[0110] S26: Determine the discharging interval of the electric mixer truck according to the interval start point and the interval end point.

[0111] In this embodiment, those skilled in the art can flexibly set the third duration threshold. For example, the third duration threshold can be 10 min or 11 min, and no limitation is made herein.

[0112] In this embodiment, those skilled in the art can flexibly set the first torque threshold and the second torque threshold according to the actual situation, and no limitation is made herein as long as the first torque threshold is less than the second torque threshold. For example, the first torque threshold can be -30 and the second torque threshold can be -20.

[0113] In this embodiment, those skilled in the art can flexibly set the second distance threshold. For example, the second distance threshold can be 1 km or 1.5 km, and no limitation is made herein.

[0114] In this embodiment, those skilled in the art can flexibly set the first preset duration. For example, the first preset duration can be 2 min or 3 min, and no limitation is made herein. Similarly, those skilled in the art can also flexibly set the second preset duration. For example, the second preset duration can be 2 min or 3 min, and no limitation is made herein. The first preset duration and the second preset duration can be the same or different.

[0115] In this embodiment, those skilled in the art can flexibly set the standard deviation threshold according to the actual situation. For example, the standard deviation threshold can be 10 or 5, and no limitation is made herein.

[0116] In this embodiment, those skilled in the art can flexibly set the first rotational speed threshold according to the actual situation. For example, the first rotational speed threshold can be -50 or -40, and no limitation is made herein.

[0117] Exemplarily, it is possible to find the number of times that the duration in the available discharging period is less than 10 minutes, the minimum torque is greater than -30, and the minimum torque is less than -20 is less than the number of minutes (the third constraint condition). Any two of these three conditions being satisfied can be used as the mixing drum cleaning period to be excluded. It is also possible to exclude abnormal periods in the available discharging period where the vehicle mileage change exceeds 1 km.

[0118] Exemplarily, after determining the discharging operation period, it is possible to find the time point before the discharging operation period when the mixing drum rotates forward, the rotational speed is greater than 0, and the standard deviation of the rotational speed of the mixing drum motor within 2 minutes is less than 10 as the interval start point. It is also possible to find the time point after the discharging operation period when the rotational speed of the mixing drum motor is greater than -50 and the standard deviation of the rotational speed of the mixing drum motor within 2 minutes is less than 10 as the interval end point.

[0119] In this embodiment, after determining the available discharging period, it is also necessary to remove the mixing drum cleaning period and the abnormal period in the available discharging period to obtain a more accurate discharging operation period. Specifically, if there is a period in the available discharging period that satisfies any two of the third constraint conditions, it can be indicated that this period is the mixing drum cleaning period. In addition, when an electric mixer truck discharges, it basically discharges at only one construction site, and the mileage of the available discharging period does not change significantly. Therefore, if there is a period in the available discharging period with a mileage change greater than the second distance threshold, it can be indicated that this period is an abnormal period. After determining the accurate discharging operation period, according to the start point of the interval that simultaneously satisfies the fourth constraint condition before the discharging operation period and the end point of the interval that simultaneously satisfies the fifth constraint condition after the discharging operation period, the discharging interval of the electric mixer truck can be simply and accurately determined.

[0120] In a possible embodiment, determining the loading interval of the electric mixer truck according to the operation parameters in step S202 above may include:

[0121] S31: According to the operation parameters, determine the potential loading periods during the operation of the electric mixer truck that simultaneously satisfy the sixth constraint conditions. The sixth constraint conditions may include:

[0122] The vehicle speed of the electric mixer truck is 0, the rotation direction of the mixing drum is forward rotation, the rotation speed of the mixing drum is greater than 0, the rotation speed of the mixing drum motor is greater than the second rotation speed threshold, and the duration is greater than the fourth duration threshold.

[0123] S32: Determine whether there is a loading interval period that simultaneously satisfies the seventh constraint conditions between any two adjacent potential loading periods. The seventh constraint conditions may include:

[0124] The time interval is less than the fifth duration threshold, and the mileage change of the period is less than or equal to the third distance threshold.

[0125] S33: If there is a loading interval period that simultaneously satisfies the seventh constraint conditions, determine the corresponding available loading period according to the potential loading periods and the loading interval period.

[0126] S34: If there is no loading interval period that simultaneously satisfies the seventh constraint conditions, determine the corresponding available loading period according to the potential loading periods.

[0127] S35: Determine the loading interval of the electric mixer truck according to the available loading period and the operation parameters.

[0128] In this embodiment, when the rotation direction of the mixing drum is counterclockwise, it is reverse rotation, and when it is clockwise, it is forward rotation.

[0129] In this embodiment, those skilled in the art can flexibly set the second rotation speed threshold. For example, the second rotation speed threshold can be 200 or 300, and there is no limitation here.

[0130] In this embodiment, those skilled in the art can flexibly set the fourth duration threshold. For example, the fourth duration threshold can be 10s or 15s, and there is no limitation here. Similarly, those skilled in the art can also flexibly set the fifth duration threshold. For example, the fifth duration threshold can be 10min or 8min, and there is no limitation here.

[0131] In this embodiment, those skilled in the art can flexibly set the third distance threshold. For example, the third distance threshold can be 200m or 100m, and there is no limitation here.

[0132] In this embodiment, the time interval of the time period is less than the fifth duration threshold, which can be that the duration of the loading interval period (the time interval between two adjacent potential loading periods) is less than the fifth duration threshold. The mileage change of the time period is less than or equal to the third distance threshold, which can be that the mileage change between the start point and the end point of the loading interval period (the end point of the previous potential loading period and the start point of the next potential loading period) is less than or equal to the third distance threshold.

[0133] Exemplarily, all intervals where the vehicle speed is zero, the rotation direction of the mixing drum is forward, the rotation speed of the mixing drum is greater than zero, the rotation speed of the mixing drum motor is greater than 200, and the duration is greater than 10 seconds can be found as the potential loading periods. Then, find the intervals where the time interval between any two adjacent potential loading periods is less than 10 minutes and the mileage change does not exceed 200 meters (the seventh constraint condition), and take this interval as the loading interval period. Then, merge the potential loading periods and the loading interval periods to obtain the available loading periods.

[0134] In this embodiment, if the vehicle speed of the electric mixer truck is 0, the rotation direction of the mixing drum is forward, the rotation speed of the mixing drum is greater than 0, the rotation speed of the mixing drum motor is greater than the second rotation speed threshold, and it lasts for a certain duration, it can be explained that the electric mixer truck has entered the loading working condition, and the time period that meets this sixth constraint condition can be used as the potential loading period. Since when the electric mixer truck is loading, it may move the vehicle position to make the position of the loading port more accurate, and the vehicle moving process will not be long, and the vehicle position will not change greatly. Therefore, if there is a loading interval period that simultaneously meets the seventh constraint condition between any two adjacent potential loading periods, the potential loading periods and the loading interval periods can be merged to obtain the available loading periods, so that the available loading periods can represent a complete loading process of the electric mixer truck. After the available loading periods, the electric mixer truck has completed loading and is in a semi-loaded or fully-loaded state.

[0135] In a possible implementation manner, step S35 above determines the loading interval of the electric mixer truck according to the available loading period and operating parameters, which may include:

[0136] S41: According to the operating parameters, determine the abnormal periods in the available loading period that satisfy the eighth constraint condition. The eighth constraint condition may include:

[0137] The duration of the period is less than the sixth duration threshold, or the duration of the period is greater than the seventh duration threshold, or the time difference from the adjacent unloading interval is less than the eighth duration threshold, or the distance difference from the adjacent unloading interval is less than the fourth distance threshold, and the sixth duration threshold is less than the seventh duration threshold.

[0138] S42: Remove the abnormal periods from the available loading period to obtain the loading operation period.

[0139] S43: According to the operating parameters, determine whether there is a stable rotation speed interval in the loading operation period that simultaneously satisfies the ninth constraint condition. The ninth constraint condition may include:

[0140] The standard deviation of the rotation speed of the mixing drum motor is less than the standard deviation threshold, and the range of the mixing drum motor is less than the range threshold, and the duration is greater than the ninth duration threshold.

[0141] S44: According to the stable rotation speed interval, determine whether the loading operation period is the loading interval.

[0142] In this implementation manner, those skilled in the art can flexibly set the sixth duration threshold and the seventh duration threshold according to the actual situation, and no restrictions are made here as long as the sixth duration threshold is less than the seventh duration threshold. For example, the sixth duration threshold can be 2 min, and the seventh duration threshold can be 60 min.

[0143] In this implementation manner, those skilled in the art can flexibly set the eighth duration threshold. For example, the eighth duration threshold can be 10 min or 8 min, and no restrictions are made here. Similarly, those skilled in the art can also flexibly set the ninth duration threshold. For example, the ninth duration threshold can be 2 min or 3 min, and no restrictions are made here.

[0144] In this implementation manner, those skilled in the art can flexibly set the fourth distance threshold. For example, the fourth distance threshold can be 1 km or 1.5 km, and no restrictions are made here.

[0145] In this implementation manner, those skilled in the art can flexibly set the standard deviation threshold according to the actual situation. For example, the standard deviation threshold can be 10 or 5, and no restrictions are made here.

[0146] In this embodiment, the range threshold can be flexibly set by those skilled in the art according to the actual situation. For example, the range threshold can be 10% or 8%, and no specific limitation is imposed herein.

[0147] In this embodiment, since the accuracy of the unloading condition judgment is higher than that of the loading condition, if there is a time difference less than the eighth duration threshold or a distance difference less than the fourth distance threshold between the loading available period and the adjacent unloading interval, this period can be considered an abnormal period, which may be caused by data anomalies and needs to be cleared.

[0148] In this embodiment, the duration of the rotation speed stable interval should not exceed the preset stable duration threshold. If the duration of a certain rotation speed stable interval exceeds the preset stable duration threshold, this rotation speed stable interval can be excluded. Specifically, those skilled in the art can flexibly set the stable duration threshold according to the actual situation, and no specific limitation is imposed herein.

[0149] Exemplarily, if the duration of a certain loading available period is less than 2 minutes or greater than 60 minutes, it can be considered an abnormal period and should be excluded; if the time difference between a certain loading available period and the adjacent unloading interval is less than 10 minutes, or the distance difference is less than 1 km, it can be considered an abnormal period and should be excluded.

[0150] Exemplarily, after determining the loading operation period, a stable rotation speed interval with a duration exceeding 2 min, a standard deviation of the rotation speed of the mixing drum motor less than 10, and a range of the mixing drum motor less than 10% within the duration can be found in this loading operation period.

[0151] In this embodiment, after determining the loading available period, it is also necessary to clear the abnormal periods in the loading available period to obtain a more accurate loading operation period. Since the loading of the electric mixer truck is carried out at a fixed location, the loading time will not be too long or too short, the time interval from the adjacent unloading period will not be too short, and the mileage change will not be too small. Therefore, if there is a period with an overly long loading duration, an overly short loading duration, an overly small time difference from the adjacent unloading interval, or an overly small distance difference from the adjacent unloading interval in the loading available period, it can be explained that this period is an abnormal period, and the abnormal periods in the loading available period need to be removed to obtain the loading operation period. There will be one or more rotation speed stable intervals during the loading process. Therefore, according to whether there is a rotation speed stable interval that simultaneously satisfies the ninth constraint condition in the loading operation period, it can be accurately determined whether the loading operation period is a loading interval.

[0152] In a possible embodiment, step S44 of determining whether the loading operation period is a loading interval according to the rotation speed stable interval may include any one of the following:

[0153] S51: When there is no stable speed range during the loading operation period, it is determined that the loading operation period is not a loading interval.

[0154] S52: When there are multiple stable speed ranges during the loading operation period, determine the sum of the motor torques corresponding to each stable speed range; if the sum of the motor torques corresponding to any one stable speed range is greater than the first preset multiple of the sum of the motor torques corresponding to the previous stable speed range, it is determined that the loading operation period is a loading interval.

[0155] S53: When there is one stable speed range during the loading operation period, determine the sum of the motor torques of the stable speed range, and determine the sum of the motor torques within the third preset time period before the stable speed range; if the sum of the motor torques of the stable speed range is greater than the first preset multiple of the sum of the motor torques within the third preset time period, it is determined that the loading operation period is a loading interval.

[0156] In this embodiment, those skilled in the art can flexibly set the first preset multiple according to the actual situation. For example, the first preset multiple can be 3 times or 4 times, and no limitation is made here.

[0157] In this embodiment, those skilled in the art can flexibly set the third preset time period according to the actual situation. For example, the third preset time period can be 5 min or 8 min, and no limitation is made here.

[0158] Exemplarily, when there are multiple stable speed ranges during the loading operation period, as long as the sum of the motor torques corresponding to one stable speed range is greater than 3 times the sum of the motor torques corresponding to the previous stable speed range, it indicates that the loading operation period is a loading interval. When there is one stable speed range during the loading operation period, as long as the sum of the motor torques of the stable speed range is greater than 3 times the sum of the motor torques within 10 min before the stable speed range, it indicates that the loading operation period is a loading interval.

[0159] In this embodiment, when relatively dense materials such as concrete are loaded into the mixing drum, the rotational speed of the mixing drum motor will increase during the loading process, and there will be one or more rotational speed stable intervals at the beginning and near the end of the loading process respectively; when relatively thin materials such as cement are loaded into the mixing drum, the rotational speed of the mixing drum motor remains basically unchanged during the loading process, but it will be larger than the rotational speed of the motor before loading, and there will also be a rotational speed stable interval. During the loading process, as the materials are added, the sum of the torques of the mixing drum motor will continuously increase. Therefore, when there are multiple rotational speed stable intervals during the loading operation period, as long as the sum of the motor torques corresponding to one rotational speed stable interval is greater than the first preset multiple of the sum of the motor torques corresponding to the previous rotational speed stable interval, it can be simply and accurately determined that the loading operation period is the loading interval. When there is one rotational speed stable interval during the loading operation period, as long as the sum of the motor torques of this rotational speed stable interval is greater than the first preset multiple of the sum of the motor torques within the third preset time period before this rotational speed stable interval, it can be simply and accurately determined that the loading operation period is the loading interval.

[0160] In a possible embodiment, determining the load of the electric mixer truck according to the unloading interval and the loading interval in step S203 above may include any one of the following:

[0161] S61: After the electric mixer truck runs to the end point of the current unloading interval and before the next loading interval, determine that the load of the electric mixer truck is no-load.

[0162] S62: When there are multiple rotational speed stable intervals in the loading interval, determine the target rotational speed stable interval whose sum of motor torques is greater than the first preset multiple of the sum of the motor torques corresponding to the previous rotational speed stable interval; judge whether the sum of the motor torques of the target rotational speed stable interval is greater than the second preset multiple of the sum of the motor torques corresponding to the previous rotational speed stable interval; if it is greater, then after the electric mixer truck runs to the target rotational speed stable interval and before the next unloading interval, determine that the load of the electric mixer truck is full load, if it is not greater, then after the electric mixer truck runs to the target rotational speed stable interval and before the next unloading interval, determine that the load of the electric mixer truck is half load.

[0163] S63: When there is one rotational speed stable interval in the loading interval, judge whether the sum of the motor torques of the rotational speed stable interval is greater than the second preset multiple of the sum of the motor torques within the third preset time period before the rotational speed stable interval; if it is greater, then after the electric mixer truck runs to the rotational speed stable interval and before the next unloading interval, determine that the load of the electric mixer truck is full load, if it is not greater, then after the electric mixer truck runs to the rotational speed stable interval and before the next unloading interval, determine that the load of the electric mixer truck is half load.

[0164] Wherein, the second preset multiple is greater than the first preset multiple.

[0165] In this embodiment, those skilled in the art can flexibly set the first preset multiple and the second preset multiple according to the actual situation, without any limitation here, as long as the second preset multiple is greater than the first preset multiple. For example, the first preset multiple can be 3 times, and the second preset multiple is 5 times.

[0166] It should be noted that the unloading section and the loading section are usually arranged at intervals. If two unloading sections are adjacent or two loading sections are adjacent, the load of the electric mixer truck is not determined.

[0167] Exemplarily, when there are multiple rotation speed stable sections in the loading section, determine the target rotation speed stable section whose sum of motor torques corresponding to the rotation speed stable section is greater than 3 times the sum of motor torques corresponding to the previous rotation speed stable section; if the sum of motor torques of the target rotation speed stable section is still greater than 5 times the sum of motor torques corresponding to the previous rotation speed stable section, the load of the electric mixer truck is full load; if the sum of motor torques of the target rotation speed stable section is not greater than 5 times the sum of motor torques corresponding to the previous rotation speed stable section, the load of the electric mixer truck is half load.

[0168] Exemplarily, when there is one rotation speed stable section in the loading operation period, if the sum of motor torques of this rotation speed stable section is greater than 5 times the sum of motor torques within 10 minutes before this rotation speed stable section, the load of the electric mixer truck is full load; if the sum of motor torques of this rotation speed stable section is greater than 3 times the sum of motor torques within 10 minutes before this rotation speed stable section but less than or equal to 5 times, the load of the electric mixer truck is half load.

[0169] In this embodiment, the unloading section and the loading section are usually arranged at intervals. Therefore, after determining the unloading section and the loading section, the load of the electric mixer truck can be simply and accurately determined according to the arrangement order of the unloading section and the loading section. Specifically, after the electric mixer truck runs to the end point of the current unloading section and before the next loading section, the load of the electric mixer truck can be determined to be no load. After the electric mixer truck runs to the target rotation speed stable section / rotation speed stable section of the current loading section and before the next unloading section, according to the sum of motor torques of the target rotation speed stable section / rotation speed stable section, the load of the electric mixer truck can be accurately determined to be full load or half load.

[0170] In a possible implementation manner, the method may further include:

[0171] S71: 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.

[0172] S72: 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.

[0173] S73: 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.

[0174] Among them, 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.

[0175] In this embodiment, the throttle opening can also be the throttle opening of the electric mixer truck.

[0176] In this embodiment, when the load of the electric mixer truck is no load, the throttle opening and the energy recovery efficiency of the vehicle are small; when the load of the electric mixer truck is full load, the throttle opening and the energy recovery efficiency of the vehicle are large (the existing normal values); when the load of the electric mixer truck is half load, the throttle opening and the energy recovery efficiency of the vehicle are between the two.

[0177] In this embodiment, in the prior art, regardless of the specific load of the electric mixer truck, the electric mixer truck is controlled with the same throttle opening and energy recovery efficiency. This control strategy is more in line with the full load state, but it will inevitably cause excessive power consumption when the load is half load, especially no load. Therefore, after determining the specific load of the electric mixer truck, the throttle opening and the 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.

[0178] Next, a specific embodiment is used to elaborate on the method for determining the load of the electric mixer truck of the present application.

[0179] 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:

[0180] First step, after the mixing drum of the electric mixer truck starts to rotate, the electric mixer truck controller uses the CAN bus to obtain the operating parameters of the electric mixer truck, such as the rotation direction of the mixing drum, the rotation speed of the mixing drum, the rotation speed of the mixing drum motor, and the torque of the mixing drum motor.

[0181] In the second step, the electric mixer truck determines the potential discharge time periods during the operation of the electric mixer truck that simultaneously meet the conditions that the rotation direction of the mixing drum is reverse, the rotation speed of the mixing drum is less than 0, and the duration is greater than 30 seconds; if it is determined that there is a discharge interval time period that simultaneously meets the conditions that the interval between two adjacent potential discharge time periods is less than 30 minutes and the mileage change during the time period is less than or equal to 500 m, then according to the potential discharge time periods and the discharge interval time periods, the corresponding available discharge time periods are determined.

[0182] In the third step, the electric mixer truck determines the abnormal time periods during the available discharge time periods where the mileage change from the start of the time period is greater than 1 km according to the operation parameters; the abnormal time periods in the available discharge time periods are removed to obtain the discharge operation time periods; according to the operation parameters, the starting point of the interval that simultaneously meets the conditions that the rotation direction of the mixing drum is forward, the rotation speed of the mixing drum is greater than 0, and the standard deviation of the rotation speed of the mixing drum motor within 2 minutes is less than 10 is determined before the discharge operation time periods; according to the operation parameters, the end point of the interval where the rotation speed of the mixing drum motor is greater than -50 and the standard deviation of the rotation speed of the mixing drum motor within 2 minutes is less than 10 is determined after the discharge operation time periods. According to the starting point and the end point of the interval, the discharge interval of the electric mixer truck is determined.

[0183] In the fourth step, the electric mixer truck determines the potential loading time periods during the operation of the electric mixer truck that simultaneously meet the conditions that the vehicle speed of the electric mixer truck is 0, the rotation direction of the mixing drum is forward, the rotation speed of the mixing drum is greater than 0, the rotation speed of the mixing drum motor is greater than 200, and the duration is greater than 10 s; if it is determined that there is a loading interval time period that simultaneously meets the conditions that the interval between two adjacent potential loading time periods is less than 10 minutes and the mileage change during the time period is less than or equal to 200 m, then according to the potential loading time periods and the loading interval time periods, the corresponding available loading time periods are determined.

[0184] In the fifth step, the electric mixer truck determines the abnormal time periods in the available loading time periods that meet the conditions that the duration of the time period is less than 2 minutes, or the duration of the time period is greater than 60 minutes, or the time difference from the adjacent discharge interval is less than 10 minutes, or the distance difference from the adjacent discharge interval is less than 1 km, and removes the abnormal time periods in the available loading time periods to obtain the loading operation time periods; according to the operation parameters, it is determined that there are two stable rotation speed intervals in the loading operation time periods that simultaneously meet the conditions that the duration exceeds 2 minutes, the standard deviation of the rotation speed of the mixing drum motor during the duration is less than 10, and the range of the rotation speed of the mixing drum motor is less than 10%.

[0185] In the sixth step, if the electric mixer truck determines that the sum of the motor torques corresponding to the second rotation speed stable interval is greater than 3 times the sum of the motor torques corresponding to the first rotation speed stable interval, then it is determined that this loading operation time period is the loading interval.

[0186] Step 7: After the electric mixer truck detects that it has reached the end of the current unloading section and before the next loading section, determine that the load of the electric mixer truck is empty.

[0187] Step 8: If the electric mixer truck determines that the sum of the motor torques corresponding to the second stable rotation speed section is still more than 5 times the sum of the motor torques corresponding to the first stable rotation speed section, then after detecting that the electric mixer truck has reached the second stable rotation speed section and before the next unloading section, determine that the load of the electric mixer truck is full.

[0188] Figure 3 The following is a schematic structural diagram of an electric mixer truck controller according to an embodiment of the present application. As Figure 3 shown, the electric mixer truck controller includes: an acquisition module 31, configured to acquire the operating parameters of the electric mixer truck after detecting that the mixing drum of the electric mixer truck starts to rotate, where the operating parameters include one or more of the mixing drum rotation direction, mixing drum rotation speed, mixing drum motor rotation speed, and mixing drum motor torque; a processing module 32, configured to determine the unloading section and loading section of the electric mixer truck according to the operating parameters; and determine the load of the electric mixer truck according to the unloading section and loading section, where the load includes one of empty load, half load, and full load.

[0189] The electric mixer truck controller provided in the embodiment of the present application can execute the technical solutions shown in the above method embodiments, and the implementation principles and beneficial effects are similar, which will not be elaborated here.

[0190] Figure 4 The following is a schematic structural diagram of an electric mixer truck controller according to an embodiment of the present application. As Figure 4 shown, 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.

[0191] In the above electric mixer truck controller, the memory 402 and the processor 401 are directly or indirectly electrically connected to achieve 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 through a bus connection. The memory 402 stores computer-executable instructions for implementing a data access control method, including at least one software function module that can be 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.

[0192] 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 the execution instructions, the processor 401 executes the programs. 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.

[0193] 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.

[0194] An embodiment of the present application further provides an electric mixer truck, which may include an electric mixer truck controller as Figure 4 shown.

[0195] 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.

[0196] An embodiment of the present application further provides a computer program product, including a computer program, which when executed by a processor, implements the steps of the method embodiments of the present application.

[0197] 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, some 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.

[0198] It should be further noted that although the steps in the flowchart are shown 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.

[0199] 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.

[0200] In addition, without special explanation, in each embodiment of this application, the functional units / modules 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.

[0201] In the above embodiments, the descriptions of the respective embodiments 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 the combinations of these technical features do not conflict, they should all be considered as the scope described in this specification.

[0202] Other embodiments of the present application will be readily contemplated by those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This 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 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.

[0203] 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 of an electric mixer truck, characterized in that, Including: After detecting that the mixing drum of the electric mixer truck starts to rotate, obtain the operating parameters of the electric mixer truck, where the operating parameters include one or more of the mixing drum rotation direction, mixing drum rotation speed, mixing drum motor rotation speed, and mixing drum motor torque; Determine the discharging interval and loading interval of the electric mixer truck according to the operating parameters; Determine the load of the electric mixer truck according to the discharging interval and loading interval, where the load includes one of no load, half load, and full load.

2. The method for determining the load of the electric mixer truck according to claim 1, characterized in that, The determining the discharging interval of the electric mixer truck according to the operating parameters includes: According to the operating parameters, determine the potential discharging time periods that satisfy the first constraint condition during the operation of the electric mixer truck. The first constraint condition includes: the mixing drum rotation direction is reverse, the mixing drum rotation speed is less than 0, and the continuous duration is greater than the first duration threshold; Judge whether there is a discharging interval time period that satisfies the second constraint condition within any two adjacent potential discharging time periods. The second constraint condition includes: the time interval is less than the second duration threshold, and the mileage change during the time period is less than or equal to the first distance threshold; If there is a discharging interval time period that satisfies the second constraint condition, then determine the corresponding available discharging time period according to the potential discharging time period and the discharging interval time period; If there is no discharging interval time period that satisfies the second constraint condition, then determine the corresponding available discharging time period according to the potential discharging time period; Determine the discharging interval of the electric mixer truck according to the available discharging time period and the operating parameters.

3. The method for determining the load of the electric mixer truck according to claim 2, characterized in that, The determining the discharging interval of the electric mixer truck according to the available discharging time period and the operating parameters includes: According to the operating parameters, determine the mixing drum cleaning time periods that satisfy any two of the third constraint conditions during the available discharging time period. The third constraint conditions include: the continuous duration is less than the third duration threshold; the minimum mixing drum motor torque is greater than the first torque threshold; the number of times the minimum mixing drum motor torque is less than the second torque threshold is less than the continuous minutes, where the first torque threshold is less than the second torque threshold; Determine the abnormal time periods during the available discharging time period where the mileage change from the start of the time period is greater than the second distance threshold; Remove the mixing drum cleaning time periods and / or the abnormal time periods during the available discharging time period to obtain the discharging operation time periods; According to the operating parameters, determine the interval start point that satisfies the fourth constraint condition before the discharging operation time period. The fourth constraint condition includes: the mixing drum rotation direction is forward, the mixing drum rotation speed is greater than 0, and the standard deviation of the mixing drum motor rotation speed within the first preset duration is less than the standard deviation threshold; According to the operating parameters, determine the interval end point that satisfies the fifth constraint condition after the discharging operation time period. The fifth constraint condition includes: the mixing drum motor rotation speed is greater than the first rotation speed threshold, and the standard deviation of the mixing drum motor rotation speed within the second preset duration is less than the standard deviation threshold; Determine the discharging interval of the electric mixer truck according to the interval start point and the interval end point.

4. The method for determining the load capacity of the electric mixer truck according to any one of claims 1-3, characterized in that, Determining the loading interval of the electric mixer truck according to the operating parameters includes: According to the operating parameters, determine the potential loading time periods during the operation of the electric mixer truck that simultaneously satisfy the sixth constraint condition, where the sixth constraint condition includes: the vehicle speed of the electric mixer truck is 0, and the rotation direction of the mixing drum is forward rotation, and the rotation speed of the mixing drum is greater than 0, and the rotation speed of the mixing drum motor is greater than the second rotation speed threshold, and the continuous duration is greater than the fourth duration threshold; Judge whether there is a loading interval period that simultaneously satisfies the seventh constraint condition between any two adjacent potential loading time periods, where the seventh constraint condition includes: the time interval is less than the fifth duration threshold, and the change in mileage during the period is less than or equal to the third distance threshold; If there is a loading interval period that simultaneously satisfies the seventh constraint condition, then determine the corresponding available loading time period according to the potential loading time period and the loading interval period; If there is no loading interval period that simultaneously satisfies the seventh constraint condition, then determine the corresponding available loading time period according to the potential loading time period; Determine the loading interval of the electric mixer truck according to the available loading time period and the operating parameters.

5. The method for determining the load of the electric mixer truck according to claim 4, wherein, The determining the loading interval of the electric mixer truck according to the available loading time period and the operating parameters includes: According to the operating parameters, determine the abnormal time periods in the available loading time period that satisfy the eighth constraint condition, where the eighth constraint condition includes: the continuous duration of the period is less than the sixth duration threshold, or the continuous duration of the period is greater than the seventh duration threshold, or the time difference from the adjacent unloading interval is less than the eighth duration threshold, or the distance difference from the adjacent unloading interval is less than the fourth distance threshold, and the sixth duration threshold is less than the seventh duration threshold; Remove the abnormal time periods in the available loading time period to obtain the loading operation time period; According to the operating parameters, determine whether there is a rotation speed stable interval in the loading operation time period that simultaneously satisfies the ninth constraint condition, where the ninth constraint condition includes: the standard deviation of the rotation speed of the mixing drum motor is less than the standard deviation threshold, and the range of the mixing drum motor is less than the range threshold, and the continuous duration is greater than the ninth duration threshold; Determine whether the loading operation time period is the loading interval according to the rotation speed stable interval.

6. The method for determining the load capacity of the electric mixer truck according to claim 5, characterized in that, The determining whether the loading operation time period is the loading interval according to the rotation speed stable interval includes any one of the following: When there is no such rotation speed stable interval in the loading operation time period, then determine that the loading operation time period is not the loading interval; When there are multiple such rotation speed stable intervals in the loading operation time period, determine the sum of the motor torques corresponding to each rotation speed stable interval; if the sum of the motor torques corresponding to any one rotation speed stable interval is greater than the first preset multiple of the sum of the motor torques corresponding to the previous rotation speed stable interval, then determine that the loading operation time period is the loading interval; When there is one such rotation speed stable interval in the loading operation time period, determine the sum of the motor torques of the rotation speed stable interval, and determine the sum of the motor torques within the third preset time period before the rotation speed stable interval; if the sum of the motor torques of the rotation speed stable interval is greater than the first preset multiple of the sum of the motor torques within the third preset time period, then determine that the loading operation time period is the loading interval.

7. The method for determining the load of the electric mixer truck according to claim 6, characterized in that, Determining the load of the electric mixer truck according to the discharging interval and the loading interval includes any one of the following: After the electric mixer truck runs to the end point of the current discharging interval and before the next loading interval, determining that the load of the electric mixer truck is no-load; When there are multiple stable rotation speed intervals in the loading interval, determining a target stable rotation speed interval whose sum of motor torques is greater than a first preset multiple of the sum of motor torques corresponding to the previous stable rotation speed interval; judging whether the sum of motor torques in the target stable rotation speed interval is greater than a second preset multiple of the sum of motor torques corresponding to the previous stable rotation speed interval; if it is greater, after the electric mixer truck runs to the target stable rotation speed interval and before the next discharging interval, determining that the load of the electric mixer truck is full-load; if it is not greater, after the electric mixer truck runs to the target stable rotation speed interval and before the next discharging interval, determining that the load of the electric mixer truck is half-load; When there is one stable rotation speed interval in the loading interval, judging whether the sum of motor torques in the stable rotation speed interval is greater than a second preset multiple of the sum of motor torques in the third preset time period before the stable rotation speed interval; if it is greater, after the electric mixer truck runs to the stable rotation speed interval and before the next discharging interval, determining that the load of the electric mixer truck is full-load; if it is not greater, after the electric mixer truck runs to the stable rotation speed interval and before the next discharging interval, determining that the load of the electric mixer truck is half-load; Wherein, the second preset multiple is greater than the first preset multiple.

8. An electric mixer truck controller, characterized in that, Including: A processor, and a memory communicatively connected to the processor; The memory is used for storing computer execution instructions; The processor is used for executing 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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