Method, device and equipment for cleaning bonded concrete in concrete mixing plant and medium

Abstract

The invention relates to the technical field of adhesive concrete cleaning, and discloses an adhesive concrete cleaning method, device, equipment and medium in a concrete mixing plant, and the method comprises the following steps: obtaining the thickness of all hardened concrete, calculating the average value, and recording the result as the average thickness; a controllable adhesion concrete proportion calculation strategy is executed, the volume of a high-fluidity adhesion layer and the volume of a high-viscosity stripping layer are calculated respectively, and the water-cement ratio is set; obtaining a tangent plane of the inner wall of the drum mixer where the hardened concrete is located, and making a normal vector pointing to the inner wall of the drum mixer on the tangent plane; executing a stripping angle optimization strategy, and calculating an optimal stripping angle for separating the hardened concrete from the inner wall of the drum mixer; calculating the shear stress of the high-fluidity adhesion layer and the high-viscosity stripping layer on the hardened concrete; a dynamic stripping control optimization strategy is executed, the clockwise rotation time and the anticlockwise rotation time of the drum mixer are calculated so as to improve the hardened concrete stripping efficiency, and the cleaning process is efficient, accurate and energy-saving.

Description

Technical Field

[0001] The present invention relates to the technical field of bonded concrete cleaning, in particular to a method, device, equipment and medium for cleaning bonded concrete in a concrete mixing station. Background Art

[0002] Controllable adhesion concrete forms a high-flow adhesion layer and a high-viscosity peeling layer through a reasonable ratio. It can quickly cover and effectively peel off the hardened concrete adhered to the inner wall of the drum mixer, ensuring the cleaning process is efficient and thorough.

[0003] The drawbacks of existing technologies include low efficiency and inconsistent results in cleaning hardened concrete. Traditional cleaning methods primarily rely on mechanical scraping or high-pressure water washing, which are limited in effectiveness when dealing with thick, firmly adhered hardened concrete and can easily damage the drum's inner wall. Furthermore, due to a lack of control over the properties of the adhered concrete, the peeling force during the cleaning process cannot be effectively adjusted, often resulting in under-cleaning in some areas and over-cleaning in others, further reducing overall cleaning effectiveness. Furthermore, existing technologies are unable to dynamically adjust cleaning strategies based on the thickness and strength of the adhered concrete, resulting in high energy consumption during the cleaning process and even increased drum mixer maintenance costs.

[0004] This proposal proposes a method, device, equipment, and medium for cleaning bonded concrete in concrete mixing plants. By introducing a high-flow adhesion layer and a high-viscosity peeling layer, it achieves layered cleaning of hardened concrete. Combined with laser ranging and peeling force optimization strategies, it ensures an efficient, accurate, and energy-saving cleaning process, thereby extending the service life of the drum mixer. Summary of the Invention

[0005] The present invention provides a method, device, equipment and medium for cleaning bonded concrete in a concrete mixing station, which promotes solving the problems mentioned in the above background technology.

[0006] In a first aspect, the present application provides a method for cleaning bonded concrete in a concrete mixing station, which adopts the following technical solution: A method for cleaning bonded concrete in a concrete mixing station, comprising:

[0007] During the concrete production process at a concrete mixing plant, hardened concrete adhered to the inner wall of a drum mixer is cleaned using controlled adhesion concrete, wherein the controlled adhesion concrete comprises a high-flowability adhesion layer and a high-viscosity peeling layer;

[0008] Set thickness threshold;

[0009] According to the thickness threshold, a laser ranging sensor is used to measure the thickness of the hardened concrete adhered to the inner wall of the drum mixer;

[0010] Obtain the thickness of all hardened concrete, calculate the average, and record the result as the average thickness;

[0011] Implement a controllable adhesion concrete mix calculation strategy to calculate the volumes of the high-flow adhesion layer and the high-viscosity peeling layer, respectively, and set the water-cement ratio;

[0012] And for any one of the hardened concrete, perform the following operations:

[0013] Obtain a section of the inner wall of the drum mixer where the hardened concrete is located, and draw a normal vector on the section pointing to the inner wall of the drum mixer;

[0014] The angle between the normal vector and the vertical direction is recorded as the peeling angle;

[0015] Implement a peel angle optimization strategy to calculate the optimal peel angle for hardened concrete to separate from the drum mixer wall;

[0016] Set the angular speed of the drum mixer in clockwise and counterclockwise rotation;

[0017] Calculate the shear stress of the high-fluidity adhesive layer and the high-viscosity peeling layer on the hardened concrete;

[0018] A dynamic stripping control optimization strategy is implemented to calculate the clockwise and counterclockwise rotation times of the drum mixer to improve the efficiency of hardened concrete stripping.

[0019] Preferably, the step of measuring the thickness of the hardened concrete adhered to the inner wall of the drum mixer using a laser ranging sensor according to the thickness threshold comprises:

[0020] Multiple laser distance measuring sensors are evenly arranged along the axial direction of the drum mixer, and each laser distance measuring sensor emits a laser perpendicular to the inner wall of the drum;

[0021] Set the ranging angle;

[0022] The drum mixer is rotated to obtain the distance measured by the laser ranging sensor each time it rotates through a ranging angle;

[0023] A plane is made perpendicular to the axis of the laser distance sensor, and the drum mixer intercepts the plane to obtain a circle;

[0024] Get the radius of the circle;

[0025] If the radius-distance is greater than the thickness threshold, there is hardened concrete at the position where the laser ranging sensor irradiates the drum mixer, and the value obtained by the radius-distance is used as the thickness of the hardened concrete.

[0026] Preferably, the controllable adhesion concrete mix ratio calculation strategy is executed to calculate the volumes of the high-fluidity adhesion layer and the high-viscosity peeling layer, respectively, and set the water-cement ratio, including:

[0027] Set the loss coefficient of the drum mixer to represent the loss of concrete adhering to the inner wall during the production process;

[0028] Obtain the area occupied by all hardened concrete on the inner wall, calculate the product of the area and the average thickness, and record the result as the total volume of hardened concrete;

[0029] Calculate the total volume of hardened concrete divided by the loss coefficient, and the result is the volume of controllably adhered concrete;

[0030] The high-fluidity adhesive layer is used to cover the hardened concrete;

[0031] The high-viscosity peeling layer is used to peel off hardened concrete;

[0032] Setting the proportion of high-flow adhesion layer to the volume of controllable adhesion concrete;

[0033] Calculate the volume of controlled adhesion concrete and multiply by the ratio to obtain the volume of the high-flow adhesion layer;

[0034] Calculate the volume of controlled adhesion concrete minus the volume of high-flow adhesion layer, and the result is the volume of high-viscosity peeling layer;

[0035] The water-cement ratio of the high-fluidity adhesive layer is set to a high water-cement ratio, and the water-cement ratio of the high-viscosity peeling layer is set to a low water-cement ratio.

[0036] Preferably, the step of executing the peeling angle optimization strategy to calculate the optimal peeling angle for separating the hardened concrete from the inner wall of the drum mixer includes:

[0037] Obtain the area occupied by hardened concrete on the inner wall;

[0038] Obtain the thickness of the hardened concrete, calculate the area multiplied by the thickness, and record it as the volume of the hardened concrete;

[0039] Calculate the volume and multiply it by the acceleration due to gravity. The result is recorded as the gravity M of the hardened concrete.

[0040] Decompose the gravity into the peeling force F along the cut surface || and the adhesion force F perpendicular to the cut surface ⊥ , where F || =M×sin(θ),F ⊥ =M×cos(θ), θ is the peeling angle;

[0041] Obtain the shear stress of the high-viscosity peeling layer on the hardened concrete. Calculate the shear stress multiplied by the area occupied by the hardened concrete on the inner wall. The result is recorded as the adhesion peel force.

[0042] Calculation of adhesion peel force and peel force F || The sum of the peeling force F1 on the hardened concrete is recorded as the total peeling force F1;

[0043] Set the static friction coefficient μ of the hardened concrete on the inner wall;

[0044] Calculate μ×F ⊥ , the result is recorded as the total adhesion force F2 on the hardened concrete;

[0045] Calculate the objective function: To achieve the maximum peeling effect, the objective function is solved to obtain the optimal peeling angle as arctan (μ).

[0046] Preferably, the step of executing a dynamic stripping control optimization strategy to calculate the clockwise and counterclockwise rotation times of the drum mixer to improve the efficiency of hardened concrete stripping includes:

[0047] Obtain the shear stress of the high-flowability adhesive layer on the hardened concrete, calculate the shear stress multiplied by the area occupied by the hardened concrete on the inner wall, and record the result as the flow peeling force;

[0048] Obtain the viscosity of hardened concrete;

[0049] The shear stress is equal to the product of the viscosity of the hardened concrete and the rotational angular velocity, wherein the rotational angular velocity includes the angular velocity of clockwise rotation and the angular velocity of counterclockwise rotation;

[0050] When the drum mixer rotates clockwise, the hardened concrete is subjected to the flow peeling force exerted by the highly fluid adhesion layer;

[0051] Calculate the flow peel force minus the peel force F || , the result is recorded as the clockwise peeling force F3;

[0052] Calculate the adhesion peel force plus the peel force F || The result is recorded as the counterclockwise peeling force F4.

[0053] Preferably, the step of executing a dynamic stripping control optimization strategy to calculate the clockwise and counterclockwise rotation times of the drum mixer to improve the efficiency of hardened concrete stripping includes:

[0054] The clockwise and counterclockwise rotation times of the drum mixer are represented as t + and t - ;

[0055] The stripping efficiency coefficient k is set to represent the area of ​​hardened concrete that can be cleaned per unit stripping force per unit time;

[0056] Calculate the total peeling area R, R = k × (F3 × t + +F4×t - );

[0057] Set a target stripping ratio, calculate the target stripping ratio multiplied by the area occupied by hardened concrete on the inner wall, and record the result as the target stripping area;

[0058] When the total stripping area is greater than or equal to the target stripping area, the hardened concrete cleaning is completed.

[0059] Preferably, the step of executing a dynamic stripping control optimization strategy to calculate the clockwise and counterclockwise rotation times of the drum mixer to improve the efficiency of hardened concrete stripping includes:

[0060] Optimize the angular velocity ω of the drum mixer in clockwise rotation + and the angular velocity ω of counterclockwise rotation - ;

[0061] Set the maximum rotation angular velocity ω max ;

[0062] Optimize the angular velocity ω of clockwise rotation + ,

[0063] Optimize the angular velocity ω of counterclockwise rotation - ,ω - =ω max ;

[0064] When the counterclockwise peeling force F4 increases, the clockwise angular velocity ω + To reduce, counterclockwise rotation is preferred to increase the reverse peeling effect;

[0065] Optimize the clockwise rotation time t of the drum mixer + and the time t for counterclockwise rotation - ;

[0066] Set the total time T for cleaning hardened concrete;

[0067] t + =T×F3 / (F3+F4), t - =T×F4 / (f3+F4).

[0068] In a second aspect, the present application provides a device for cleaning bonded concrete in a concrete mixing station, which adopts the following technical solution: a device for cleaning bonded concrete in a concrete mixing station, comprising:

[0069] a laser ranging module, configured to measure the thickness of the hardened concrete adhered to the inner wall of the drum mixer using a laser ranging sensor, obtain the thickness of the hardened concrete at different locations on the inner wall of the drum, and send the thickness to the control module;

[0070] a control module configured to receive data from the laser ranging module, calculate the average thickness, determine the total amount and proportion of controllable adhesion concrete, send a mix ratio instruction to the controllable adhesion concrete feeding module, execute a peeling angle optimization strategy, calculate an optimal peeling angle, execute a dynamic peeling control optimization strategy, calculate the time and angular velocity of clockwise and counterclockwise rotation, instruct the rotation control module to execute dynamic rotation, receive feedback data from the shear stress sensor, and adjust the rotation parameters according to the real-time peeling effect;

[0071] Controllable adhesion concrete feeding module, used to automatically mix the high-flow adhesion layer and the high-viscosity peeling layer in proportion according to the ratio instructions of the control module, and inject the adhesion concrete into the inner wall of the drum;

[0072] The rotation control module is used to control the clockwise and counterclockwise rotation of the drum mixer according to the instructions of the control module, and adjust the rotation angular velocity in real time to ensure the optimal peeling efficiency;

[0073] The shear stress sensor module is used to monitor the shear stress generated by the high-fluidity adhesion layer and the high-viscosity peeling layer on the hardened concrete in real time, and send the monitored shear stress data to the control module.

[0074] In a third aspect, the present application provides a device for cleaning bonded concrete in a concrete mixing station, which adopts the following technical solution: a device for cleaning bonded concrete in a concrete mixing station, comprising:

[0075] A bidirectional rotating drum mixer is used to connect to a rotation control module to achieve clockwise and counterclockwise rotation to peel off hardened concrete;

[0076] Laser ranging sensor for real-time monitoring of the thickness of hardened concrete adhered to the inner wall of the drum;

[0077] High-flow adhesion layer storage tank, used to store high-flow adhesion concrete;

[0078] High viscosity peeling layer storage tank, used to store high viscosity peeling concrete;

[0079] Automatic batching pumps to control the flow of two types of adhesive concrete;

[0080] a mixer, used to mix the two concretes in proportion before injection;

[0081] A motor controller for controlling the rotation direction and speed of the drum mixer;

[0082] Bidirectional motor, used to realize clockwise and counterclockwise rotation, controlling the bidirectional rotation of the drum mixer;

[0083] Stress sensors, distributed on the inner wall of the drum mixer, are used to monitor the shear stress generated by the adhered concrete on the hardened concrete;

[0084] a computational unit for performing peel angle optimization and dynamic peel control strategies;

[0085] A data storage unit for storing laser ranging data, shear stress data and control strategies;

[0086] Control interface, used to connect modules and execute control instructions.

[0087] In a fourth aspect, the present application provides a medium for cleaning bonded concrete in a concrete mixing station, which adopts the following technical solution: a medium for cleaning bonded concrete in a concrete mixing station, on which a computer program is stored, which, when executed by a processor, implements the method for cleaning bonded concrete in a concrete mixing station proposed in the embodiment of the first aspect of the present application.

[0088] The present invention has the following beneficial effects:

[0089] This method for cleaning bonded concrete in a concrete mixing plant utilizes multiple laser ranging sensors evenly spaced along the drum mixer's axial direction. These sensors emit laser light perpendicular to the drum's inner wall. By setting the ranging angle and rotation angle, the sensors collect thickness data in real time as the drum rotates. This ensures comprehensive thickness detection and effectively avoids data deviations caused by single-point measurement. By converting the measured data into the thickness of the hardened concrete on the inner wall, high-precision thickness identification and regional positioning are achieved.

[0090] 2. This method for cleaning bonded concrete in a concrete mixing plant achieves functional separation between a high-flow adhesive layer and a high-viscosity peeling layer by precisely defining the mix ratio of controlled-adhesion concrete. The high-flow adhesive layer ensures rapid and uniform coverage of the hardened concrete surface, reducing the porosity of the adhesive layer; the high-viscosity peeling layer effectively peels the hardened concrete through its high shear strength. A loss factor ensures a precise match between the total amount of controlled-adhesion concrete and the residual amount of hardened concrete, minimizing waste. The water-cement ratio is precisely defined to ensure the optimal physical properties of both adhesive layers during use.

[0091] 3. This method for cleaning bonded concrete in concrete mixing plants accurately calculates the weight of hardened concrete on the inner wall of the drum mixer and, in combination with a gravity decomposition strategy, derives the peeling force along the cut surface and the adhesion force perpendicular to the cut surface. This ensures the distribution of peeling and adhesion forces at different angles, implementing an optimal peeling strategy for residual hardened concrete at different angles. The shear stress of the high-viscosity peeling layer enhances the peeling effect. By calculating the shear stress area, the peeling effect is dynamically determined, the objective function is optimized, and the optimal peeling angle is calculated, maximizing the peeling effect while minimizing the cleaning time.

[0092] 4. This method for cleaning bonded concrete in concrete mixing plants utilizes a dynamic peeling control optimization strategy to monitor the shear stress of the adhesive layer, capturing the fluid peeling force exerted on the hardened concrete in real time and dynamically adjusting the force as the rotation direction changes. Clockwise rotation maximizes the peeling force generated by the fluid adhesive layer, enhancing the initial peeling effect. Counterclockwise rotation utilizes the high-viscosity peeling layer, further enhancing the peeling effect. Through bidirectional rotation and dynamic force switching, hardened concrete is peeled in the shortest possible time, avoiding insufficient peeling force or excessive peeling time, and achieving an optimal balance between cleaning effect and cleaning time.

[0093] 5. This concrete batching plant's method for cleaning bonded concrete incorporates a stripping efficiency coefficient, enabling the stripping process to be quantified and dynamically monitored. Stripping efficiency can be dynamically controlled by setting a target stripping ratio. By calculating the total stripping area and the target stripping area, cleaning progress is assessed in real time to ensure that the cleaning process meets preset standards. Dynamic adjustment of clockwise and counterclockwise rotation times minimizes cleaning time while maintaining the target stripping area. By quantifying and dynamically adjusting stripping efficiency, the hardened concrete cleaning process is efficient, stable, and automated.

[0094] 6. This concrete batching plant's method for cleaning bonded concrete improves the cleaning efficiency of hardened concrete by optimizing the drum mixer's rotational angular velocity and time. A set maximum rotational angular velocity ensures safe drum mixer rotation. Dynamic adjustment of clockwise and counterclockwise rotational angular velocities ensures optimal peeling force and peeling results. As counterclockwise rotation increases peeling force, the clockwise rotational angular velocity automatically decreases, prioritizing counterclockwise rotation for enhanced peeling results. This consistently maximizes peeling force and minimizes peeling time, ensuring a balanced cleaning efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0096] Figure 1 The present invention is a flow chart showing a method for cleaning sticky concrete in a concrete mixing plant according to an exemplary embodiment.

[0097] Figure 2 The present invention is a block diagram showing a device for cleaning sticky concrete in a concrete mixing plant according to an exemplary embodiment.

[0098] Figure 3 The present invention is a block diagram showing an apparatus for performing a method for cleaning sticky concrete in a concrete mixing plant according to an exemplary embodiment. DETAILED DESCRIPTION

[0099] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0100] Reference Figure 1 A method for cleaning bonded concrete in a concrete mixing station comprises:

[0101] In step S11, during the concrete production process of the concrete mixing plant, hardened concrete adhered to the inner wall of the drum mixer is cleaned using controlled adhesion concrete, wherein the controlled adhesion concrete includes a high-flowability adhesion layer and a high-viscosity peeling layer;

[0102] The high-flowability adhesion layer is a part of the controllable adhesion concrete that has high flowability and can quickly spread on the inner wall of the drum mixer, providing initial adhesion and wetting of the hardened concrete surface. The high-viscosity peeling layer is another part of the controllable adhesion concrete that has high viscosity and can subsequently generate a large shear force on the hardened concrete, promoting its peeling from the inner wall of the drum mixer.

[0103] In the disclosed embodiment, the high-flowability adhesion layer in the controllable adhesion concrete is used to first wet the surface of the hardened concrete adhered to the inner wall of the drum mixer, thereby reducing its bonding force with the inner wall; then the high-viscosity peeling layer generates a large shear force to peel the hardened concrete off the inner wall.

[0104] For example, when producing concrete at a concrete mixing plant, if a large amount of hardened concrete is found adhering to the inner wall of the drum mixer, a prepared controlled adhesion concrete is added to the mixer. The highly fluid adhesion layer quickly spreads across the hardened concrete surface, followed by the highly viscous release layer, which gradually peels the hardened concrete from the inner wall.

[0105] In step S12, a thickness threshold is set;

[0106] Thickness threshold: A pre-set value used to measure whether the thickness of hardened concrete adhered to the inner wall of the drum mixer has reached the level that requires cleaning.

[0107] In the embodiment of the present disclosure, a suitable thickness threshold is set as a criterion for judging whether the hardened concrete adhered to the inner wall of the drum mixer needs to be cleaned. When the thickness of the adhered hardened concrete exceeds the threshold, it is considered that a cleaning operation is required.

[0108] For example, based on factors such as the mixer model, frequency of use, and concrete characteristics, a thickness threshold of 5 mm is set. If the measured thickness of hardened concrete adhering to a certain location on the inner wall of the drum mixer is 6 mm, then that location is determined to require cleaning.

[0109] In step S13, according to the thickness threshold, a laser ranging sensor is used to measure the thickness of the hardened concrete adhered to the inner wall of the drum mixer;

[0110] In the disclosed embodiments, a laser ranging sensor measures distance using the time between the emission and reflection of a laser beam. In this step, the sensor is mounted in a suitable position so that its emitted laser beam can illuminate the hardened concrete surface adhered to the inner wall of the drum mixer. By measuring the time between the laser beam's emission and its reflection, the thickness of the hardened concrete is calculated.

[0111] For example, a laser ranging sensor is mounted on top of a drum mixer, pointed at the inner wall. The sensor emits a laser beam, which is reflected by the hardened concrete surface. Based on the round-trip time of the laser beam, the sensor calculates the thickness of the hardened concrete at that location to be 3 mm.

[0112] In step S14, the thickness of all hardened concrete is obtained, and the average is calculated, and the result is recorded as the average thickness;

[0113] In the embodiment of the present disclosure, the thickness of the hardened concrete is measured multiple times at different positions on the inner wall of the drum mixer to obtain multiple thickness data, and then these data are summed and divided by the number of measurements to obtain the average thickness, so as to more accurately reflect the overall situation of the hardened concrete adhered to the inner wall.

[0114] In step S15, a controllable adhesion concrete mix ratio calculation strategy is executed to calculate the volumes of the high-fluidity adhesion layer and the high-viscosity peeling layer, respectively, and set the water-cement ratio;

[0115] In the disclosed embodiment, a controllable adhesion concrete mix ratio calculation strategy is employed based on parameters such as average thickness. The mechanisms of action of the high-flowability adhesion layer and the high-viscosity peeling layer during the cleaning process are considered, and the required volumes of each are calculated. An appropriate water-cement ratio is then set to ensure the performance of the controllable adhesion concrete.

[0116] For example: Assume that according to the mix proportion calculation strategy, for hardened concrete with an average thickness of 4.5 mm, the volume of the high-flow adhesion layer is calculated to be 2 liters, the volume of the high-viscosity peeling layer is 3 liters, and the water-cement ratio is set to 0.4.

[0117] In step S16, the following operations are performed for any one of the hardened concretes:

[0118] Obtain a section of the inner wall of the drum mixer where the hardened concrete is located, and draw a normal vector on the section pointing to the inner wall of the drum mixer;

[0119] In the disclosed embodiments, a section of the inner wall of a drum mixer where hardened concrete is located is obtained through 3D modeling or actual measurement. A normal vector is perpendicular to the section and points toward the inner wall of the drum mixer. For example, 3D scanning technology is used to obtain point cloud data of the inner wall of the drum mixer. Software processing is used to obtain the section at the location of the hardened concrete, and the normal vector of the section is calculated.

[0120] The angle between the normal vector and the vertical direction is recorded as the peeling angle;

[0121] Implement a peel angle optimization strategy to calculate the optimal peel angle for hardened concrete to separate from the drum mixer wall;

[0122] In the disclosed embodiments, the peeling angle influences the relationship between the adhesion and peeling forces between the hardened concrete and the inner wall. By optimizing the peeling angle, factors such as gravity and adhesion are considered to calculate the optimal peeling angle required to separate the hardened concrete from the inner wall, making the peeling process more efficient.

[0123] For example, suppose the stripping angle optimization strategy for hardened concrete at a certain location calculates that the optimal stripping angle is 30 degrees. That is, when the angle between the normal vector and the vertical direction is 30 degrees, the hardened concrete is easier to strip.

[0124] Set the angular speed of the drum mixer in clockwise and counterclockwise rotation;

[0125] In the disclosed embodiments, the clockwise and counterclockwise angular velocities of the drum mixer are set based on the peeling angle and the properties of the controllable adhesion concrete to generate appropriate shear forces and promote peeling of the hardened concrete. For example, the clockwise angular velocity of the drum mixer is set to 10 rpm and the counterclockwise angular velocity is set to 8 rpm to match the peeling angle and improve peeling efficiency.

[0126] Calculate the shear stress of the high-fluidity adhesive layer and the high-viscosity peeling layer on the hardened concrete;

[0127] In the embodiment of the present disclosure, based on the principles of fluid mechanics and material mechanics, the shear stresses generated by the high-fluidity adhesion layer and the high-viscosity peeling layer on the hardened concrete are calculated taking into account the rheological properties and the interaction with the hardened concrete.

[0128] For example, by experimentally measuring the viscosity and other parameters of the high-flowability adhesive layer and the high-viscosity peeling layer, and combining them with the surface characteristics of hardened concrete, it is calculated that the shear stress of the high-flowability adhesive layer on the hardened concrete is 5 Pa, and the shear stress of the high-viscosity peeling layer on the hardened concrete is 10 Pa.

[0129] A dynamic stripping control optimization strategy is implemented to calculate the clockwise and counterclockwise rotation times of the drum mixer to improve the efficiency of hardened concrete stripping.

[0130] In the disclosed embodiments, an optimization algorithm is used to calculate the clockwise and counterclockwise rotation times of a drum mixer, taking into account factors such as peeling angle, angular velocity, and shear stress. This optimizes the shear force distribution applied to the hardened concrete during rotation, thereby improving peeling efficiency. For example, a dynamic peeling control optimization strategy was used to calculate a cycle of 2 minutes of clockwise rotation followed by 1.5 minutes of counterclockwise rotation, effectively improving peeling efficiency in hardened concrete.

[0131] Optionally, the measuring the thickness of the hardened concrete adhered to the inner wall of the drum mixer using a laser ranging sensor according to the thickness threshold comprises:

[0132] Multiple laser distance measuring sensors are evenly arranged along the axial direction of the drum mixer, and each laser distance measuring sensor emits a laser perpendicular to the inner wall of the drum;

[0133] In this disclosed embodiment, multiple laser ranging sensors are evenly distributed along the axial direction of the drum mixer to comprehensively and accurately measure the thickness of hardened concrete at different axial locations on the drum mixer's inner wall. Each sensor emits a laser perpendicular to the drum's inner wall, ensuring that the distance from the inner wall directly in front of the sensor is measured, avoiding measurement errors caused by laser angle deviation.

[0134] For example, consider a 5-meter-long drum mixer. To comprehensively measure the inner wall, five laser ranging sensors are placed along the axial direction, one every 1 meter. Each sensor emits a laser beam perpendicular to the drum's inner wall. When the drum's inner wall is free of hardened concrete, the laser beam strikes the normal inner wall surface and reflects back to the sensor, allowing the sensor to accurately measure the distance at that point.

[0135] Set the ranging angle;

[0136] In the disclosed embodiment, the distance measurement angle is set to control the intervals at which the laser distance measurement sensor measures different locations on the inner wall during the drum mixer's rotation. By properly setting the distance measurement angle, the number of measurements can be reduced while ensuring measurement accuracy, thereby improving measurement efficiency.

[0137] For example, if a drum mixer rotates 360 degrees, the laser ranging sensor will acquire distance data every 30 degrees of rotation to ensure accurate measurement without excessive measurement frequency.

[0138] The drum mixer is rotated to obtain the distance measured by the laser ranging sensor each time it rotates through a ranging angle;

[0139] In the disclosed embodiment, the drum mixer rotates, allowing the laser ranging sensor to measure different locations on the drum's inner wall. Each time the mixer rotates through a set ranging angle, the sensor emits laser light and receives the reflected signal, thereby measuring the distance from the current sensor position to the drum's inner wall. By continuously rotating the drum, distance data can be obtained at different locations on the inner wall.

[0140] For example, if the distance measurement angle is set to 30 degrees, when the drum mixer starts to rotate, the first distance measurement value is obtained at the initial position (0 degrees), then the drum rotates 30 degrees, and the second distance measurement value is obtained, and so on, until the drum rotates one circle, a total of 12 distance measurement values ​​are obtained (360 ÷ 30 = 12).

[0141] A plane is made perpendicular to the axis of the laser distance sensor, and the drum mixer intercepts the plane to obtain a circle;

[0142] In this embodiment, a plane perpendicular to the axis of the laser rangefinder is drawn to establish a reference plane for analyzing measurement data. The radius of a circle intercepted by the drum mixer on this plane is the radius of the drum mixer's inner wall under normal conditions. This circle can be used to conveniently calculate the thickness of hardened concrete.

[0143] For example, suppose a laser ranging sensor is mounted on a fixed axis of a drum mixer. A plane is drawn perpendicular to the axis. This plane intersects the drum mixer and forms a circle. The design parameters of the drum mixer indicate that the radius of this circle is 2 meters.

[0144] Get the radius of the circle;

[0145] In the embodiment of the present disclosure, the radius of the circle is the inner wall radius of the drum mixer under normal conditions, which is a known design parameter or a fixed value that can be obtained through measurement. The radius of the circle is obtained to provide a reference for subsequent calculation of the thickness of the hardened concrete.

[0146] For example: According to the design drawings of the drum mixer, we can know that its inner wall radius is 2 meters. This is the radius value of the circle to be used in subsequent calculations.

[0147] If the radius-distance is greater than the thickness threshold, there is hardened concrete at the position where the laser ranging sensor irradiates the drum mixer, and the value obtained by the radius-distance is used as the thickness of the hardened concrete.

[0148] In the disclosed embodiment, under normal circumstances, the distance measured by the laser ranging sensor should be equal to the radius of the drum mixer's inner wall. When hardened concrete is present on the drum's inner wall, the distance measured by the sensor will be less than the radius. By calculating the difference between the radius and the measured distance and comparing it with a set thickness threshold, it is possible to determine whether hardened concrete is present at that location and use the difference as the thickness of the hardened concrete.

[0149] For example, assume the thickness threshold is set to 5 mm (0.005 m) and the inner radius of a drum mixer is 2 meters. If the laser ranging sensor measures a distance of 1.996 meters to a certain location, the radius minus the distance (2 - 1.996 = 0.004 m) equals 4 mm, which is less than the thickness threshold of 5 mm. Therefore, the sensor determines that there is no hardened concrete at that location that requires cleaning. If the sensor measures a distance of 1.994 meters to another location, the radius minus the distance (2 - 1.994 = 0.006 m) equals 6 mm, which is greater than the thickness threshold of 5 mm. Therefore, the sensor determines that hardened concrete is present at that location and is 6 mm thick.

[0150] Optionally, executing the controllable adhesion concrete mix ratio calculation strategy, calculating the volumes of the high-fluidity adhesion layer and the high-viscosity peeling layer respectively, and setting the water-cement ratio includes:

[0151] Set the loss coefficient of the drum mixer to represent the loss of concrete adhering to the inner wall during the production process;

[0152] During concrete production in the disclosed embodiments, some concrete may adhere to the inner walls of the drum mixer, reducing the actual amount of concrete produced. The loss coefficient is an empirical value derived from long-term production data analysis and analysis based on factors such as the drum mixer model, age, and mixing process. It is used to estimate the extent of this adhesion loss.

[0153] For example, long-term statistical analysis of a drum mixer reveals that, during normal production, approximately 0.02 cubic meters of concrete adheres to the inner wall for every cubic meter of concrete produced. Therefore, the loss coefficient for this drum mixer can be set to 0.02.

[0154] Obtain the area occupied by all hardened concrete on the inner wall, calculate the product of the area and the average thickness, and record the result as the total volume of hardened concrete;

[0155] In the disclosed embodiment, the total volume of the hardened concrete is calculated by measuring the area occupied by the hardened concrete on the inner wall of the drum mixer and combining it with the average thickness of the hardened concrete measured previously, using the principle that volume equals area multiplied by height.

[0156] For example, suppose the total area of ​​hardened concrete on the drum mixer's inner wall is measured to be 5 square meters, and the average thickness of the hardened concrete measured previously is 0.02 meters. Then, the total volume of the hardened concrete = area × average thickness = 5 × 0.02 = 0.1 cubic meters.

[0157] Calculate the total volume of hardened concrete divided by the loss coefficient, and the result is the volume of controllably adhered concrete;

[0158] In the disclosed embodiments, since the loss coefficient represents the degree of concrete loss due to adhesion to the inner wall during the production process, a certain volume of controllable adhesion concrete must be prepared to clean the adhered hardened concrete. Dividing the total volume of hardened concrete by the loss coefficient yields the required volume of controllable adhesion concrete to ensure sufficient concrete to clean the hardened concrete from the inner wall.

[0159] For example, if the total volume of hardened concrete is 0.1 cubic meters and the loss coefficient is 0.02, then the volume of controlled adhesion concrete = total volume of hardened concrete ÷ loss coefficient = 0.1 ÷ 0.02 = 5 cubic meters.

[0160] The high-fluidity adhesive layer is used to cover the hardened concrete;

[0161] The high-viscosity peeling layer is used to peel off hardened concrete;

[0162] Setting the proportion of high-flow adhesion layer to the volume of controllable adhesion concrete;

[0163] In the disclosed embodiments, the high-flow adhesion layer and the high-viscosity release layer play different roles in cleaning hardened concrete. Therefore, the volume ratio of the high-flow adhesion layer to the controllable adhesion concrete needs to be determined based on their characteristics and cleaning requirements. This ratio is typically determined based on experimentation and practical experience to ensure optimal cleaning results.

[0164] For example, after many experiments and practical verification, it was found that when the high-flowability adhesion layer accounts for 40% of the volume of the controlled adhesion concrete, the cleaning effect is more ideal. Therefore, the proportion of the high-flowability adhesion layer to the controlled adhesion concrete volume is set at 40%.

[0165] Calculate the volume of controlled adhesion concrete and multiply by the ratio to obtain the volume of the high-flow adhesion layer;

[0166] In the embodiment of the present disclosure, according to the set ratio of the high-flowability adhesion layer to the volume of the controllable adhesion concrete, the volume of the high-flowability adhesion layer can be calculated by multiplying the total volume of the controllable adhesion concrete by the ratio.

[0167] For example, if the volume of controlled adhesion concrete is 5 cubic meters and the high-flow adhesion layer accounts for 40%, then the volume of the high-flow adhesion layer = the volume of controlled adhesion concrete × the proportion = 5 × 40% = 2 cubic meters.

[0168] Calculate the volume of controlled adhesion concrete minus the volume of high-flow adhesion layer, and the result is the volume of high-viscosity peeling layer;

[0169] In the embodiment of the present disclosure, since the controllable adhesion concrete is composed of a high-flowability adhesion layer and a high-viscosity peeling layer, the volume of the high-viscosity peeling layer is equal to the total volume of the controllable adhesion concrete minus the volume of the high-flowability adhesion layer.

[0170] For example, if the volume of controlled adhesion concrete is 5 cubic meters and the volume of the high-flow adhesion layer is 2 cubic meters, then the volume of the high-viscosity peeling layer = the volume of controlled adhesion concrete - the volume of the high-flow adhesion layer = 5 - 2 = 3 cubic meters.

[0171] The water-cement ratio of the high-fluidity adhesive layer is set to a high water-cement ratio, and the water-cement ratio of the high-viscosity peeling layer is set to a low water-cement ratio.

[0172] In the disclosed embodiment, a high water-cement ratio enhances the fluidity of concrete, so the high-flowability adhesive layer is designed with a high water-cement ratio to ensure rapid coverage of the hardened concrete surface. A low water-cement ratio, on the other hand, increases the viscosity of concrete, so the high-viscosity peeling layer is designed with a low water-cement ratio to generate a greater shear force, peeling the hardened concrete from the inner wall.

[0173] For example, the water-cement ratio of the high-flow adhesion layer is set to 0.6 (high water-cement ratio), and the water-cement ratio of the high-viscosity peeling layer is set to 0.4 (low water-cement ratio). In this way, when preparing controlled adhesion concrete, the raw materials of the high-flow adhesion layer and the high-viscosity peeling layer can be mixed according to different water-cement ratios to meet their respective performance requirements.

[0174] Optionally, executing the peeling angle optimization strategy to calculate the optimal peeling angle for separating the hardened concrete from the inner wall of the drum mixer includes:

[0175] Obtain the area occupied by hardened concrete on the inner wall;

[0176] Obtain the thickness of the hardened concrete, calculate the area multiplied by the thickness, and record it as the volume of the hardened concrete;

[0177] Calculate the volume and multiply it by the acceleration due to gravity. The result is recorded as the gravity M of the hardened concrete.

[0178] Decompose the gravity into the peeling force F along the cut surface || and the adhesion force perpendicular to the cut surface f ⊥ , where f|| =M×sin(θ),f ⊥ =M×cos(θ), θ is the peeling angle;

[0179] Obtain the shear stress of the high-viscosity peeling layer on the hardened concrete. Calculate the shear stress multiplied by the area occupied by the hardened concrete on the inner wall. The result is recorded as the adhesion peel force.

[0180] Calculation of adhesion peel force and peel force f || The sum of the peeling force F1 on the hardened concrete is recorded as the total peeling force F1;

[0181] Set the static friction coefficient μ of the hardened concrete on the inner wall;

[0182] Calculate μ×F ⊥ , the result is recorded as the total adhesion force F2 on the hardened concrete;

[0183] Calculate the objective function: To achieve the maximum peeling effect, the objective function is solved to obtain the optimal peeling angle as arctan (μ).

[0184] Optionally, executing a dynamic stripping control optimization strategy to calculate the clockwise and counterclockwise rotation times of the drum mixer to improve the efficiency of hardened concrete stripping includes:

[0185] Obtain the shear stress of the high-flowability adhesive layer on the hardened concrete, calculate the shear stress multiplied by the area occupied by the hardened concrete on the inner wall, and record the result as the flow peeling force;

[0186] Obtain the viscosity of hardened concrete;

[0187] The shear stress is equal to the product of the viscosity of the hardened concrete and the rotational angular velocity, wherein the rotational angular velocity includes the angular velocity of clockwise rotation and the angular velocity of counterclockwise rotation;

[0188] When the drum mixer rotates clockwise, the hardened concrete is subjected to the flow peeling force exerted by the highly fluid adhesion layer;

[0189] Calculate the flow peel force minus the peel force F || , the result is recorded as the clockwise peeling force F3;

[0190] Calculate the adhesion peel force plus the peel force F || The result is recorded as the counterclockwise peeling force F4.

[0191] Optionally, executing a dynamic stripping control optimization strategy to calculate the clockwise and counterclockwise rotation times of the drum mixer to improve the efficiency of hardened concrete stripping includes:

[0192] The clockwise and counterclockwise rotation times of the drum mixer are represented as t + and t - ;

[0193] The stripping efficiency coefficient k is set to represent the area of ​​hardened concrete that can be cleaned per unit stripping force per unit time;

[0194] Calculate the total peeling area R, R = k × (F3 × t + +F4×t - );

[0195] Set a target stripping ratio, calculate the target stripping ratio multiplied by the area occupied by hardened concrete on the inner wall, and record the result as the target stripping area;

[0196] When the total stripping area is greater than or equal to the target stripping area, the hardened concrete cleaning is completed.

[0197] Optionally, executing a dynamic stripping control optimization strategy to calculate the clockwise and counterclockwise rotation times of the drum mixer to improve the efficiency of hardened concrete stripping includes:

[0198] Optimize the angular velocity ω of the drum mixer in clockwise rotation + and the angular velocity ω of counterclockwise rotation - ;

[0199] Set the maximum rotation angular velocity ω max ;

[0200] Optimize the angular velocity ω of clockwise rotation + ,

[0201] Optimize the angular velocity ω of counterclockwise rotation - ,ω - =ω max ;

[0202] When the counterclockwise peeling force F4 increases, the clockwise angular velocity ω + To reduce, counterclockwise rotation is preferred to increase the reverse peeling effect;

[0203] Optimize the clockwise rotation time t of the drum mixer + and the time t for counterclockwise rotation - ;

[0204] Set the total time T for cleaning hardened concrete;

[0205] t + =T×F3 / (F3+F4), t - =T×F4 / (F3+F4).

[0206] In this embodiment, the hardened concrete is locally distributed on the inner wall of the drum mixer;

[0207] The controllable adhesion concrete mix ratio calculation strategy is executed to calculate the volumes of the high-fluidity adhesion layer and the high-viscosity peeling layer, respectively, and set the water-cement ratio, including:

[0208] Known conditions:

[0209] Drum mixer loss coefficient: 0.1 (indicates that 10% of the adhered concrete will be lost during the production process);

[0210] Area of ​​hardened concrete: 0.04 square meters;

[0211] Average thickness of hardened concrete: 0.01 m (1 cm);

[0212] Ratio of high-flow adhesive layer: 60%;

[0213] High fluidity adhesive layer water-cement ratio (high water-cement ratio): 0.6, 0.6 volumes of ash for every 1 volume of water;

[0214] High viscosity peeling layer water-cement ratio (low water-cement ratio): 0.4, 1 volume of water corresponds to 0.4 volume of cement;

[0215] 1. Calculate the total volume of hardened concrete: Total volume of hardened concrete = area × average thickness = 0.04 square meters multiplied by 0.01 meters = 0.0004 cubic meters;

[0216] 2. Calculate the volume of controlled adhesion concrete: Controlled adhesion concrete volume = total volume of hardened concrete divided by loss coefficient = 0.0004 cubic meters divided by 0.1 = cubic meters;

[0217] 3. Calculate the volume of the high-flow adhesive layer and the high-viscosity peeling layer:

[0218] Volume of high-flow adhesion layer = volume of controlled adhesion concrete × ratio of high-flow layer = 0.004 × 0.6 = 0.0024 cubic meters;

[0219] Volume of high-viscosity peeling layer = volume of controlled-adhesion concrete - volume of high-flow adhesion layer = 0.004 - 0.0024 = 0.0016 cubic meters;

[0220] The stripping angle optimization strategy is executed to calculate the optimal stripping angle for separating the hardened concrete from the inner wall of the drum mixer, including:

[0221] Known conditions:

[0222] Area of ​​hardened concrete: 0.04 square meters;

[0223] Thickness of hardened concrete: 0.01 m (1 cm);

[0224] Gravity acceleration: 9.81 m / s 2 ;

[0225] Shear stress of high viscosity peeling layer: 50Pa(N / m 2 );

[0226] Static friction coefficient of hardened concrete: 0.4;

[0227] 1. Calculate the volume of hardened concrete: volume = area × thickness = 0.0004 cubic meters;

[0228] 2. Calculate the gravity of hardened concrete: Assume that the density of hardened concrete is 2400kg / m 3 (Ordinary concrete density):

[0229] Mass = Volume × Density = 0.0004 cubic meters × 2400 kg / m 3 =0.96kg;

[0230] Gravity M = mass × g = 0.96 kg × 9.81 m / s 2 =9.4176N;

[0231] 3. Decompose gravity into peeling force and adhesion force: Set the peeling angle θ:

[0232] Peeling force: component along the cutting surface = 9.4176 × sin(θ);

[0233] Adhesion force: component perpendicular to the cutting surface = 9.4176 × cos(θ);

[0234] 4. Calculate the adhesion and peeling force of the high viscosity peeling layer:

[0235] Adhesion peel force (based on shear stress of high viscosity peel layer) = 50Pa × 0.04m² = 2N:

[0236] 5. Calculate the total peel force = peel force + adhesion peel force = 9.4176 × sin (θ) + 2;

[0237] 6. Calculate the total adhesion force = 9.4176 × cos(θ) × 0.4;

[0238] 7. Calculate the optimal peeling angle = 21.8 degrees.

[0239] The total peeling force is: the component along the cutting surface = 9.4176 × sin (θ) + 2 = 5.4974 N;

[0240] Solve for the total adhesion force: the component perpendicular to the section = 9.4176 × cos(θ) × 0.4 = 3.505 N;

[0241] The viscosity of hardened concrete is 50 Pa;

[0242] When the drum mixer rotates clockwise, the hardened concrete is subjected to the flow peeling force exerted by the highly fluid adhesion layer;

[0243] Calculate the flow peel force minus the peel force F || , the result is recorded as the clockwise peeling force F3 = 4.1231N;

[0244] Calculation of adhesion peel force and peel force F || The sum of the peeling force F4 and the total peeling force F4 is recorded as the counterclockwise peeling force = 5.4974N.

[0245] The clockwise and counterclockwise rotation times of the drum mixer are represented as t + and t - ;

[0246] The stripping efficiency coefficient k is set to represent the area of ​​hardened concrete that can be cleaned per unit stripping force per unit time;

[0247] Calculate the total peeling area R, R = k × (F3 × t + +F4×t - );

[0248] The target stripping ratio is 0.8. Calculate the target stripping ratio multiplied by the area occupied by the hardened concrete on the inner wall = 0.8 * 0.04 square meters = 0.032 square meters;

[0249] When the total stripping area is greater than or equal to the target stripping area, the hardened concrete cleaning is completed.

[0250] Optimize the angular velocity ω of the drum mixer in clockwise rotation + and the angular velocity ω of counterclockwise rotation - ;

[0251] Set the maximum rotation angular velocity ω max =2rad / s;

[0252] Optimize the angular velocity ω of clockwise rotation + ,

[0253] Optimize the angular velocity ω of counterclockwise rotation - ,ω - =ω max =2rad / s;

[0254] When the counterclockwise peeling force F4 increases, the clockwise angular velocity ω + To reduce, counterclockwise rotation is preferred to increase the reverse peeling effect;

[0255] Optimize the clockwise rotation time t of the drum mixer + and the time t for counterclockwise rotation - ;

[0256] Set the total time for cleaning hardened concrete to T = 60s;

[0257] t + =T×F3 / (F3+F4)=25s, t - =T×F4 / (F3+F4)=35s.

[0258] Reference Figure 2 The present disclosure also provides a device for cleaning sticky concrete in a concrete mixing station, comprising:

[0259] The laser ranging module 210 is used to measure the thickness of the hardened concrete adhered to the inner wall of the drum mixer using a laser ranging sensor, obtain the thickness of the hardened concrete at different positions on the inner wall of the drum, and send the thickness to the control module;

[0260] The control module 220 is configured to receive data from the laser ranging module, calculate the average thickness, determine the total amount and proportion of controllable adhesion concrete, send a mix ratio instruction to the controllable adhesion concrete feeding module, execute a peeling angle optimization strategy, calculate the optimal peeling angle, execute a dynamic peeling control optimization strategy, calculate the time and angular velocity of clockwise and counterclockwise rotation, instruct the rotation control module to perform dynamic rotation, receive feedback data from the shear stress sensor, and adjust the rotation parameters based on the real-time peeling effect;

[0261] The controllable adhesive concrete feeding module 230 is used to automatically mix the high-flow adhesive layer and the high-viscosity peeling layer in proportion according to the ratio instruction of the control module, and inject the adhesive concrete into the inner wall of the drum;

[0262] The rotation control module 240 is used to control the clockwise and counterclockwise rotation of the drum mixer according to the instructions of the control module, and adjust the rotation angular velocity in real time to ensure the optimal peeling efficiency;

[0263] The shear stress sensor module 250 is used to monitor in real time the shear stress generated by the high-fluidity adhesion layer and the high-viscosity peeling layer on the hardened concrete, and send the monitored shear stress data to the control module.

[0264] Optionally, the laser ranging module 210 is used to:

[0265] Multiple laser distance measuring sensors are evenly arranged along the axial direction of the drum mixer, and each laser distance measuring sensor emits a laser perpendicular to the inner wall of the drum;

[0266] Set the ranging angle;

[0267] The drum mixer is rotated to obtain the distance measured by the laser ranging sensor each time it rotates through a ranging angle;

[0268] A plane is made perpendicular to the axis of the laser distance sensor, and the drum mixer intercepts the plane to obtain a circle;

[0269] Get the radius of the circle;

[0270] If the radius-distance is greater than the thickness threshold, there is hardened concrete at the position where the laser ranging sensor irradiates the drum mixer, and the value obtained by the radius-distance is used as the thickness of the hardened concrete.

[0271] Optionally, the controllable adhesion concrete feeding module 230 is used to:

[0272] Set the loss coefficient of the drum mixer to represent the loss of concrete adhering to the inner wall during the production process;

[0273] Obtain the area occupied by all hardened concrete on the inner wall, calculate the product of the area and the average thickness, and record the result as the total volume of hardened concrete;

[0274] Calculate the total volume of hardened concrete divided by the loss coefficient, and the result is the volume of controllably adhered concrete;

[0275] The high-fluidity adhesive layer is used to cover the hardened concrete;

[0276] The high-viscosity peeling layer is used to peel off hardened concrete;

[0277] Setting the proportion of high-flow adhesion layer to the volume of controllable adhesion concrete;

[0278] Calculate the volume of controlled adhesion concrete and multiply by the ratio to obtain the volume of the high-flow adhesion layer;

[0279] Calculate the volume of controlled adhesion concrete minus the volume of high-flow adhesion layer, and the result is the volume of high-viscosity peeling layer;

[0280] The water-cement ratio of the high-fluidity adhesive layer is set to a high water-cement ratio, and the water-cement ratio of the high-viscosity peeling layer is set to a low water-cement ratio.

[0281] Optionally, the control module 220 is configured to:

[0282] Obtain the area occupied by hardened concrete on the inner wall;

[0283] Obtain the thickness of the hardened concrete, calculate the area multiplied by the thickness, and record it as the volume of the hardened concrete;

[0284] Calculate the volume and multiply it by the acceleration due to gravity. The result is recorded as the gravity M of the hardened concrete.

[0285] Decompose the gravity into the peeling force F along the cut surface || and the adhesion force F perpendicular to the cut surface ⊥ , where F || =M×sin(θ),F ⊥ =M×cos(θ), θ is the peeling angle;

[0286] Obtain the shear stress of the high-viscosity peeling layer on the hardened concrete. Calculate the shear stress multiplied by the area occupied by the hardened concrete on the inner wall. The result is recorded as the adhesion peel force.

[0287] Calculation of adhesion peel force and peel force F || The sum of the peeling force F1 on the hardened concrete is recorded as the total peeling force F1;

[0288] Set the static friction coefficient μ of the hardened concrete on the inner wall;

[0289] Calculate μ×F ⊥ , the result is recorded as the total adhesion force F2 on the hardened concrete;

[0290] Calculate the objective function: To achieve the maximum peeling effect, the objective function is solved to obtain the optimal peeling angle as arctan (μ).

[0291] Optionally, the control module 220 is configured to:

[0292] Obtain the shear stress of the high-flowability adhesive layer on the hardened concrete, calculate the shear stress multiplied by the area occupied by the hardened concrete on the inner wall, and record the result as the flow peeling force;

[0293] Obtain the viscosity of hardened concrete;

[0294] The shear stress is equal to the product of the viscosity of the hardened concrete and the rotational angular velocity, wherein the rotational angular velocity includes the angular velocity of clockwise rotation and the angular velocity of counterclockwise rotation;

[0295] When the drum mixer rotates clockwise, the hardened concrete is subjected to the flow peeling force exerted by the highly fluid adhesion layer;

[0296] Calculate the flow peel force minus the peel force F || , the result is recorded as the clockwise peeling force F3;

[0297] Calculate the adhesion peel force plus the peel force F || The result is recorded as the counterclockwise peeling force F4.

[0298] Optionally, the control module 220 is configured to:

[0299] The clockwise and counterclockwise rotation times of the drum mixer are represented as t + and t - ;

[0300] The stripping efficiency coefficient k is set to represent the area of ​​hardened concrete that can be cleaned per unit stripping force per unit time;

[0301] Calculate the total peeling area R, R = k × (F3 × t + +F4×t - );

[0302] Set a target stripping ratio, calculate the target stripping ratio multiplied by the area occupied by hardened concrete on the inner wall, and record the result as the target stripping area;

[0303] When the total stripping area is greater than or equal to the target stripping area, the hardened concrete cleaning is completed.

[0304] Optionally, the control module 220 is configured to:

[0305] Optimize the angular velocity ω of the drum mixer in clockwise rotation + and the angular velocity ω of counterclockwise rotation - ;

[0306] Set the maximum rotation angular velocity ω max ;

[0307] Optimize the angular velocity ω of clockwise rotation + ,

[0308] Optimize the angular velocity ω of counterclockwise rotation - ,ω - =ω max ;

[0309] When the counterclockwise peeling force F4 increases, the clockwise angular velocity ω + To reduce, counterclockwise rotation is preferred to increase the reverse peeling effect;

[0310] Optimize the clockwise rotation time t of the drum mixer + and the time t for counterclockwise rotation - ;

[0311] Set the total time T for cleaning hardened concrete;

[0312] t + =T×F3 / (F3+F4), t - =T×F4 / (F3+F4).

[0313] The present disclosure also provides a device for cleaning sticky concrete in a concrete mixing station, comprising:

[0314] A bidirectional rotating drum mixer is used to connect to a rotation control module to achieve clockwise and counterclockwise rotation to peel off hardened concrete;

[0315] Laser ranging sensor for real-time monitoring of the thickness of hardened concrete adhered to the inner wall of the drum;

[0316] High-flow adhesion layer storage tank, used to store high-flow adhesion concrete;

[0317] High viscosity peeling layer storage tank, used to store high viscosity peeling concrete;

[0318] Automatic batching pumps to control the flow of two types of adhesive concrete;

[0319] a mixer, used to mix the two concretes in proportion before injection;

[0320] A motor controller for controlling the rotation direction and speed of the drum mixer;

[0321] Bidirectional motor, used to realize clockwise and counterclockwise rotation, controlling the bidirectional rotation of the drum mixer;

[0322] Stress sensors, distributed on the inner wall of the drum mixer, are used to monitor the shear stress generated by the adhered concrete on the hardened concrete;

[0323] a computational unit for performing peel angle optimization and dynamic peel control strategies;

[0324] A data storage unit for storing laser ranging data, shear stress data and control strategies;

[0325] Control interface, used to connect modules and execute control instructions.

[0326] The embodiments of the present disclosure further provide a medium for cleaning bonded concrete in a concrete mixing plant, on which a computer program is stored. When the program is executed by a processor, the method for cleaning bonded concrete in a concrete mixing plant as described in the aforementioned embodiments of the present application is implemented.

[0327] Figure 3The device 100 shown for executing the method for cleaning bonded concrete in a concrete mixing plant includes: a processor 1001 and a memory 1003. The processor 1001 and the memory 1003 are connected, for example, via a bus 1002. Optionally, the device 100 for executing the method for cleaning bonded concrete in a concrete mixing plant may further include a communication component, which may be used for data exchange between the device 100 and other devices, such as data transmission and / or data reception. It should be noted that in actual scheduling, the communication component is not limited to one, and the structure of the device 100 for executing the method for cleaning bonded concrete in a concrete mixing plant does not constitute a limitation on the embodiments of the present application.

[0328] The processor 1001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor 1001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0329] The bus 1002 may include a path for transmitting information between the above components. The bus 1002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 1002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0330] The memory 1003 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium that can be used to carry or store program code and can be read by a computer, without limitation here.

[0331] The memory 1003 is used to store program codes for executing the embodiments of the present disclosure, and the execution is controlled by the processor 1001. The processor 1001 is used to execute the program codes stored in the memory 1003 to implement the steps shown in the embodiment of the method for cleaning sticky concrete in a concrete mixing plant.

[0332] The embodiments of the present disclosure further provide a computer-readable storage medium having program code stored thereon. When the program code is executed by a processor, the steps and corresponding contents of the aforementioned embodiment of the method for cleaning sticky concrete in a concrete mixing station can be implemented.

[0333] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0334] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A method for cleaning bonded concrete in a concrete mixing plant, characterized in that: include: During the concrete production process at a concrete mixing plant, hardened concrete adhered to the inner wall of a drum mixer is cleaned using controlled adhesion concrete, wherein the controlled adhesion concrete comprises a high-flowability adhesion layer and a high-viscosity peeling layer; Set thickness threshold; According to the thickness threshold, a laser ranging sensor is used to measure the thickness of the hardened concrete adhered to the inner wall of the drum mixer; Obtain the thickness of all hardened concrete, calculate the average, and record the result as the average thickness; Implement a controllable adhesion concrete mix calculation strategy to calculate the volumes of the high-flow adhesion layer and the high-viscosity peeling layer, respectively, and set the water-cement ratio; And for any one of the hardened concrete, perform the following operations: Obtain a section of the inner wall of the drum mixer where the hardened concrete is located, and draw a normal vector on the section pointing to the inner wall of the drum mixer; The angle between the normal vector and the vertical direction is recorded as the peeling angle; Implement a peel angle optimization strategy to calculate the optimal peel angle for hardened concrete to separate from the drum mixer wall; Set the angular speed of the drum mixer in clockwise and counterclockwise rotation; Calculate the shear stress of the high-fluidity adhesive layer and the high-viscosity peeling layer on the hardened concrete; A dynamic stripping control optimization strategy is implemented to calculate the clockwise and counterclockwise rotation times of the drum mixer to improve the efficiency of hardened concrete stripping.

2. The method for cleaning bonded concrete in a concrete mixing plant according to claim 1, characterized in that: Measuring the thickness of the hardened concrete adhered to the inner wall of the drum mixer using a laser ranging sensor according to the thickness threshold comprises: Multiple laser distance measuring sensors are evenly arranged along the axial direction of the drum mixer, and each laser distance measuring sensor emits a laser perpendicular to the inner wall of the drum; Set the ranging angle; The drum mixer is rotated to obtain the distance measured by the laser ranging sensor each time it rotates through a ranging angle; A plane is made perpendicular to the axis of the laser distance sensor, and the drum mixer intercepts the plane to obtain a circle; Get the radius of the circle; If the radius-distance is greater than the thickness threshold, there is hardened concrete at the position where the laser ranging sensor irradiates the drum mixer, and the value obtained by the radius-distance is used as the thickness of the hardened concrete.

3. The method for cleaning bonded concrete in a concrete mixing plant according to claim 1, characterized in that: The controllable adhesion concrete mix ratio calculation strategy is executed to calculate the volumes of the high-fluidity adhesion layer and the high-viscosity peeling layer, respectively, and set the water-cement ratio, including: Set the loss coefficient of the drum mixer to represent the loss of concrete adhering to the inner wall during the production process; Obtain the area occupied by all hardened concrete on the inner wall, calculate the product of the area and the average thickness, and record the result as the total volume of hardened concrete; Calculate the total volume of hardened concrete divided by the loss coefficient, and the result is the volume of controllably adhered concrete; The high-fluidity adhesive layer is used to cover the hardened concrete; The high-viscosity peeling layer is used to peel off hardened concrete; Setting the proportion of high-flow adhesion layer to the volume of controllable adhesion concrete; Calculate the volume of controlled adhesion concrete and multiply by the ratio to obtain the volume of the high-flow adhesion layer; Calculate the volume of controlled adhesion concrete minus the volume of high-flow adhesion layer, and the result is the volume of high-viscosity peeling layer; The water-cement ratio of the high-fluidity adhesive layer is set to a high water-cement ratio, and the water-cement ratio of the high-viscosity peeling layer is set to a low water-cement ratio.

4. The method for cleaning bonded concrete in a concrete mixing plant according to claim 1, characterized in that: The stripping angle optimization strategy is executed to calculate the optimal stripping angle for separating the hardened concrete from the inner wall of the drum mixer, including: Obtain the area occupied by hardened concrete on the inner wall; Obtain the thickness of the hardened concrete, calculate the area multiplied by the thickness, and record it as the volume of the hardened concrete; Calculate the volume and multiply it by the acceleration due to gravity. The result is recorded as the gravity M of the hardened concrete. Decompose the gravity into the peeling force F along the cut surface || and the adhesion force F perpendicular to the cutting surface ⊥ , where F || =M×sin(θ),F ⊥ =M×cos(θ), θ is the peeling angle; Obtain the shear stress of the high-viscosity peeling layer on the hardened concrete. Calculate the shear stress multiplied by the area occupied by the hardened concrete on the inner wall. The result is recorded as the adhesion peel force. Calculation of adhesion peel force and peel force F || The sum of the peeling force F1 on the hardened concrete is recorded as the total peeling force F1; Set the static friction coefficient μ of the hardened concrete on the inner wall; Calculate μ×F ⊥ , the result is recorded as the total adhesion force F2 on the hardened concrete; Calculate the objective function: To achieve the maximum peeling effect, the objective function is solved to obtain the optimal peeling angle as arctan (μ).

5. The method for cleaning bonded concrete in a concrete mixing plant according to claim 4, characterized in that: The dynamic stripping control optimization strategy is executed to calculate the clockwise and counterclockwise rotation times of the drum mixer to improve the efficiency of hardened concrete stripping, including: Obtain the shear stress of the high-flowability adhesive layer on the hardened concrete, calculate the shear stress multiplied by the area occupied by the hardened concrete on the inner wall, and record the result as the flow peeling force; Obtain the viscosity of hardened concrete; The shear stress is equal to the product of the viscosity of the hardened concrete and the rotational angular velocity, wherein the rotational angular velocity includes the angular velocity of clockwise rotation and the angular velocity of counterclockwise rotation; When the drum mixer rotates clockwise, the hardened concrete is subjected to the flow peeling force exerted by the highly fluid adhesion layer; Calculate the flow peel force minus the peel force F || , the result is recorded as the clockwise peeling force F3; Calculate the adhesion peel force plus the peel force F || The result is recorded as the counterclockwise peeling force F4.

6. The method for cleaning bonded concrete in a concrete mixing plant according to claim 5, characterized in that: The dynamic stripping control optimization strategy is executed to calculate the clockwise and counterclockwise rotation times of the drum mixer to improve the efficiency of hardened concrete stripping, including: The clockwise and counterclockwise rotation times of the drum mixer are represented as t + and t - ; The stripping efficiency coefficient k is set to represent the area of ​​hardened concrete that can be cleaned per unit stripping force per unit time; Calculate the total peeling area R, R = k × (F3 × t + +F4×t - ); Set a target stripping ratio, calculate the target stripping ratio multiplied by the area occupied by hardened concrete on the inner wall, and record the result as the target stripping area; When the total stripping area is greater than or equal to the target stripping area, the hardened concrete cleaning is completed.

7. The method for cleaning bonded concrete in a concrete mixing plant according to claim 6, characterized in that: The dynamic stripping control optimization strategy is executed to calculate the clockwise and counterclockwise rotation times of the drum mixer to improve the efficiency of hardened concrete stripping, including: Optimize the angular velocity ω of the drum mixer in clockwise rotation + and the angular velocity ω of counterclockwise rotation - ; Set the maximum rotation angular velocity ω max ; Optimize the angular velocity ω of clockwise rotation + , Optimize the angular velocity ω of counterclockwise rotation - ,ω - =ω max ; When the counterclockwise peeling force F4 increases, the clockwise angular velocity ω + To reduce, counterclockwise rotation is preferred to increase the reverse peeling effect; Optimize the clockwise rotation time t of the drum mixer + and the time t for counterclockwise rotation - ; Set the total time T for cleaning hardened concrete; t + =T×F3 / (F3+F4),t - =T×F4 / (F3+F4)。 8. A device for cleaning bonded concrete in a concrete mixing station, characterized in that: include: a laser ranging module, configured to measure the thickness of the hardened concrete adhered to the inner wall of the drum mixer using a laser ranging sensor, obtain the thickness of the hardened concrete at different locations on the inner wall of the drum, and send the thickness to the control module; a control module configured to receive data from the laser ranging module, calculate the average thickness, determine the total amount and proportion of controllable adhesion concrete, send a mix ratio instruction to the controllable adhesion concrete feeding module, execute a peeling angle optimization strategy, calculate the optimal peeling angle, execute a dynamic peeling control optimization strategy, calculate the time and angular velocity of clockwise and counterclockwise rotation, instruct the rotation control module to execute dynamic rotation, receive feedback data from the shear stress sensor, and adjust the rotation parameters according to the real-time peeling effect; Controllable adhesion concrete feeding module, used to automatically mix the high-flow adhesion layer and the high-viscosity peeling layer in proportion according to the ratio instructions of the control module, and inject the adhesion concrete into the inner wall of the drum; The rotation control module is used to control the clockwise and counterclockwise rotation of the drum mixer according to the instructions of the control module, and adjust the rotation angular velocity in real time to ensure the optimal peeling efficiency; The shear stress sensor module is used to monitor the shear stress generated by the high-fluidity adhesion layer and the high-viscosity peeling layer on the hardened concrete in real time, and send the monitored shear stress data to the control module.

9. A device for cleaning bonded concrete in a concrete mixing station, characterized in that: include: A bidirectional rotating drum mixer is used to connect to a rotation control module to achieve clockwise and counterclockwise rotation to peel off hardened concrete; Laser ranging sensor for real-time monitoring of the thickness of hardened concrete adhered to the inner wall of the drum; High-flow adhesion layer storage tank, used to store high-flow adhesion concrete; High viscosity peeling layer storage tank, used to store high viscosity peeling concrete; Automatic batching pumps to control the flow of two types of adhesive concrete; a mixer, used to mix the two concretes in proportion before injection; A motor controller for controlling the rotation direction and speed of the drum mixer; Bidirectional motor, used to realize clockwise and counterclockwise rotation, controlling the bidirectional rotation of the drum mixer; Stress sensors, distributed on the inner wall of the drum mixer, are used to monitor the shear stress generated by the adhered concrete on the hardened concrete; a computational unit for performing peeling angle optimization and dynamic peeling control strategies; A data storage unit for storing laser ranging data, shear stress data and control strategies; Control interface, used to connect various modules and execute control instructions.

10. A medium for cleaning bonded concrete in a concrete mixing plant, having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for cleaning sticky concrete in a concrete mixing plant as claimed in any one of claims 1 to 7 is implemented.

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