Control method of tank body of engineering machine, controller and engineering machine

Abstract

The embodiment of the invention provides a control method of a tank body of an engineering machine, a controller and the engineering machine. The method comprises the following steps: acquiring the running speed, load and running condition of the engineering machinery; determining a driving working condition coefficient according to the driving speed and the driving working condition; wherein the driving condition represents the driving state of the engineering machinery during transportation; according to the load, the running working condition coefficient, the radius of a tank body on the engineering machinery and the characteristics of materials loaded in the tank body, the rotating speed of the tank body is determined; and controlling the rotation of the tank body according to the rotating speed of the tank body. The method is used for achieving the scheme that the rotating speed of the tank body can be accurately determined, so that the effect of avoiding material leakage of the tank body on the engineering machine is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a control method and controller for a tank of engineering machinery, and the engineering machinery. Background Art

[0002] In the field of construction machinery, there is a type of construction machinery specifically designed for transporting materials. This construction machinery is equipped with a tank containing material. During transportation, the tank must be continuously rotated to prevent the material from solidifying. The rotational speed of the tank must be neither too fast nor too slow, as this can cause leakage (i.e., the material in the tank will leak out).

[0003] In the prior art, the rotation speed of the tank on the engineering machinery can be determined according to the load of the engineering machinery, and then the rotation of the tank can be controlled according to the rotation speed of the tank.

[0004] However, the above method relies solely on the load factor to determine the tank rotation speed. The resulting tank rotation speed may be too fast or too slow, which may lead to tank leakage. Therefore, a solution that can accurately determine the tank rotation speed is urgently needed to prevent tank leakage on construction machinery. Summary of the Invention

[0005] The embodiments of the present application provide a control method, a controller, and an engineering machine for a tank body of an engineering machine, so as to achieve a solution for accurately determining the rotation speed of the tank body, thereby avoiding leakage of material from the tank body of the engineering machine.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling a tank of an engineering machine, comprising:

[0007] Obtaining the driving speed, load, and driving condition of the construction machinery; and determining a driving condition coefficient based on the driving speed and the driving condition; wherein the driving condition represents the driving state of the construction machinery during transportation;

[0008] determining a tank rotation speed of the tank according to the load, the driving condition coefficient, a tank radius of the tank on the engineering machinery, and characteristics of the material loaded in the tank;

[0009] The rotation of the tank body is controlled according to the rotation speed of the tank body.

[0010] In one possible implementation, if it is determined that the driving condition of the engineering machine is a ramp condition or a turning condition, a driving geometry parameter is determined based on the driving condition; wherein the ramp condition represents a condition in which the engineering machine is driving on a road with a ramp, and the turning condition represents a condition in which the engineering machine is turning;

[0011] The driving condition coefficient is determined according to the driving speed and the driving geometry parameter.

[0012] In a possible implementation, when the driving condition of the engineering machine is a slope condition, the driving geometry parameter is a slope angle, wherein the slope angle represents the slope angle of the engineering machine when performing a climbing condition or a downhill condition;

[0013] Determining the driving condition coefficient according to the driving speed and the driving geometric parameters includes: determining the driving condition coefficient according to the slope angle and the gravitational acceleration of the engineering machinery.

[0014] In a possible implementation, when the driving condition of the engineering machinery is a turning condition, the driving geometry parameter is a turning radius value; wherein the turning radius value represents a radius value of the engineering machinery when performing a turning condition;

[0015] Determining the driving condition coefficient according to the driving speed and the driving geometric parameters includes: determining the driving condition coefficient according to the turning radius value, the driving speed, and the gravitational acceleration of the engineering machinery.

[0016] In a possible implementation, determining the driving condition coefficient according to the driving speed and the driving condition includes:

[0017] If it is determined that the driving condition of the engineering machinery is a flat road condition, the driving condition coefficient is determined based on the driving speed, the load, and the preset full load weight; wherein the flat road condition represents the condition of the engineering machinery driving on a straight road; the preset full load weight represents the weight of the tank of the engineering machinery when it is full of materials.

[0018] In a possible implementation, determining the tank rotation speed of the tank according to the load, the driving condition coefficient, the tank radius of the tank on the engineering machinery, and properties of the material loaded in the tank includes:

[0019] determining an initial tank rotation speed of the engineering machinery according to the tank radius and characteristics of the material loaded in the tank;

[0020] The tank rotation speed is determined according to the initial tank rotation speed, the load, and the driving condition coefficient.

[0021] In a possible implementation, the method further includes:

[0022] Receiving image data collected by a camera unit in the engineering machinery; wherein the image data is image data of a discharge port of the engineering machinery collected in real time by the camera unit;

[0023] The image data is input into an intelligent detection model for processing to obtain a leakage detection result of the discharge port; wherein the intelligent detection model is obtained by training historical image data; the historical image data is obtained by a camera unit of the discharge port during the historical transportation process of the construction machinery, and the leakage detection result indicates whether the tank body is leaking;

[0024] If it is determined that the leakage detection result indicates that the tank is leaking, the tank rotation speed of the engineering machinery is corrected to obtain a corrected tank rotation speed.

[0025] In a second aspect, an embodiment of the present application provides a control device for a tank of an engineering machine, comprising:

[0026] An acquisition module is used to acquire the driving speed, load and driving condition of the construction machinery; and determine the driving condition coefficient based on the driving speed and the driving condition; wherein the driving condition represents the driving state of the construction machinery during transportation;

[0027] a determination module, configured to determine a tank rotation speed of the tank according to the load, the driving condition coefficient, a tank radius of the tank on the engineering machinery, and characteristics of a material loaded in the tank;

[0028] The control module is used to control the rotation of the tank body according to the rotation speed of the tank body.

[0029] In a possible implementation, if it is determined that the driving condition of the engineering machine is a ramp condition or a turning condition; wherein the ramp condition represents the condition in which the engineering machine is driving on a road with a ramp, and the turning condition represents the condition in which the engineering machine is turning; the acquisition module includes:

[0030] The first determination module is used to determine the driving condition coefficient according to the driving speed and the driving geometry parameter.

[0031] In a possible implementation, when the driving condition of the engineering machine is a slope condition, the driving geometry parameter is a slope angle, wherein the slope angle represents the slope angle of the engineering machine when performing a climbing condition or a downhill condition;

[0032] The first determining module includes: determining the driving condition coefficient according to the slope angle and the gravitational acceleration of the engineering machinery.

[0033] In a possible implementation, when the driving condition of the engineering machinery is a turning condition, the driving geometry parameter is a turning radius value; wherein the turning radius value represents a radius value of the engineering machinery when performing a turning condition;

[0034] The first determining module includes: determining the driving condition coefficient according to the turning radius value, the driving speed, and the gravitational acceleration of the engineering machinery.

[0035] In a possible implementation, determining the driving condition coefficient according to the driving speed and the driving condition includes:

[0036] If it is determined that the driving condition of the engineering machinery is a flat road condition, the driving condition coefficient is determined based on the driving speed, the load, and the preset full load weight; wherein the flat road condition represents the condition of the engineering machinery driving on a straight road; the preset full load weight represents the weight of the tank of the engineering machinery when it is full of materials.

[0037] In a possible implementation, the determination module includes:

[0038] determining an initial tank rotation speed of the engineering machinery according to the tank radius and characteristics of the material loaded in the tank;

[0039] The tank rotation speed is determined according to the initial tank rotation speed, the load, and the driving condition coefficient.

[0040] In a possible implementation, the device further includes:

[0041] Receiving image data collected by a camera unit in the engineering machinery; wherein the image data is image data of a discharge port of the engineering machinery collected in real time by the camera unit;

[0042] The image data is input into an intelligent detection model for processing to obtain a leakage detection result of the discharge port; wherein the intelligent detection model is obtained by training historical image data; the historical image data is obtained by a camera unit of the discharge port during the historical transportation process of the construction machinery, and the leakage detection result indicates whether the tank body is leaking;

[0043] If it is determined that the leakage detection result indicates that the tank is leaking, the tank rotation speed of the engineering machinery is corrected to obtain a corrected tank rotation speed.

[0044] In a third aspect, an embodiment of the present application provides a controller, which is arranged in an engineering machine and is used to execute the first aspect and / or various possible implementation methods of the first aspect.

[0045] In a fourth aspect, an embodiment of the present application provides an engineering machine, wherein the engineering machine is provided with the controller according to the third aspect;

[0046] In a fifth aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0047] The memory stores computer-executable instructions;

[0048] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0049] In a sixth aspect, an embodiment of the present application 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 first aspect above and / or various possible implementation methods of the first aspect.

[0050] In a seventh aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0051] The embodiments of the present application provide a control method, a controller, and an engineering machine for the tank body of an engineering machine, which obtain the driving speed, load, and driving condition of the engineering machine, and determine the driving condition coefficient based on the driving speed and driving condition, wherein the driving condition characterizes the driving state of the engineering machine during transportation, and then combines the load, driving condition coefficient, the tank body radius of the tank body on the engineering machine, and the material properties loaded in the tank body to accurately calculate and determine the tank body rotation speed, and finally accurately control the tank body rotation according to the tank body rotation speed, so as to achieve precise control of the tank body rotation speed, so that it is highly matched with the actual operating state and material properties of the engineering machine, and ensure that the rotation of the tank body is stable and adaptable under various driving speeds, loads, and driving conditions, thereby effectively avoiding the situation where the material in the tank is shaken violently due to improper rotation speed, causing the engineering machine to leak material, and ensuring the quality of material transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0053] Figure 1 A schematic diagram of a control method for a tank of an engineering machine provided in an embodiment of the present application Figure 1 ;

[0054] Figure 2 A schematic diagram of a control method for a tank of an engineering machine provided in an embodiment of the present application Figure 2 ;

[0055] Figure 3 A schematic diagram of a control device for a tank of an engineering machine provided in an embodiment of the present application Figure 1 ;

[0056] Figure 4 A schematic diagram of a control device for a tank of an engineering machine provided in an embodiment of the present application Figure 2 ;

[0057] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0058] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0059] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0060] In material transportation scenarios, this type of construction machinery loads materials into tanks, which must be kept rotating during transportation to prevent the materials from solidifying. This is crucial for ensuring the quality of material transportation and subsequent use. However, controlling the rotational speed of the tank is crucial. Excessively fast or slow rotational speeds can cause tank leakage. Leakage not only wastes materials and increases transportation costs, but can also pollute the surrounding environment and even affect the normal operation and safety of the construction machinery.

[0061] In the existing technology, the main basis for determining the rotation speed of the tank body is the load of the construction machinery. This single factor consideration method has limitations. Although the load is related to the power required for the rotation of the tank body and the material properties to a certain extent, the factors that actually affect the rotation speed of the tank body are far more than that. For example, the viscosity, density, particle size and other characteristics of the material, as well as the slope and road conditions during transportation, may have a significant impact on the rotation speed of the tank body. Determining the rotation speed of the tank body based solely on the load is likely to lead to unreasonable speed settings, resulting in the speed being too fast or too slow, and then causing the tank body to leak.

[0062] Therefore, the existing method of relying solely on load to determine the tank rotation speed is insufficient, and it is impossible to accurately determine the appropriate tank rotation speed, and it is difficult to effectively avoid the occurrence of tank leakage.

[0063] Therefore, the present application provides a control method and controller for a tank of an engineering machine, and the engineering machine, which can solve the above problems.

[0064] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following 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 the present application will be described below in conjunction with the accompanying drawings.

[0065] Figure 1 A schematic diagram of a control method for a tank of an engineering machine provided in an embodiment of the present application Figure 1 ,like Figure 1 As shown, the method includes:

[0066] S101. Obtaining a driving speed, load, and driving condition of the construction machinery; and determining a driving condition coefficient based on the driving speed and driving condition; wherein the driving condition represents the driving state of the construction machinery during transportation.

[0067] For example, taking a mixer truck as an example, its driving speed data is collected in real time through sensors (such as speed sensors) installed on the mixer truck.

[0068] For example, a weight sensor is installed on a mixer truck's chassis or key load-bearing areas. When the truck is loaded, the sensor senses the pressure change and, through internal circuitry and algorithms, converts the pressure signal into a specific weight value, providing information on the truck's load.

[0069] Taking a concrete mixer truck as an example, a combination of sensors can be used to determine the truck's driving condition. For example, a gyroscope can detect the vehicle's tilt angle. When the vehicle is moving uphill or downhill, the gyroscope will detect the corresponding tilt angle change. Combined with the changes in vehicle acceleration detected by the accelerometer, it can be comprehensively determined whether the concrete mixer truck is climbing, descending, turning, or on a flat road.

[0070] The driving condition coefficient represents the degree to which different driving conditions affect the tank speed of the mixer truck. Under different driving conditions, the tank speed needs to be adjusted accordingly. For example, when climbing a slope, the mixer truck requires greater power to overcome gravity. At this time, excessively high tank speed may cause material leakage due to excessive inertia. Therefore, the tank speed needs to be reduced, and the corresponding driving condition coefficient will reduce the calculated tank speed. Under downhill conditions, the vehicle tends to accelerate, and the tank speed also needs to be appropriately adjusted to prevent material leakage due to vehicle bumps and speed changes. Under cornering conditions, the tank speed also needs to be adjusted due to the effect of centrifugal force. Under flat road conditions, the tank speed can be relatively stable within an appropriate range. Driving speed will also affect the driving condition coefficient. For example, when driving on a high-speed flat road, the tank speed needs to be slightly higher than when driving on a low-speed flat road to ensure uniform mixing of the material.

[0071] Through a pre-set algorithm or data table, the corresponding driving condition coefficient is searched or calculated according to the obtained driving speed and driving condition.

[0072] S102: Determine a tank rotation speed of the tank according to the load, the driving condition coefficient, the tank radius of the tank on the engineering machinery, and the characteristics of the material loaded in the tank.

[0073] For example, the heavier the material loaded on a truck mixer, the greater the driving force required to rotate the tank. To ensure even mixing of the material inside the tank and prevent sedimentation, the tank speed needs to be adjusted appropriately. Generally speaking, a higher tank speed may be necessary with a heavier load, but the drive system's capacity must also be considered.

[0074] Different driving conditions can affect the distribution and mixing of materials within the tank. For example, when climbing a slope, materials may accumulate at the rear of the tank, requiring adjustment of the tank speed to ensure even mixing. When turning, materials are subject to centrifugal force, requiring adjustment of the tank speed accordingly.

[0075] The larger the tank radius, the longer the material's trajectory in the tank. To ensure the mixing effect, the tank speed may need to be adjusted. Generally speaking, the larger the tank radius, the lower the tank speed may need to be for the same mixing effect.

[0076] Different materials have different properties such as fluidity and viscosity. Materials with good fluidity may require a lower tank speed to achieve uniform mixing, while materials with higher viscosity require a higher tank speed.

[0077] Through experiments or theoretical calculations, a relationship model between load, operating coefficient, tank radius, material properties, and tank speed is established. Based on this model, the acquired data on load, operating coefficient, tank radius, and material properties are substituted to calculate the appropriate tank speed.

[0078] S103: Control the rotation of the tank body according to the rotation speed of the tank body.

[0079] For example, a motor can be used to drive the tank's rotation, and a control system (such as a programmable logic controller (PLC) or a specialized mixer truck control system) can be used to adjust the motor's speed, thereby achieving precise control of the tank's speed. Based on the calculated target tank speed, the control system sends a corresponding control signal to the motor driver, which then adjusts the motor's output power and speed accordingly, ensuring the tank rotates at the set speed.

[0080] To ensure the accuracy of the tank's rotational speed, a speed sensor can be installed on the tank to monitor the tank's actual speed in real time and feed the speed signal back to the control system. The control system compares the actual speed with the target speed. If there is a deviation, the control signal is adjusted to fine-tune the motor speed, achieving closed-loop control and ensuring that the tank speed remains stable at the set value.

[0081] The embodiment of the present application provides a method for controlling the tank body of an engineering machinery, which obtains the driving speed, load and driving condition of the engineering machinery, and determines the driving condition coefficient based on the driving speed and driving condition, wherein the driving condition characterizes the driving state of the engineering machinery during transportation, and then combines the load, driving condition coefficient, the tank body radius of the tank body on the engineering machinery and the material properties loaded in the tank body to accurately calculate and determine the tank body rotation speed, and finally accurately controls the tank body rotation according to the tank body rotation speed, so as to achieve precise control of the tank body rotation speed, so that it is highly matched with the actual operating state and material properties of the engineering machinery, and ensure that the rotation of the tank body is stable and adaptive under various driving speeds, loads and driving conditions, thereby effectively avoiding the situation where the material in the tank is violently shaken due to improper rotation speed, causing the engineering machinery to leak material, and ensuring the quality of material transportation.

[0082] Figure 2 A schematic diagram of a control method for a tank of an engineering machine provided in an embodiment of the present application Figure 2 ,like Figure 2 As shown, this embodiment Figure 1 Based on the embodiment, a method for controlling a tank of an engineering machine is described in detail. The method includes:

[0083] S201. Obtain the driving speed, load, and driving condition of the construction machinery.

[0084] For example, this step may refer to the above-mentioned step S101 and will not be described in detail.

[0085] S202. If it is determined that the driving condition of the construction machinery is a ramp condition or a turning condition, the driving geometry parameters are determined according to the driving condition; wherein the ramp condition represents the condition of the construction machinery driving on a road with a ramp, and the turning condition represents the condition of the construction machinery driving in a turn; the driving condition coefficient is determined according to the driving speed and the driving geometry parameters.

[0086] For example, the driving condition is determined by a combination of multiple sensors installed on the mixer truck. For example, a gyroscope sensor is used to detect changes in the vehicle's tilt angle, and an acceleration sensor is used to detect changes in the vehicle's acceleration. When the vehicle is driving, the gyroscope detects that the vehicle has a significant tilt angle, and the acceleration sensor shows that the vehicle has a component acceleration in the tilt direction, it can be preliminarily determined to be a slope condition; if the gyroscope detects that the vehicle has a lateral tilt change, and at the same time, the steering angle sensor detects that the vehicle's steering wheel has turned, and the vehicle's driving trajectory has curved, it can be determined to be a turning condition. In addition, map data (if there is a navigation system) and vehicle positioning information can be combined to assist in determining whether the vehicle is on a slope or a turning section.

[0087] Determine the driving geometry parameters based on the driving conditions. If the mixer truck is driving on a slope, the driving geometry parameter is the slope angle; if the mixer truck is driving on a turn, the driving geometry parameter is the turning radius.

[0088] The driving condition coefficient is determined based on driving speed and driving geometry parameters. The driving condition coefficient is a parameter used to quantify the degree to which different driving conditions affect the operation of the mixer truck. Different driving conditions (ramp conditions, turning conditions), the corresponding driving geometry parameters (slope angle, turning radius) and driving speed will all affect the tank speed of the mixer truck.

[0089] Optionally, a mathematical model between driving speed, driving geometry parameters and driving condition coefficients is established through experimental data and theoretical analysis.

[0090] Alternatively, the driving condition coefficients corresponding to different combinations of driving speeds and driving geometry parameters can be pre-stored in the control system's database to form a lookup table. During actual operation, the corresponding driving condition coefficients are retrieved from the lookup table based on the real-time driving speed and driving geometry parameters. This method is simple and straightforward, but it requires a large amount of experimental data to populate the lookup table, and interpolation may be necessary for some parameter combinations not listed in the table.

[0091] In one example, when the driving condition of the engineering machinery is a slope condition, the driving geometry parameter is the slope angle, wherein the slope angle represents the slope angle when the engineering machinery is performing a climbing condition or a downhill condition; the driving condition coefficient is determined based on the slope angle and the gravitational acceleration of the engineering machinery.

[0092] For example, a slope sensor is a sensor specifically designed to measure the tilt angle of an object. It typically operates based on an accelerometer, a gyroscope, or a combination of both. When installed on a concrete mixer truck, the sensor can sense changes in the vehicle's horizontal and vertical posture in real time. When the concrete mixer truck drives onto a slope, it tilts relative to the horizontal plane, and the slope sensor detects this change in tilt angle. A preset threshold is used to determine whether the concrete mixer truck is operating on a slope. For example, when the tilt angle detected by the slope sensor exceeds a certain small angle threshold (such as 2°), the concrete mixer truck is considered to be on a slope. Furthermore, the relationship between the vehicle's travel direction and the tilt direction is used to further determine whether the concrete mixer truck is operating on a climbing or downhill slope. If the vehicle's travel direction is aligned with an upward tilt, the concrete mixer truck is operating on a climbing or downhill slope; if the vehicle's travel direction is aligned with a downward tilt, the concrete mixer truck is operating on a downhill slope. The slope sensor directly outputs the numerical value of the tilt angle, which is the slope angle, typically measured in degrees (°). For example, if the slope sensor outputs 15°, it means the concrete mixer truck is currently traveling on a road with a slope angle of 15°.

[0093] Optionally, based on a preset first mapping relationship, a driving condition coefficient corresponding to the slope angle and the gravitational acceleration of the engineering machinery is determined; wherein the first mapping relationship represents the correspondence between the slope angle, the gravitational acceleration of the engineering machinery, and the driving condition coefficient.

[0094] Optionally, the driving condition coefficient is determined based on the slope angle and the gravity acceleration of the construction machinery. The calculation formula is:

[0095] K1=g×sinθ

[0096] Among them, K1 represents the driving condition coefficient when the driving condition is a slope condition; g represents the acceleration of gravity, which is usually taken as 9.8m / s 2 ;θ represents the slope angle.

[0097] In one example, when the driving condition of the engineering machinery is a turning condition, the driving geometry parameter is a turning radius value; wherein the turning radius value represents the radius value of the engineering machinery when performing a turning condition; the driving condition coefficient is determined based on the turning radius value, the driving speed, and the gravitational acceleration of the engineering machinery.

[0098] For example, a steering angle sensor is installed in the mixer truck's steering system. This sensor measures the steering wheel's rotation angle in real time. When the driver turns the steering wheel, the steering angle sensor quickly detects the angle change and transmits the data to the vehicle's control system. The steering angle sensor measures the steering wheel's rotation angle in real time and converts it into the steering angle δ of the wheels. The vehicle's wheelbase L is a fixed parameter, determined during vehicle design. The control system substitutes the steering angle δ and wheelbase L into a formula to calculate the turning radius R.

[0099] Optionally, based on a preset second mapping relationship, a driving condition coefficient corresponding to the turning radius value, the driving speed, and the gravitational acceleration of the engineering machinery is determined; wherein the second mapping relationship represents the correspondence between the turning radius value, the driving speed, the gravitational acceleration of the engineering machinery, and the driving condition coefficient.

[0100] Optionally, the driving condition coefficient is determined based on the turning radius, driving speed, and gravitational acceleration of the construction machinery. The calculation formula is:

[0101]

[0102] Among them, K2 represents the driving condition coefficient when the driving condition is a turning condition; V represents the driving speed; g represents the acceleration of gravity, which is usually taken as 9.8m / s 2 ; R represents the turning radius value.

[0103] S203. If it is determined that the driving condition of the construction machinery is a flat road condition, the driving condition coefficient is determined based on the driving speed, load, and a preset full load weight; wherein the flat road condition represents the condition of the construction machinery driving on a straight road; and the preset full load weight represents the weight of the tank of the construction machinery when it is fully filled with materials.

[0104] For example, a gyroscope sensor can measure the vehicle's angular velocity. On a flat road, the vehicle's angular velocity should be close to zero. If the angular velocity detected by the gyroscope remains below a certain threshold (e.g., 0.05 rad / s) for a period of time (e.g., 3 seconds), it indicates that the vehicle has not made any significant turning or tilting movements, further assisting in determining that the mixer truck is on a flat road.

[0105] The driving condition coefficient is determined based on the driving speed, load, and preset full load weight.

[0106] Optionally, based on a preset third mapping relationship, a driving condition coefficient corresponding to the driving speed, load, and preset full load weight is determined; wherein the third mapping relationship represents the correspondence between the driving speed, load, preset full load weight, and the driving condition coefficient.

[0107] Optionally, the driving condition coefficient is determined based on the driving speed, load, and preset full load weight. The calculation formula is:

[0108]

[0109] Among them, K3 represents the driving condition coefficient when the driving condition is a flat road condition; α represents the first preset weight; V represents the driving speed; β represents the second preset weight; m represents the load; M max Indicates the preset fully loaded weight.

[0110] S204: Determine the initial tank rotation speed of the engineering machinery according to the tank radius and the characteristics of the material loaded in the tank; determine the tank rotation speed according to the initial tank rotation speed, the load, and the driving condition coefficient.

[0111] Optionally, based on a preset fourth mapping relationship, an initial tank rotation speed corresponding to both the tank radius and the material properties loaded in the tank is determined; wherein the fourth mapping relationship represents the correspondence between the tank radius, the material properties loaded in the tank, and the initial tank rotation speed.

[0112] According to the preset fifth mapping relationship, the tank speed corresponding to the initial tank speed, load, and driving condition coefficient is determined; wherein the fifth mapping relationship represents the correspondence between the initial tank speed, load, driving condition coefficient, and tank speed.

[0113] Optionally, the initial tank rotation speed of the construction machinery can be determined based on the tank radius and the characteristics of the material loaded in the tank. The calculation formula is:

[0114]

[0115] Among them, w0 represents the initial tank rotation speed; γ represents the material coefficient determined according to the characteristics of the material loaded in the tank; g represents the acceleration of gravity, which is usually taken as 9.8m / s 2 ; r represents the radius of the tank.

[0116] The tank speed is determined based on the initial tank speed, load, and driving condition coefficient. The calculation formula is:

[0117]

[0118] Wherein, w represents the tank speed; w0 represents the initial tank speed; S represents the third preset weight; K i represents the driving condition coefficient (i=1, 2, 3); δ represents the fourth preset weight; m represents the load; M max Represents the preset full load weight; g represents the acceleration due to gravity, usually 9.8m / s 2 ; r represents the radius of the tank.

[0119] S205. Receive image data captured by a camera unit in the engineering machinery; wherein the image data is image data of the discharge port of the engineering machinery captured in real time by the camera unit; input the image data into an intelligent detection model for processing to obtain a leakage detection result of the discharge port; wherein the intelligent detection model is obtained by training historical image data; the historical image data is obtained by the camera unit from the discharge port of the engineering machinery during the historical transportation process, and the leakage detection result indicates whether the tank body is leaking; if it is determined that the leakage detection result indicates that the tank body is leaking, the tank body rotation speed of the engineering machinery is corrected to obtain a corrected tank body rotation speed.

[0120] For example, a high-definition camera is installed near the discharge port of the construction machinery to ensure that the camera can clearly capture the real-time image of the discharge port. The camera should be installed in a position that is not blocked by materials or other components, and the impact of environmental factors (such as dust, vibration, etc.) on the camera should be taken into account. Adjust the camera parameters such as resolution, frame rate, exposure time, etc. according to the actual working environment. For example, in a dark working environment, the exposure time can be appropriately increased or the infrared fill light function can be turned on to ensure the clarity of the image data.

[0121] The camera transmits real-time image data to the construction machinery's control system or data processing unit via wired (e.g., HDMI, USB) or wireless (e.g., Wi-Fi, 4G / 5G) connections. Data transmission must be both real-time and stable to avoid image delays or loss. A data buffer is set up in the control system or data processing unit to temporarily store received image data. Additionally, some image data can be stored on a local storage device for subsequent query and analysis.

[0122] Preprocessing is performed on real-time image data, including denoising, contrast adjustment, and normalization, to improve image quality and facilitate model processing. The preprocessed image data is then fed into a trained intelligent detection model, which then outputs leak detection results. These results can be classified as either a binary classification (leakage / no leakage). The model's detection results are then output to the construction machinery's control system or display interface for operator reference.

[0123] The intelligent detection model training process is as follows:

[0124] The camera unit collects a large amount of discharge port image data during the historical transportation of construction machinery. This data should cover various scenarios under normal discharge and leakage conditions. For example, normal discharge shows a uniform flow of material, while leakage shows an unexpected leakage from the discharge port.

[0125] The collected historical image data is annotated to identify any missing materials. This can be done manually or with the help of semi-automatic annotation tools to improve efficiency.

[0126] Select an appropriate deep learning model (such as a convolutional neural network (CNN), YOLO, or Faster R-CNN) for training. Divide the labeled image data into a training set, a validation set, and a test set. Train the model using the training set, adjust model parameters using the validation set, and evaluate model performance using the test set.

[0127] The model is optimized based on the test results, such as adjusting the network structure, adding data enhancement (rotation, scaling, flipping, etc.), optimizing the loss function, etc., to improve the detection accuracy and robustness of the model.

[0128] If it is determined that the leakage detection result indicates that the tank is leaking, the tank rotation speed of the engineering machinery is corrected to obtain a corrected tank rotation speed.

[0129] An embodiment of the present application provides a method for controlling the tank body of an engineering machinery. By obtaining the driving speed, load and driving condition of the engineering machinery, different methods are used to determine the driving condition coefficient for different driving conditions (slope condition, turning condition, flat road condition), and the initial tank body speed is determined in combination with the tank body radius and material properties. Then, the final tank body speed is determined based on the initial tank body speed, load and driving condition coefficient. At the same time, the method receives the discharge port image data collected in real time by the camera unit in the engineering machinery, and inputs the image data into the intelligent detection model trained based on historical image data for processing to determine whether the tank body is leaking. If it is determined that the tank body is leaking, the tank body speed is corrected to obtain the corrected tank body speed, so as to achieve precise adaptation to different driving conditions and material properties to control the tank body speed. When the tank body is detected to be leaking, the tank body speed can be corrected and adjusted in time to effectively avoid material waste, environmental pollution, and possible equipment failure or safety hazards caused by leakage.

[0130] Based on the above embodiments, the present application also provides a method for implementing a control method for a tank of an engineering machinery.

[0131] In a possible embodiment, taking a mixer truck as an example, the current speed of the mixer truck is obtained; if the current speed is less than a first preset speed, the leakage prevention mode is not turned on, and the driver can manually control the speed of the mixer tank, etc.

[0132] In a possible embodiment, if the current vehicle speed is greater than or equal to the first preset speed, the anti-leakage mode is turned on; after the anti-leakage mode is turned on, it is first determined whether the mixer truck has started the loading condition (whether the mixing tank of the mixer truck has entered normal mixing operation); if the mixer truck is not in the loading condition, the voice reminder function will be triggered; at the same time, the timer will be started for timing; when the timing is greater than or equal to the first preset moment, the controller will detect the loading condition of the mixer truck again; if it is in the loading condition, proceed to the next step; if the mixer truck is still in the non-loading condition, and the current speed of the mixer truck is greater than or equal to the first preset speed, the controller will automatically start the loading system of the mixer truck through the sensor, so that the mixing tank starts working.

[0133] In one possible embodiment, the load information of the mixer truck is obtained; if the load information is less than the full load weight, the controller adjusts the speed of the mixer tank to a first preset speed; if the load information is equal to the full load weight, the controller further determines the vehicle's form; if the load information is equal to the full load weight and the mixer truck is in a climbing condition, the controller sets the upper speed to a second preset speed.

[0134] In a possible embodiment, while the mixer truck is driving, the camera at the rear of the mixer truck will always monitor the condition of the discharge port in the mixing tank. If material splashes out of the discharge port, the controller will use voice to remind the driver in the cab to pay attention to the condition of the mixing tank, and at the same time set the speed of the mixing tank to the third preset speed.

[0135] By intelligently controlling the speed of the mixer truck's mixing tank, material leakage can be effectively prevented, and the speed can be adjusted in time after leakage to restore the state of no leakage, thereby ensuring the safety and quality of material transportation.

[0136] Figure 3 A schematic diagram of a control device for a tank of an engineering machine provided in an embodiment of the present application Figure 1 ,like Figure 3 As shown, this embodiment provides a control device 30 for a tank of an engineering machine, comprising:

[0137] The acquisition module 301 is used to obtain the driving speed, load and driving condition of the construction machinery; and determine the driving condition coefficient based on the driving speed and driving condition; wherein the driving condition represents the driving state of the construction machinery during transportation;

[0138] The determination module 302 is used to determine the tank rotation speed of the tank according to the load, the driving condition coefficient, the tank radius of the engineering machine, and the characteristics of the material loaded in the tank;

[0139] The control module 303 is used to control the rotation of the tank body according to the rotation speed of the tank body.

[0140] This embodiment provides a control device for a tank of an engineering machine, which can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar, and are not described in detail in this embodiment.

[0141] Figure 4 A schematic diagram of a control device for a tank of an engineering machine provided in an embodiment of the present application Figure 2 ,like Figure 4 As shown, this embodiment provides a control device 40 for a tank of an engineering machine, comprising:

[0142] The acquisition module 401 is used to obtain the driving speed, load and driving condition of the construction machinery; and determine the driving condition coefficient based on the driving speed and driving condition; wherein the driving condition represents the driving state of the construction machinery during transportation;

[0143] The determination module 402 is used to determine the tank rotation speed of the tank according to the load, the driving condition coefficient, the tank radius of the engineering machine, and the characteristics of the material loaded in the tank;

[0144] The control module 403 is used to control the rotation of the tank body according to the rotation speed of the tank body.

[0145] In a possible implementation, if it is determined that the driving condition of the engineering machine is a ramp condition or a turning condition; wherein the ramp condition represents the condition in which the engineering machine is driving on a road with a ramp, and the turning condition represents the condition in which the engineering machine is turning;

[0146] Acquisition module 401 includes:

[0147] The first determining module 4011 is configured to determine a driving condition coefficient according to the driving speed and the driving geometry parameters.

[0148] In a possible implementation, when the driving condition of the engineering machine is a slope condition, the driving geometry parameter is a slope angle, wherein the slope angle represents the slope angle of the engineering machine when performing a climbing condition or a downhill condition;

[0149] The first determining module 401 includes: determining a driving condition coefficient according to a slope angle and the gravity acceleration of the construction machinery.

[0150] In a possible implementation, when the driving condition of the engineering machinery is a turning condition, the driving geometry parameter is a turning radius value; wherein the turning radius value represents a radius value of the engineering machinery when performing a turning condition;

[0151] The first determining module 4011 includes: determining a driving condition coefficient according to a turning radius value, a driving speed, and a gravity acceleration of the construction machinery.

[0152] In a possible implementation, determining the driving condition coefficient according to the driving speed and the driving condition includes:

[0153] If it is determined that the driving condition of the construction machinery is a flat road condition, the driving condition coefficient is determined based on the driving speed, load, and preset full load weight; among which, the flat road condition represents the condition of the construction machinery driving on a straight road; the preset full load weight represents the weight of the tank of the construction machinery when it is full of materials.

[0154] In a possible implementation, the determining module 402 includes:

[0155] Determine the initial tank speed of the construction machinery based on the tank radius and the characteristics of the material loaded in the tank;

[0156] The tank speed is determined based on the initial tank speed, load, and driving condition coefficient.

[0157] In a possible implementation, the device 40 further includes:

[0158] Receiving image data collected by a camera unit in the engineering machinery; wherein the image data is image data of a discharge port of the engineering machinery collected in real time by the camera unit;

[0159] The image data is input into the intelligent detection model for processing to obtain the leakage detection result of the discharge port. The intelligent detection model is trained by using historical image data. The historical image data is obtained by the camera unit from the discharge port of the construction machinery during the transportation process. The leakage detection result indicates whether the tank is leaking.

[0160] If it is determined that the leakage detection result indicates that the tank is leaking, the tank rotation speed of the engineering machinery is corrected to obtain a corrected tank rotation speed.

[0161] This embodiment provides a control device for a tank of an engineering machine, which can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar, and are not described in detail in this embodiment.

[0162] Figure 5 This is a schematic diagram of the structure of the electronic device provided in the embodiment of the present application. Figure 5 As shown, the electronic device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 further includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0163] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that the at least one processor 501 performs the above method.

[0164] The specific implementation process of the processor 501 can be found in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0165] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASICs), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules in the processor.

[0166] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0167] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified into address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0168] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0169] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0170] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0171] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0172] The division of units is merely a logical functional division; actual implementations may employ alternative divisions, such as combining or integrating multiple units or components into another system, or omitting or disabling certain features. Furthermore, any direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units, either through an interface, electrical, mechanical, or other means.

[0173] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0174] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0175] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0176] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0177] Finally, it should be noted that those skilled in the art will readily identify other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A method for controlling a tank of an engineering machine, characterized in that: include: Obtain the driving speed, load and driving conditions of the construction machinery; and determining a driving condition coefficient according to the driving speed and the driving condition; wherein the driving condition represents the driving state of the construction machinery during transportation; determining a tank rotation speed of the tank according to the load, the driving condition coefficient, a tank radius of the tank on the engineering machinery, and characteristics of the material loaded in the tank; The rotation of the tank body is controlled according to the rotation speed of the tank body.

2. The method according to claim 1, characterized in that Determining a driving condition coefficient according to the driving speed and the driving condition includes: If it is determined that the driving condition of the engineering machine is a ramp condition or a turning condition, then determining driving geometry parameters according to the driving condition; wherein the ramp condition represents the condition in which the engineering machine is driving on a road with a ramp, and the turning condition represents the condition in which the engineering machine is turning; The driving condition coefficient is determined according to the driving speed and the driving geometry parameter.

3. The method according to claim 2, characterized in that When the driving condition of the engineering machine is a slope condition, the driving geometric parameter is a slope angle, wherein the slope angle represents the slope angle of the engineering machine when it is in a climbing condition or a downhill condition; Determining the driving condition coefficient according to the driving speed and the driving geometric parameters includes: determining the driving condition coefficient according to the slope angle and the gravitational acceleration of the engineering machinery.

4. The method according to claim 2, characterized in that When the driving condition of the engineering machinery is a turning condition, the driving geometry parameter is a turning radius value; wherein the turning radius value represents the radius value of the engineering machinery when performing the turning condition; Determining the driving condition coefficient according to the driving speed and the driving geometric parameters includes: determining the driving condition coefficient according to the turning radius value, the driving speed, and the gravitational acceleration of the engineering machinery.

5. The method according to claim 1, wherein Determining a driving condition coefficient according to the driving speed and the driving condition includes: If it is determined that the driving condition of the engineering machinery is a flat road condition, the driving condition coefficient is determined based on the driving speed, the load, and the preset full load weight; wherein the flat road condition represents the condition of the engineering machinery driving on a straight road; the preset full load weight represents the weight of the tank of the engineering machinery when it is full of materials.

6. The method according to claim 1, characterized in that Determining a tank rotation speed of the tank according to the load, the driving condition coefficient, a tank radius of the tank on the engineering machinery, and properties of the material loaded in the tank includes: determining an initial tank rotation speed of the engineering machinery according to the tank radius and characteristics of the material loaded in the tank; The tank rotation speed is determined according to the initial tank rotation speed, the load, and the driving condition coefficient.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: Receiving image data collected by a camera unit in the engineering machinery; wherein the image data is image data of a discharge port of the engineering machinery collected in real time by the camera unit; The image data is input into an intelligent detection model for processing to obtain a leakage detection result of the discharge port; wherein the intelligent detection model is obtained by training historical image data; the historical image data is obtained by a camera unit of the discharge port during the historical transportation process of the construction machinery, and the leakage detection result indicates whether the tank body is leaking; If it is determined that the leakage detection result indicates that the tank is leaking, the tank rotation speed of the engineering machinery is corrected to obtain a corrected tank rotation speed.

8. A control device for a tank of an engineering machine, characterized in that: The device includes: An acquisition module is used to obtain the driving speed, load and driving conditions of the construction machinery; and determining a driving condition coefficient according to the driving speed and the driving condition; wherein the driving condition represents the driving state of the construction machinery during transportation; a determination module, configured to determine a tank rotation speed of the tank according to the load, the driving condition coefficient, a tank radius of the tank on the engineering machinery, and characteristics of a material loaded in the tank; The control module is used to control the rotation of the tank body according to the rotation speed of the tank body.

9. A controller, characterized in that: The controller is provided in an engineering machine, and is used to execute the method according to any one of claims 1 to 7.

10. An engineering machine, characterized in that: The engineering machine is provided with the controller according to claim 9.

Images