A system for conveying a solid-liquid mixture

Abstract

The present application relates to the technical field of conveying and transportation, and in particular to a solid-liquid mixture conveying system for conveying and transferring the mixture from a tank to a storage station, which comprises a conveying layer, a transportation layer, a control layer and a cloud platform, and the cloud platform is used for monitoring and early warning of the transportation state of the transportation layer; the equivalent mechanical model is established to predict the disturbance, and the hierarchical control architecture is used to realize the multivariable collaborative adjustment; the mixture scattering caused by the material shaking during the transportation process is effectively inhibited; the mixture fluidity is reduced through the solidification treatment, and the dynamic disturbance is reduced from the source; the shaking torque is accurately calculated by the prediction model, the optimal control sequence is generated by the quadratic programming algorithm, and the attitude error is quickly converged; the independent driving wheel and the hydraulic balance mechanism work together to compensate the disturbance torque in different directions; the hierarchical control architecture ensures that the material processing, transportation execution and dynamic adjustment modules operate independently, and the coupling interference that may exist in the system is avoided.

Description

Technical Field

[0001] This invention relates to the field of conveying and transporting technology, and more particularly to a conveying system for solid-liquid mixtures. Background Technology

[0002] In existing transport systems, traditional tank trucks or basic automated platforms are typically used for transporting solid-liquid mixtures, especially hazardous materials containing flammable slurries. These systems have numerous safety hazards in their design because they treat the internal solid-liquid mixture as a static or rigid load. Specifically, during vehicle acceleration, braking, or steering, the mixture carrier inevitably experiences violent dynamic shaking. This shaking causes the transport unit's center of gravity to rise and change dynamically, generating an unpredictable internal disturbance torque. Traditional passive suspension systems or simple attitude feedback controllers cannot actively suppress or compensate for this internal dynamic torque, making the entire system highly susceptible to instability and thus posing numerous transport hazards. Summary of the Invention

[0003] The main objective of this invention is to provide a solid-liquid mixture conveying system, which aims to stabilize the attitude of the mixture and its carrier during the conveying and transportation process.

[0004] To achieve the above objectives, the present invention provides a solid-liquid mixture conveying system for transferring mixtures from tanks to storage stations, the conveying system comprising:

[0005] The conveying layer includes a transfer conveying module and a solidification conveying module. The transfer conveying module is connected to the tank and the solidification conveying module is connected to the solidification conveying module. The transfer conveying module is used to grind the mixture during the conveying process. The solidification conveying module is also connected to a conveying unit and is used to solidify the mixture within the conveying unit during the conveying process.

[0006] The transport layer includes a moving module and a stabilizing module. The conveying unit is disposed on the moving module, and the moving module is used to complete the transport process.

[0007] The control layer includes a sensing module, a prediction module, a balancing module, and a control module. The sensing module acquires the transportation status information of the moving module. The prediction module calculates the disturbance status information of the conveying unit based on the transportation status information. The balancing module calculates the state transition function of the stabilizing module based on the disturbance status information. The control module calculates the control signal of the stabilizing module based on the state transition function.

[0008] The stabilization module is used to execute control signals during the transportation of the mobile module in order to maintain the stability of the conveying unit's posture.

[0009] The cloud platform is used to monitor and provide early warnings about the transportation status of the transportation layer.

[0010] Optionally, the tank includes a carrier platform, a collection component, a conveying component, a filter component, and a conveying pump. The collection component, the conveying component, the filter component, and the conveying pump are all disposed on the carrier platform. After the mixture is collected by the collection component, it is sequentially conveyed to the transfer conveying module after passing through the conveying component, the filter component, and the conveying pump.

[0011] Optionally, the transfer and conveying module includes a colloid mill, a transfer seasoning tank, and a receiving tank. The mixture is sequentially conveyed through the colloid mill, the transfer seasoning tank, and the receiving tank after passing through the tank. A stirring paddle is provided in the colloid mill, the transfer seasoning tank, and the receiving tank. A viewing window is provided in the colloid mill, the transfer seasoning tank, and the receiving tank.

[0012] Optionally, the curing conveying module is connected to a pressure conveying module. The curing conveying module includes a curing seasoning tank. The input end of the curing seasoning tank is connected to the transfer conveying module, and the output end of the curing seasoning tank is connected to the conveying unit. The pressure conveying module is disposed between the curing seasoning tank and the conveying unit. The pressure conveying module is used to pressurize the mixture in the curing seasoning tank into the conveying unit.

[0013] Optionally, the stabilization module includes a chassis unit, a stabilization unit, and several drive units. The chassis unit includes a chassis frame, and several moving wheels are provided at the bottom of the chassis frame. Each moving wheel is driven by a separate drive unit. The stabilization unit is mounted on the chassis frame.

[0014] Optionally, the chassis frame has a through hole, the conveying unit is disposed in the through hole, the stabilizing unit is disposed on the chassis frame and corresponds to the position of the through hole, the stabilizing unit includes a stabilizing disc and several balancing sub-units, the stabilizing disc abuts against the lower end face of the conveying unit, and the two ends of the balancing sub-units are respectively connected to the chassis frame and the lower end face of the stabilizing disc; wherein, the balancing sub-units and the driving unit are both signal connected to the control module.

[0015] Optionally, the sensing module includes a path sensing unit and an attitude sensing unit. The path sensing unit is disposed on the mobile module, and the attitude sensing unit is disposed on the stabilizing unit. The path sensing unit is used to acquire path status information of the transportation path of the mobile module, and the attitude sensing unit is used to acquire attitude status information of the conveying unit. The path status information and the attitude status information are fused by the sensing module to obtain the transportation status information of the mobile module.

[0016] Optionally, the prediction module constructs an equivalent mechanical model of the conveying unit, which includes the differential equation of the second-order oscillating system of the conveying unit, and obtains the disturbance state information of the conveying unit by solving the differential equation, which includes the swaying torque.

[0017] Optionally, the balancing module includes a quadratic programming solver, which is used to treat the swaying torque as a known disturbance within one balancing cycle, to use it as a state error term, and to obtain the state transition function through the state tracking error term and the control sequence term.

[0018] Optionally, the calculation process of the state transition function by the control module is to find a set of control sequence items to minimize the value of the state transition function. The control sequence at this time is the control signal; wherein, the control signal includes the output torque of the drive unit and the piston speed of the balance subunit.

[0019] The beneficial effects that this invention can achieve are as follows:

[0020] This invention alters the physical properties of materials through solidification, achieving dynamic stability through active control. It predicts disturbances by establishing an equivalent mechanical model and employs a hierarchical control architecture to achieve multi-variable coordinated regulation. This effectively suppresses carrier instability caused by material swaying during transportation. Solidification reduces the fluidity of the mixture, minimizing dynamic disturbances at the source. The predictive model accurately calculates swaying torque, and a quadratic programming algorithm generates the optimal control sequence, achieving rapid convergence of attitude errors. Independent drive wheels and a hydraulic balancing mechanism work together to compensate for disturbance torques in different directions. The hierarchical control architecture ensures that the material handling, transportation execution, and dynamic adjustment modules operate independently, avoiding potential coupling interference within the system. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0022] Figure 1This is a schematic diagram of the tank structure in Embodiment 1 of the present invention;

[0023] Figure 2 This is a schematic diagram of the connection structure between the transfer and conveying module and the solidification and conveying module in Embodiment 1 of the present invention;

[0024] Figure 3 This is a schematic diagram of the stabilization module in Embodiment 2 of the present invention. Attached image description:

[0026] 1-Conveying component, 2-Filter screen component, 3-Conveying pump, 4-Transfer tank, 5-Sighting window, 6-Colloid mill, 7-Transfer mixing tank, 8-Receiving tank, 9-Agitator, 10-Curing mixing tank, 11-First differential pressure level gauge, 12-Second differential pressure level gauge, 13-First filter, 14-Second filter, 15-Exhaust fan, 16-Pressure reducing valve, 17-Air compressor, 18-Buffer tank, 19-Conveying unit, 20-Tank, 21-Transfer conveying module, 22-Curing conveying module, 23-Balance subunit, 24-Stabilizing disc, 25-Chassis unit, 26-Stabilizing unit, 27-Drive unit, 28-Moving wheel, 29-Chassis frame, 30-Through hole.

[0027] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0029] If the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Furthermore, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0030] Example 1

[0031] Please refer to the attached document as well. Figures 1 to 3 This embodiment provides a solid-liquid mixture conveying system for transferring the mixture from tank 20 to a storage station. The conveying system includes:

[0032] The conveying layer includes a transfer conveying module 21 and a solidification conveying module 22. The transfer conveying module 21 is connected to the tank 20 and the solidification conveying module 22 are connected. The transfer conveying module 21 is used to grind the mixture during the conveying process. The solidification conveying module 22 is also connected to a conveying unit 19 and is used to solidify the mixture in the conveying unit 19 during the conveying process.

[0033] The transport layer includes a moving module and a stabilizing module. The conveying unit 19 is disposed on the moving module, and the moving module is used to complete the transport process.

[0034] The control layer includes a sensing module, a prediction module, a balancing module, and a control module. The sensing module is used to acquire the transportation status information of the moving module. The prediction module is used to calculate the disturbance status information of the conveying unit 19 based on the transportation status information. The balancing module is used to calculate the state transition function of the stabilizing module based on the disturbance status information. The control module is used to calculate the control signal of the stabilizing module based on the state transition function.

[0035] The stabilization module is used to execute control signals during the transportation of the mobile module in order to maintain the stability of the attitude of the conveying unit 19.

[0036] The cloud platform is used to monitor and provide early warnings about the transportation status of the transportation layer.

[0037] Traditional conveying systems treat the mixture as a static load and cannot cope with the dynamic swaying generated during transportation. When the vehicle accelerates or turns, the swaying of the mixture causes the center of gravity of the carrier to change, generating unpredictable disturbance torque. Passive suspension systems and simple feedback controllers are unable to suppress dynamic torque, resulting in the risk of instability of the transport unit.

[0038] It should be noted that, in order to solve the above problems, this invention first considers changing the material form by converting the fluid into a solid carrier through solidification treatment. Secondly, it analyzes the dynamic torque generation mechanism and finds that it is necessary to establish an equivalent mechanical model to predict disturbances. Finally, it proposes a hierarchical collaborative control architecture that separates material handling, transportation execution and dynamic adjustment, and uses active control to offset residual disturbances.

[0039] It should also be noted that in this embodiment, after the material is ground by the colloid mill 6, it enters the curing module. Pressure injection causes the mixture to solidify within the conveying unit 19. During the transportation of the solid carrier by the moving platform, the attitude sensor collects the carrier tilt angle and path data in real time. The prediction module calculates the swaying torque based on the transportation acceleration and carrier deformation. The balancing module generates a hydraulic piston speed control sequence through a quadratic programming solver. The control module drives an independent motor to adjust the wheel speed difference and simultaneously adjusts the piston stroke of the balancing mechanism to form dynamic torque compensation. The cloud platform synchronously monitors the status of each module and triggers an early warning when the predicted torque exceeds the threshold.

[0040] Based on the above, material solidification alters physical properties, and dynamic stability is achieved through active control. An equivalent mechanical model is established to predict disturbances, and a hierarchical control architecture enables multi-variable coordinated regulation. This effectively suppresses carrier instability caused by material swaying during transportation. Solidification reduces the fluidity of the mixture, minimizing dynamic disturbances at the source. The predictive model accurately calculates swaying torque, and a quadratic programming algorithm generates the optimal control sequence, achieving rapid convergence of attitude errors. Independent drive wheels and a hydraulic balancing mechanism work together to compensate for disturbance torques in different directions. The hierarchical control architecture ensures that the material handling, transportation execution, and dynamic regulation modules operate independently, avoiding potential coupling interference within the system.

[0041] In some embodiments, the transfer and conveying module 21 refers to a material pretreatment device with grinding function, specifically a combination structure of colloid mill 6 and stirring tank, which reduces the particle size of the mixture through mechanical shearing.

[0042] In some embodiments, the solidification delivery module 22 refers to a device that converts a liquid mixture into a solid carrier, specifically by using pressure injection and rapid solidification processes to form a solid structure within the delivery unit 19.

[0043] In some embodiments, the mobile module refers to the power unit of the transport vehicle, such as a transport vehicle or AGV trolley. Specifically, a multi-wheeled independently driven mobile platform can be adopted. More preferably, multiple conveying units 19 are set in each group of AGV trolleys for short-to-medium distance transport. The preferred number of AGV trolleys for transport is 2. For long-distance transport, a transport vehicle or the like is selected.

[0044] In this embodiment, the tank 20 includes a carrier platform, a collection component, a conveying component 1, a filter component 2, and a conveying pump 3. The collection component, the conveying component 1, the filter component 2, and the conveying pump 3 are all disposed on the carrier platform. After the mixture is collected by the collection component, it is sequentially conveyed to the transfer conveying module 21 after passing through the conveying component 1, the filter component 2, and the conveying pump 3.

[0045] Understandably, the carrier platform, as the basic supporting unit, integrates the collection component, conveying component 1, filter component 2, and conveying pump 3 into a continuous processing line through physical positioning. The mixture is first directionally introduced into the inlet end of the conveying component 1 by the guide structure of the collection component, where it undergoes preliminary crushing and homogenization during the propulsion of the spiral blades. Subsequently, the material enters the multi-layer screening area of ​​the filter component 2, where large solid particles are intercepted step by step to form a particle size gradient distribution, while the liquid medium carries fine particles through the filter holes to the downstream. The filtered mixture forms a stable flow state under the pressure drive of the conveying pump 3 and is transported to the transfer module 21 through pipelines. The various functional units form a pretreatment closed loop through a compact spatial layout, eliminating disturbances such as solid deposition and fluid stratification before the material enters the transportation system.

[0046] It is also understandable that, based on the above results, this embodiment effectively solves the transportation disturbance problem caused by uneven collection and insufficient pretreatment of the solid-liquid mixture in tank 20. Specifically, the directional flow design of the collection component ensures a continuous and stable supply of materials, the multi-layer filter screen's graded filtration mechanism reduces the impact of solid particles on the conveying system, the constant pressure output characteristic of the conveying pump 3 ensures that the mixture enters the transfer module in a uniform flow state, and the synergistic effect of each functional unit forms a pretreatment barrier at the front end of the material conveying process, significantly reducing the dynamic swaying torque in subsequent transportation links and providing a basic condition for stable control of the system attitude.

[0047] In some embodiments, the carrier platform refers to a rigid support structure that supports various functional components. Specifically, it can be implemented using a welded steel frame, with positioning and mounting holes on its surface for fixing the collection component and the conveying component 1.

[0048] In some embodiments, the collecting component refers to a funnel-shaped device with directional collecting function, which can be implemented by using a conical hopper in conjunction with a flow guide baffle, for introducing loosely accumulated solid-liquid mixtures into the conveying process.

[0049] In some embodiments, the conveying component 1 refers to a mechanical device with material transfer function, which can be implemented by a screw conveyor, which pushes the mixture through rotating blades to achieve preliminary homogenization.

[0050] In some embodiments, the filter element 2 refers to a screening device with a graded filtration function, which can be implemented by stacking multiple layers of stainless steel filter screens to intercept large solid particles and allow liquid media to pass through.

[0051] In some embodiments, the delivery pump 3 refers to a pressure device that provides power for fluid delivery, specifically a diaphragm pump, which forms a stable output pressure by periodically compressing the diaphragm.

[0052] In this embodiment, the transfer and conveying module 21 includes a colloid mill 6, a transfer and seasoning tank 7, and a receiving tank 8. The mixture is sequentially conveyed through the colloid mill 6, the transfer and seasoning tank 7, and the receiving tank 8 after passing through the tank 20. A stirring paddle 9 is provided in the colloid mill 6, the transfer and seasoning tank 7, and the receiving tank 8. A viewing window 5 is provided in the colloid mill 6, the transfer and seasoning tank 7, and the receiving tank 8.

[0053] Understandably, after the mixture enters the colloid mill 6 from the tank 20, it undergoes initial crushing of solid particles under high-speed shearing. It then flows into the transfer and conditioning tank 7 for secondary homogenization, and finally enters the receiving tank 8 for temporary storage, preparing for the next transport stage. The stirring paddle 9 assists in the crushing process in the colloid mill 6, maintains flow uniformity in the transfer and conditioning tank 7, and prevents sedimentation and stratification in the receiving tank 8. Inspection windows 5 are located on the sides of the three-stage processing units, allowing observation of the color, flow state, and liquid level of the mixture at each stage. The rotation speed of the colloid mill 6 or the temperature parameters of the transfer and conditioning tank 7 are dynamically adjusted based on the operation of the stirring paddle 9. The three-stage series structure forms a continuous processing link. The mechanical grinding action of the colloid mill 6 reduces the viscosity of the mixture, the continuous stirring in the transfer and conditioning tank 7 prevents solid-liquid separation, the buffering effect of the receiving tank 8 balances fluctuations in the transport flow rate, and the real-time monitoring function of the inspection windows 5 ensures that the processing status at each stage is controllable, thereby eliminating dynamic disturbances within the transport unit caused by uneven mixture distribution.

[0054] In some embodiments, the colloid mill 6 refers to an apparatus for mechanically grinding a mixture, specifically a mechanical structure with a high-speed rotating rotor and a fixed stator, which breaks down solid particles in the mixture by shearing force.

[0055] In some embodiments, the intermediate seasoning tank 7 refers to an intermediate container used to adjust the flowability of the mixture. Specifically, it can be implemented using a tank structure with adjustable temperature control function, and the mixture is kept homogeneous by stirring.

[0056] In some embodiments, receiving tank 8 refers to an end container for temporarily storing the processed mixture, which can be implemented using a closed tank structure with a liquid level sensor to ensure continuous delivery through buffering.

[0057] In some embodiments, the stirring paddle 9 refers to a rotating component used to prevent the mixture from stratifying, which can be implemented using a helical blade or turbine blade structure, eliminating local sedimentation through periodic forward and reverse rotation.

[0058] In some embodiments, the viewing window 5 refers to a transparent viewing port for observing the internal state of the container. Specifically, it can be implemented using an opening structure covered with pressure-resistant tempered glass or polycarbonate material, and the processing status of the mixture can be determined through real-time visual monitoring.

[0059] In this embodiment, the curing conveying module 22 is connected to a pressure conveying module. The curing conveying module 22 includes a curing mixing tank 10. The input end of the curing mixing tank 10 is connected to the transfer conveying module 21, and the output end of the curing mixing tank 10 is connected to the conveying unit 19. The pressure conveying module is disposed between the curing mixing tank 10 and the conveying unit 19. The pressure conveying module is used to pressurize the mixture in the curing mixing tank 10 into the conveying unit 19.

[0060] Understandably, after the mixture is ground and modulated by the transfer and conveying module 21, it enters the solidification and conditioning tank 10 for temporary storage. The pressure conveying module is connected to the bottom of the solidification and conditioning tank 10 and the inlet of the conveying unit 19 via pipelines. When the conveying unit 19 needs to be filled, the pressure conveying module is activated and generates a preset pressure gradient, pressing the mixture in the solidification and conditioning tank 10 into the internal cavity of the conveying unit 19 at a uniform speed along the pipeline. During this process, the pressure value can be dynamically adjusted according to the viscosity of the mixture. For example, when an abnormal increase in pipeline pressure is detected, the output pressure is automatically increased to maintain a constant flow rate. By replacing gravity flow with pressure drive, the mixture forms an axial filling pattern in the conveying unit 19, avoiding center of gravity shift due to local accumulation.

[0061] It is also understandable that the above structure effectively prevents the mixture from stagnating and the pipeline from being blocked at the inlet of the conveying unit 19 due to insufficient pressure, ensuring that the material is filled into the conveying unit 19 with a uniform density, and avoiding the shift of the center of gravity and sudden change of swaying torque caused by the loosening of local materials during transportation.

[0062] In some embodiments, the carrier platform includes tracks, drive wheels, driven wheels, a three-phase asynchronous drive motor, a controller, etc.

[0063] In some embodiments, the transfer and conveying module 21 is used to realize the functions of grinding, receiving, mixing, temporarily storing and conveying solid-liquid mixtures.

[0064] In some embodiments, the colloid mill 6 is used to grind solids so that they can be better incorporated into the cement.

[0065] In some embodiments, a second differential pressure level gauge 12 is provided in the receiving tank 8, and a first differential pressure level gauge 11 is provided in the curing seasoning tank 10, and the liquid level height in the tank is measured by each differential pressure level gauge.

[0066] In some embodiments, the conveying system further includes an exhaust gas treatment module, which includes a first filter 13, a second filter 14, and an exhaust fan 15. The exhaust fan 15 generates negative pressure so that the gas in the transfer conveying module 21 and the solidification conveying module 22 is discharged to the external environment after passing through the first filter 13 and the second filter 14, while dust adheres to the first filter 13 and the second filter 14.

[0067] In some embodiments, the pressure delivery module includes an air compressor 17, a pressure reducing valve 16, and a buffer tank 18 connected in sequence. The buffer tank 18 is connected to the output end of the delivery unit 19 and the curing mixing tank 10. Compressed gas is released into the tank through the air compressor 17. After the compressed gas flows through the pressure reducing valve 16, the buffer tank 18, the check valve, and the cement curing pipeline, the solid-liquid mixture remaining in the pipeline flows into the cement curing tank.

[0068] In some embodiments, when the conveying unit 19 is conveyed to the work station, laser alignment is used to automatically align the male head of the stirring shaft and the male head of the exhaust pipe with the female head of the stirring hole and the female head of the exhaust hole of the conveying unit 19, and the solid-liquid mixture in the tank is conveyed to the conveying unit 19 by the pipeline booster pump.

[0069] In some embodiments, the conveying unit 19 is provided with a stirring paddle 9. After the stirring shaft male head and the exhaust pipe male head of the cement curing system are connected to the stirring hole female head and the exhaust hole female head of the conveying unit 19, the stirring shaft starts to rotate, so that the solid-liquid mixture is fully mixed with the cement in the conveying unit 19.

[0070] In some embodiments, the solidification and conveying module 22 further includes a sensing feedback module connected to the cloud platform. The sensing feedback module determines whether the cement is too thick based on the real-time power and current data of the stirring motor during the stirring process. If the cement is too thick, an alarm is issued.

[0071] Example 2:

[0072] This embodiment only describes the parts that differ from Embodiment 1. Specifically, the stabilization module includes a chassis unit 25, a stabilization unit 26, and several drive units 27. The chassis unit 25 includes a chassis frame 29. Several moving wheels 28 are provided at the bottom of the chassis frame 29. Each moving wheel 28 is driven by a separate drive unit 27. The stabilization unit 26 is disposed on the chassis frame 29.

[0073] It should be noted that the chassis frame 29, as a rigid connecting carrier, integrates the moving wheels 28 and the stabilizing unit 26 into a unified collaborative system. Each moving wheel 28 is controlled by an independent drive unit 27, enabling dynamic compensation through differentiated torque distribution when the transportation path changes or sudden disturbances occur. The stabilizing unit 26 is integrated with the chassis frame 29, and by adjusting the attitude of the chassis frame 29 in real time, it counteracts the asymmetric torque generated by the shaking of the mixture. The design of the independent drive unit 27 breaks through the limitations of the traditional linkage drive mode in suppressing dynamic disturbances, allowing the motion state of the moving wheels 28 to be actively adjusted according to the real-time sensed disturbance information. The rigid structure of the chassis frame 29 avoids the response lag caused by the distributed layout, ensuring the synchronization of the movements of the moving wheels 28, the drive unit 27, and the stabilizing unit 26.

[0074] In some embodiments, chassis unit 25 refers to a modular load-bearing structure, which may be implemented using a welded steel frame or alloy frame, and is used to provide rigid support for the moving wheels 28 and stabilizing unit 26.

[0075] In some embodiments, the stabilizing unit 26 refers to an active attitude adjustment mechanism, which is used to counteract the dynamic torque on the conveying unit 19 in real time.

[0076] In some embodiments, the drive unit 27 refers to an independent power output device, which may be implemented by a servo motor or a variable frequency motor, and is used to individually control the rotation speed and direction of the corresponding moving wheel 28.

[0077] In some embodiments, the chassis frame 29 refers to the basic support platform, which can be implemented using a honeycomb structure or a truss structure, and is used to constrain the spatial layout relationship between the moving wheels 28 and the stabilizing unit 26.

[0078] In some embodiments, the moving wheel 28 refers to a multi-degree-of-freedom moving component, which may be an omnidirectional wheel or a Mecanum wheel, used to realize translational and rotational movements during transportation.

[0079] In this embodiment, a through hole 30 is provided on the chassis frame 29, the conveying unit 19 is disposed in the through hole 30, and the stabilizing unit 26 is disposed on the chassis frame 29 and corresponds to the position of the through hole 30. The stabilizing unit 26 includes a stabilizing disc 24 and several balancing sub-units 23. The stabilizing disc 24 abuts against the lower end face of the conveying unit 19, and the two ends of the balancing sub-units 23 are respectively connected to the chassis frame 29 and the lower end face of the stabilizing disc 24. The balancing sub-units 23 and the driving unit 27 are both signal connected to the control module.

[0080] Understandably, the through-hole 30 structure ensures that the center of gravity of the conveying unit 19 coincides with the geometric center of the chassis frame 29, eliminating the additional torque caused by the eccentric layout. The stabilizing disc 24 forms a surface contact support with the lower end face of the conveying unit 19. When a swaying torque is generated inside the conveying unit 19, the stabilizing disc 24 directly transmits the reverse balancing force to the bottom of the conveying unit 19 through the contact surface. The balancing subunit 23 adjusts the extension and retraction amount under the command of the control module, causing the stabilizing disc 24 to tilt or rise and fall, thereby changing the support stiffness and damping characteristics of the conveying unit 19. The drive unit 27 and the balancing subunit 23 receive different control signals respectively. The path tracking control of the moving module and the attitude compensation control of the stabilizing module form a decoupled collaboration, avoiding mutual interference of control commands.

[0081] It is also understandable that, compared with existing technologies, traditional suspension systems use a passive buffer structure of springs and shock absorbers, which cannot actively counteract dynamic swaying torque. This embodiment achieves active torque suppression through a nested layout and a closed-loop force transmission chain. Through the above technical solution, the swaying torque inside the conveying unit 19 can be sensed in real time and a reverse balancing torque can be generated, effectively suppressing dynamic instability during transportation. The balancing subunit 23 actively adjusts the support angle and pressure distribution of the stabilizing disc 24 to eliminate internal disturbances caused by acceleration, braking, or steering. The dual-loop control architecture ensures that the transportation path accuracy of the moving module and the attitude compensation capability of the stabilizing module do not interfere with each other, avoiding system oscillations caused by control conflicts. The closed-loop force transmission chain structure transforms control commands into precise mechanical actions, achieving millimeter-level stable control of the attitude of the conveying unit 19.

[0082] In this embodiment, the sensing module includes a path sensing unit and an attitude sensing unit. The path sensing unit is disposed on the mobile module, and the attitude sensing unit is disposed on the stabilizing unit 26. The path sensing unit is used to obtain the path status information of the transportation path of the mobile module, and the attitude sensing unit is used to obtain the attitude status information of the conveying unit 19. The path status information and the attitude status information are fused by the sensing module to obtain the transportation status information of the mobile module.

[0083] Specifically, during the transportation of the mobile module, the path sensing unit continuously collects information on the turning angle and acceleration changes of the transportation path, reflecting the impact of external motion on the system. Simultaneously, the attitude sensing unit monitors the tilt angle and vibration frequency parameters of the conveyor unit 19 in real time, characterizing the dynamic response caused by the shaking of the internal mixture. These two types of data are synchronized in time and then input into the fusion processing module. Weighted averaging or a state-space model is used to integrate the data, eliminating single-sensor measurement errors and generating composite transportation state information that includes path dynamics and carrier attitude. This information serves as input to the subsequent prediction module, providing multi-dimensional data support for calculating the disturbance state, enabling the control system to simultaneously track the coupling relationship between external motion excitation and internal dynamic response.

[0084] Through the above technical solution, this embodiment effectively solves the problem of incomplete acquisition of transportation status information and single data dimension caused by the dynamic shaking of solid-liquid mixtures. By using a split sensing architecture and data fusion mechanism, it realizes synchronous monitoring and correlation analysis of external excitation of the transportation path and internal response of the carrier attitude, providing high-precision multi-dimensional input data for subsequent disturbance prediction and active control, thereby reducing the lag and error accumulation risk of attitude stability control.

[0085] In some embodiments, the path sensing unit refers to a sensor component used to monitor the movement trajectory of the mobile module in real time. Specifically, it can be implemented using an inertial measurement unit or a satellite positioning module, and reflects the dynamic changes of the transportation path by collecting acceleration, angular velocity or latitude and longitude coordinate data.

[0086] In some embodiments, the attitude sensing unit refers to a measuring device for detecting the spatial attitude of the conveying unit 19, which can be implemented by a gyroscope or an angle sensor, and captures the attitude deviation caused by the shaking of the internal mixture by measuring the tilt angle or vibration amplitude of the conveying unit 19.

[0087] In some embodiments, fusion processing refers to the computational process of correlating and analyzing sensing data from different sources. Specifically, it can be implemented using Kalman filtering or multi-sensor data fusion algorithms. By eliminating noise interference and establishing a mapping relationship between path state and attitude state, comprehensive state information reflecting the overall dynamics of the transportation system is generated.

[0088] In this embodiment, the prediction module constructs an equivalent mechanical model of the transport unit 19. The equivalent mechanical model includes the differential equation of the second-order oscillation system of the transport unit 19, and the disturbance state information of the transport unit 19 is obtained by solving the differential equation. The disturbance state information includes swaying torque.

[0089] In this embodiment, the balancing module includes a quadratic programming solver, which is used to treat the swaying torque as a known disturbance within one balancing cycle, and use it as a state error term, and obtain the state transition function through the state tracking error term and the control sequence term.

[0090] Understandably, during transportation, when the sensing module detects a change in the attitude of the conveying unit 19, the prediction module calculates the swaying torque using an equivalent mechanical model and inputs it as a known disturbance into the balancing module. The quadratic programming solver transforms the swaying torque into a state error term, and combines the real-time acquired state tracking error term with preset control sequence constraints to construct a quadratic programming problem containing the error minimization objective and control quantity constraints. By solving this problem, a control sequence that minimizes the state transition function value is obtained, corresponding to the output torque adjustment of the drive unit 27 and the piston speed adjustment of the balancing subunit 23. During the solution process, the state transition function dynamically updates the relationship between the system state and the control quantity, ensuring that an optimal control signal adapted to real-time disturbances is generated in each balancing cycle, thereby actively counteracting the influence of the swaying torque on the attitude of the conveying unit 19.

[0091] Compared to existing technologies, traditional methods employ fixed-gain PID controllers or fuzzy control strategies, which can only handle linear or low dynamic range disturbances and cannot effectively address time-varying and nonlinear swaying torques in the transportation of solid-liquid mixtures. This embodiment, however, quantifies dynamic disturbances into state error terms using a quadratic programming solver, explicitly handles nonlinear factors in the mathematical model, and generates control signals using a multi-objective optimization method. This approach enables active suppression of high-frequency disturbance torques while maintaining computational efficiency.

[0092] Through the above technical solution, this embodiment can counteract the internal disturbance torque caused by the sloshing of the solid-liquid mixture in real time during transportation, so that the conveying unit 19 can maintain a stable posture when accelerating, braking or turning, and avoid the risk of overturning due to the shift of the center of gravity.

[0093] In some embodiments, a quadratic programming solver is a mathematical tool that transforms a nonlinear disturbance problem into a quadratic programming problem. Specifically, it can be implemented using the interior point method or the activity set method to solve for the optimal control strategy in a finite time.

[0094] In some embodiments, the state tracking error term is defined as the tracking error between the current transport state and the target stable state, to reflect the degree to which the system deviates from the stable state.

[0095] In some embodiments, the control sequence item refers to the set of control quantities of the drive unit 27 and the balance subunit 23 within multiple time steps. Specifically, the torque output range or piston movement speed range can be limited by constraint conditions to ensure the physical realizability of the control signal.

[0096] In this embodiment, the calculation process of the state transition function by the control module is to find a set of control sequence items to minimize the value of the state transition function. At this time, the control sequence is the control signal.

[0097] The control signals include the output torque of the drive unit 27 and the piston speed of the balance subunit 23.

[0098] Understandably, the control module iteratively optimizes the state transition function using a quadratic programming solver. Within each balancing cycle, it uses the swaying torque provided by the prediction module as a known disturbance input. Combining the current attitude error with the dynamic response characteristics of the drive unit 27 and the balancing subunit 23, it calculates the control sequence that minimizes the objective function. The output torque of the drive unit 27 is distributed to each moving wheel 28, adjusting the acceleration distribution of the transport unit to counteract the lateral swaying torque. The piston speed of the balancing subunit 23 generates a counter-compensation torque to balance the longitudinal swaying by adjusting the position of the stabilizing disc 24. The synergistic effect of these two mechanisms enables the system to track disturbance changes in real time, actively suppressing dynamic torque during acceleration, braking, or steering, thus avoiding the instability problems caused by the inability to predict disturbances in traditional passive suspension systems.

[0099] It is also understood that, based on the above, the technical solution of this embodiment can suppress the internal disturbance torque caused by the sloshing of the solid-liquid mixture in real time during transportation, effectively avoiding instability of the transportation unit caused by dynamic changes in the center of gravity. The drive unit 27 actively counteracts lateral disturbances by adjusting the torque distribution, and the balance subunit 23 compensates for longitudinal offset by adjusting the piston speed. The coordinated control of the two significantly improves the attitude stability of the conveying unit 19, solving the safety hazards of traditional systems that cannot actively suppress dynamic torques.

[0100] In some embodiments, the equivalent torque generated by the mixture sloshing on the conveying unit 19 M slosh Described by the differential equation of a second-order oscillating system, which satisfies expression one:

[0101] ;

[0102] The solution to expression one above (angle of sway) It is used to calculate the swaying moment, where the solution for the swaying moment satisfies expression two:

[0103] ;

[0104] In expression two above, , , These are the overall equivalent swing angle, angular velocity, and angular acceleration of the mixture and its conveying unit 19, respectively.

[0105] β、 ω n These are the damping ratio and natural frequency of the equivalent mechanical model, respectively;

[0106] a y The lateral acceleration of the moving module;

[0107] L eq For equivalent pendulum length;

[0108] m slosh The overall equivalent mass of the mixture and its conveying unit 19;

[0109] g It is the acceleration due to gravity;

[0110] θ is the overall equivalent swing angle of the mixture and its conveying unit 19.

[0111] Understandably, in Expression 1, the left and right sides of the equal sign represent the dynamic characteristics of the equivalent mechanical model during its oscillation (including restoring force, damping, and inertia terms) and the driving force (i.e., the lateral acceleration of the moving module is considered the "external force" causing the swaying). By solving the above equations, it is possible to predict how the overall swaying angle of the mixture will change under the obtained acceleration of the moving module.

[0112] It is also understandable that, after calculation using Expression 2, the sway angle is... Transformed into a physical equivalent torque actually acting on the vehicle body M slosh .

[0113] In some embodiments, the state transition function satisfies expression three:

[0114] ;

[0115] Understandably, the essence of a stable module is model-based prediction and iterative optimization, which, at each equilibrium cycle, will:

[0116] 1. Predict how different control commands will cause changes in the system state within a short period of time in the future (prediction time domain);

[0117] 2. Among all possible control sequences, find the optimal control sequence that minimizes a predefined cost function using an online optimization algorithm;

[0118] 3. Only execute the first instruction of the optimal sequence, and then at the next moment, iteratively calculate based on the latest transportation status information to complete the entire transportation process.

[0119] It is also understandable that in expression three above, This is the state tracking error term, which represents the time from the current equilibrium period to the future. N -1 step, the predicted state at each time step x k With the expected steady state X ref The difference between the two vectors is calculated and accumulated; the weight matrix Q is used to define the stability of the state.

[0120] It is also understandable that The control sequence term represents all future control inputs. u k The sum of squares of (torque and piston speed of drive unit 27), weight matrix R The "costs" used to balance control R The larger the value, the more the control module tends to use smaller, smoother control actions.

[0121] It is also understandable that The state error term is represented in this embodiment. The swaying torque is a physical disturbance source and the root cause of the instability of the conveying system. Therefore, the swaying torque is taken as a known disturbance input and introduced into the state error term as part of the state error term. In other embodiments, the swaying torque can be regarded as a state error term.

[0122] In expression three, N To predict the length of the time domain;

[0123] X k For the future k The state vector of the system at each step is the set containing all the key information;

[0124] X ref Let be the desired state vector, preferably represented by the zero vector, which indicates complete stability;

[0125] u k For the future k The control sequence item for each step contains instructions for all actuators, preferably... ;

[0126] Q , R , P Both are weight matrices;

[0127] , , , These are the output torque commands for the motors corresponding to the 28 movable wheels;

[0128] , , These are the speed commands for the balance subunit 23.

[0129] In some embodiments, the movable wheel 28 is preferably a Mecanum wheel, wherein, for the inverse kinematics model of the Mecanum wheel, the output of the control module is... U θ ( t The acceleration command is translated into the rotational speed of the four Mecanum wheels, and the Mecanum wheels can only rotate at a certain speed. x The movement occurs in the direction of the target vector of chassis unit 25, therefore:

[0130] ;

[0131] Among them, v x Depend on U θ ( t It is obtained through integration or direct association.

[0132] The nominal angular velocities of the four Mecanum wheels are preferably calculated using the following inverse kinematics formula:

[0133] ;

[0134] Because only in x To achieve balance control in direction, i.e. v y =0, ω z =0, the above equation simplifies to:

[0135] ;

[0136] Wherein, ω1, ω2, ω3, and ω4 are the angular velocities of the first to the fourth Mecanum wheels, respectively. It can be understood that the preferred definition of the first to the fourth Mecanum wheels is to select the first Mecanum wheel and then define the second to the fourth Mecanum wheels in clockwise or counterclockwise order.

[0137] R The radius of the Mecanum wheel

[0138] v x , vy The chassis unit 25 is shown in the coordinate system. x shaft and y Axial velocity;

[0139] ω z The rotational angular velocity of chassis unit 25 about its own center z-axis;

[0140] L This is the distance from the center of through hole 30 to the front and rear wheel axles;

[0141] W This is the distance from the center of through hole 30 to the left and right wheel axles.

[0142] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A solid-liquid mixture conveying system, characterized in that, The conveying system is used to transfer the mixture from the tank to the storage station, and the conveying system includes: The conveying layer includes a transfer conveying module and a solidification conveying module. The transfer conveying module is connected to the tank and the solidification conveying module is connected to the solidification conveying module. The transfer conveying module is used to grind the mixture during the conveying process. The solidification conveying module is also connected to a conveying unit and is used to solidify the mixture within the conveying unit during the conveying process. The transport layer includes a moving module and a stabilizing module. The conveying unit is disposed on the moving module, and the moving module is used to complete the transport process. The control layer includes a sensing module, a prediction module, a balancing module, and a control module. The sensing module acquires the transportation status information of the moving module. The prediction module calculates the disturbance status information of the conveying unit based on the transportation status information. The balancing module calculates the state transition function of the stabilizing module based on the disturbance status information. The control module calculates the control signal of the stabilizing module based on the state transition function. The stabilization module is used to execute control signals during the transportation of the mobile module in order to maintain the stability of the conveying unit's posture. The cloud platform is used to monitor and provide early warnings about the transportation status of the transportation layer.

2. The solid-liquid mixture conveying system as described in claim 1, characterized in that, The tank includes a carrier platform, a collection component, a conveying component, a filter component, and a conveying pump. The collection component, the conveying component, the filter component, and the conveying pump are all disposed on the carrier platform. After the mixture is collected by the collection component, it is sequentially conveyed through the conveying component, the filter component, and the conveying pump to the transfer conveying module.

3. The solid-liquid mixture conveying system as described in claim 1, characterized in that, The transfer and conveying module includes a colloid mill, a transfer seasoning tank, and a receiving tank. The mixture is sequentially conveyed through the colloid mill, the transfer seasoning tank, and the receiving tank after passing through the tank. A stirring paddle is provided in the colloid mill, the transfer seasoning tank, and the receiving tank. A viewing window is provided in the colloid mill, the transfer seasoning tank, and the receiving tank.

4. The solid-liquid mixture conveying system as described in claim 1, characterized in that, The curing conveying module is connected to a pressure conveying module. The curing conveying module includes a curing seasoning tank. The input end of the curing seasoning tank is connected to the transfer conveying module, and the output end of the curing seasoning tank is connected to the conveying unit. The pressure conveying module is located between the curing seasoning tank and the conveying unit. The pressure conveying module is used to pressurize the mixture in the curing seasoning tank into the conveying unit.

5. The solid-liquid mixture conveying system as described in claim 1, characterized in that, The stabilization module includes a chassis unit, a stabilization unit, and several drive units. The chassis unit includes a chassis frame, and several moving wheels are provided at the bottom of the chassis frame. Each moving wheel is driven by a separate drive unit. The stabilization unit is mounted on the chassis frame.

6. The solid-liquid mixture conveying system as described in claim 5, characterized in that, The chassis frame has a through hole, the conveying unit is disposed in the through hole, and the stabilizing unit is disposed on the chassis frame and corresponds to the position of the through hole. The stabilizing unit includes a stabilizing disc and several balancing sub-units. The stabilizing disc abuts against the lower end face of the conveying unit, and the two ends of the balancing sub-units are respectively connected to the lower end face of the chassis frame and the stabilizing disc. The balancing sub-units and the driving unit are both signal connected to the control module.

7. The solid-liquid mixture conveying system as described in claim 5, characterized in that, The sensing module includes a path sensing unit and an attitude sensing unit. The path sensing unit is disposed on the mobile module, and the attitude sensing unit is disposed on the stabilizing unit. The path sensing unit is used to acquire path status information of the transportation path of the mobile module, and the attitude sensing unit is used to acquire attitude status information of the conveying unit. The path status information and attitude status information are fused and processed by the sensing module to obtain the transportation status information of the mobile module.

8. The solid-liquid mixture conveying system as described in claim 6, characterized in that, The prediction module contains an equivalent mechanical model of the transport unit. The equivalent mechanical model includes the differential equation of the second-order oscillating system of the transport unit. The disturbance state information of the transport unit is obtained by solving the differential equation. The disturbance state information includes the swaying torque.

9. A solid-liquid mixture conveying system as described in claim 8, characterized in that, The balancing module includes a quadratic programming solver, which is used to treat the swaying torque as a known disturbance within one balancing cycle, and use it as a state error term, and obtain the state transition function through the state tracking error term and the control sequence term.

10. A solid-liquid mixture conveying system as described in claim 9, characterized in that, The control module calculates the state transition function by finding a set of control sequence terms that minimizes the value of the state transition function. The control sequence at this point is the control signal. The control signals include the output torque of the drive unit and the piston speed of the balance subunit.

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