Unloading control method and system, mixing plant and machine readable storage medium

Abstract

The invention discloses an unloading control method and system, a mixing plant and a machine readable storage medium, and relates to the technical field of engineering machinery. The method comprises the following steps: determining a target unloading device based on an obtained task list and the state of each unloading device in an unloading device waiting area; after the target unloading device completes material receiving, multiple candidate paths of the target unloading device from the current position to the target unloading area are generated; screening out a target path from the plurality of candidate paths based on the path information of other unloading devices; the target discharging device is controlled to move to the target discharging area based on the target path, and discharging is completed; and the target discharging device is controlled to return to the discharging device waiting area to wait for the next discharging task. By means of parallel operation of the multiple discharging devices, production of the stirring station and material receiving of the stirring transport vehicle are decoupled, and by means of the dynamic obstacle avoidance technology, it is ensured that the multiple discharging devices move safely and orderly, the production efficiency is improved, and energy losses are reduced.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a material unloading control method, system, mixing plant, and machine-readable storage medium. Background Technology

[0002] With the rapid development of the construction engineering field, ready-mixed concrete, as a key building material, has a direct impact on project progress due to its production efficiency and quality. Concrete batching plants, as the core facilities for ready-mixed concrete production, undertake the entire process of raw material proportioning, mixing, and unloading. Their operational efficiency has become a crucial factor restricting the pace of project construction. Currently, traditional batching plants generally adopt a single unloading port design. In continuous production scenarios, the unloading process must be strictly synchronized with the entry and alignment of concrete mixer trucks. In practice, the next truck can only enter the unloading area after the previous one has finished receiving the material and left, resulting in the batching plant often being in an idle state of "concrete prepared but waiting to be received," making it difficult to improve production efficiency. Simultaneously, the mixing host needs to continue running during the waiting period to prevent the concrete from solidifying, which not only increases energy consumption but also accelerates equipment wear and tear, becoming a major bottleneck in the industry for improving production efficiency and reducing operating costs. Technological innovation is urgently needed to overcome this limitation. Summary of the Invention

[0003] In view of the above-mentioned shortcomings of the prior art, the purpose of this application is to provide a material unloading control method, system, mixing plant and machine-readable storage medium.

[0004] To achieve the above objectives, the first aspect of this application provides a material unloading control method applied to a mixing plant. The mixing plant includes multiple material unloading devices. The material unloading control method includes: The target unloading device is determined based on the acquired task list and the status of each unloading device in the unloading device waiting area; After the target unloading device completes receiving the material, multiple candidate paths are generated from the current location of the target unloading device to the target unloading area; The target path is selected from multiple candidate paths based on the path information of other unloading devices, where other unloading devices are unloading devices that perform other unloading tasks. The target unloading device is controlled to move to the target unloading area based on the target path to complete the unloading; The control target unloading device returns to the unloading device waiting area, waiting for the next unloading task.

[0005] In this embodiment of the application, the mixing plant further includes a mixing host. Before the step of generating multiple candidate paths from the current position of the target unloading device to the target unloading area after the target unloading device has completed receiving the material, the method further includes: Determine the differential signal between the actual position of the discharge port of the mixing host and the satellite positioning position; The device position of the target unloading device is obtained, and the device position is calibrated based on the differential signal; Based on the calibrated device position, the target unloading device is controlled to move to the unloading port of the mixing host to complete the material receiving.

[0006] In this embodiment of the application, based on the calibrated device position, the target unloading device is controlled to move to the unloading port of the mixing host to complete the material receiving, including: Based on the calibrated device position, control the target unloading device to move to the unloading port of the mixing host; With the target unloading device aligned with the unloading port, material production is initiated based on the expected production time in the task list. When material production is completed, control the material transfer to the target unloading device so that the target unloading device can complete the material receiving.

[0007] In this embodiment of the application, based on the calibrated device position, the target unloading device is controlled to move to the unloading port of the mixing host to complete the material receiving, including: Based on the calibrated device position, control the target unloading device to move to the device cooling zone for cooling; Once the target unloading device has cooled down, control the target unloading device to move to the unloading port of the mixing host to complete the material receiving.

[0008] In this embodiment of the application, the target path is selected from multiple candidate paths based on the path information of other unloading devices, including: For each candidate path, determine whether there is a path conflict based on the path information of the candidate path and other unloading devices; Select candidate paths that do not conflict with each other as the initial target path; If there are multiple initial target paths, the target path among the multiple initial target paths is determined based on the preset screening requirements and / or the availability of the concrete mixer trucks. The concrete mixer trucks are those pre-associated in the task list.

[0009] In this embodiment of the application, based on preset screening requirements and / or the availability of the mixer truck, the target path among multiple initial target paths is determined as follows: Determine whether the mixer truck has arrived based on its location; Once the concrete mixer truck is in place, the initial target path that is closest to the destination and the location where the concrete mixer truck is parked will be taken as the target path. Before the concrete mixer truck arrives, a target path is selected from the initial target paths based on preset screening requirements.

[0010] In this embodiment of the application, the unloading control method further includes: Centered on the target unloading area, a circular return zone is constructed with the first end of the unloading device waiting area as the region endpoint. Unloading devices entering the circular return zone can only move in the direction of the region endpoint. The second end of the unloading device waiting area is connected to the device cooling zone.

[0011] In this embodiment of the application, controlling the target unloading device to return to the unloading device waiting area includes: Determine the return path closest to the annular return zone based on the location of the target unloading device; The target unloading device enters the circular return zone based on the return path control. The material returns to the unloading device waiting area via the circular return zone.

[0012] A second aspect of this application provides a discharge control system, comprising: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the unloading control method as described in the above embodiments.

[0013] A third aspect of this application provides a mixing plant, comprising: Mixing unit; Multiple unloading devices; The unloading control system as described in the above embodiments.

[0014] A fourth aspect of this application provides a machine-readable storage medium storing instructions that cause a machine to perform the unloading control method as described in the above embodiments.

[0015] The above technical solution determines the target unloading device based on the acquired task list and the status of each unloading device in the unloading device waiting area. After the target unloading device completes receiving the material, multiple candidate paths are generated from the target unloading device's current location to the target unloading area. The target path is selected from these candidate paths based on the path information of other unloading devices, where the other unloading devices are those performing other unloading tasks. The target unloading device is controlled to move to the target unloading area based on the target path and complete the unloading. Finally, the target unloading device is controlled to return to the unloading device waiting area to await the next unloading task. By operating multiple unloading devices in parallel, the production of the mixing plant and the receiving of the mixing truck are decoupled. Dynamic obstacle avoidance technology ensures the safe and orderly movement of multiple unloading devices within a limited space, reducing collision risks and thus improving production efficiency and reducing energy consumption. Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 The schematic diagram illustrates a flow chart of an unloading control method according to an embodiment of this application; Figure 2 The diagram illustrates a target path filtering method according to an embodiment of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0018] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0019] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0020] Furthermore, if the embodiments of this application 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, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of 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. If 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 in this application.

[0021] Figure 1A schematic flowchart illustrating an unloading control method according to an embodiment of this application is shown. Figure 1 As shown in the figure, this application provides a material unloading control method applied to a mixing plant. The mixing plant includes multiple unloading devices, and the material unloading control method may include the following steps: Step 100: Determine the target unloading device based on the acquired task list and the status of each unloading device in the unloading device waiting area; It should be noted that, given the increasing demand for concrete in current construction projects, the single unloading port mode commonly used in traditional batching plants has become a major bottleneck restricting production efficiency. In this embodiment, an unloading control method that enables multiple vehicles to receive materials in parallel, automated scheduling, and precise path planning is provided to decouple the production and unloading processes, improve the overall operating efficiency of the batching plant, reduce energy consumption, and enhance the safety and automation level of operations.

[0022] This embodiment applies to a batching plant equipped with multiple unloading devices. The batching plant can include concrete batching plants, asphalt batching plants, stabilized soil batching plants, and dry mortar batching plants, etc. This embodiment mainly uses a concrete batching plant as an example. The unloading device can be a movable storage hopper, a torpedo-shaped container, or multiple fixed stations with independent unloading capabilities. When there are multiple unloading tasks to be executed and multiple parallel unloading devices within the batching plant, an automated decision-making mechanism is necessary to achieve optimal matching between tasks and devices, thereby avoiding resource contention and path conflicts, shortening equipment idle time and waiting time, and maximizing the overall system throughput efficiency. Determining the target unloading device is the foundation for the orderly startup of a multi-unloading system, avoiding resource mismatch such as multiple devices being idle and tasks queuing, and ensuring that each unloading task can be quickly matched with the most suitable execution device.

[0023] In this embodiment, the mixing plant is divided into multiple areas, including a waiting area for unloading devices, a cooling area, a receiving area, an unloading area, and a circular return area. The waiting area for unloading devices is designed for centralized management of idle equipment, facilitating rapid location and assignment by the scheduling system. After completing one unloading task, all unloading devices return here to await the next task allocation. The cooling area is located between the waiting area and the receiving area. Its core function is to forcibly cool the unloading devices before they receive concrete, lowering the temperature of the device itself and extending the initial setting time of the concrete, providing a valuable time window for subsequent waiting and ensuring concrete quality. The receiving area is directly surrounding the discharge port of the mixing host and is where the unloading devices receive concrete. The unloading devices must be aligned to the centimeter level with the discharge port of the mixing host in the receiving area to safely and without spillage. The unloading area is where the unloading device docks with the mixer truck and completes the final unloading. The unloading area can be further divided into multiple sub-unloading areas, allowing the unloading device to be assigned to different sub-unloading areas and dock with its corresponding mixer truck. This physically avoids congestion and path conflicts for the unloading device in the core operating area. The circular return area is a dedicated passage designed specifically for the device completing its task. It forms a ring around the unloading area and is designed for one-way traffic.

[0024] In this embodiment, the target unloading device is determined by combining the requirement information from the task list with the real-time status information from each unloading device in the unloading device waiting area. Specifically, the task list is a set of instructions containing key information about the unloading task, typically including the expected production time, the identifier of the mixer truck corresponding to the target unloading area, etc. For example, a task list might indicate "Expected production time 2025-06-25 14:00, mixer truck receiving hopper IDB0002". The unloading device waiting area is a designated area within the mixing plant for storing idle unloading devices, and the unloading devices in the waiting area must be ready to respond to tasks at any time. The status of the unloading device includes its current working status, such as queuing, cooling, malfunction, etc., as well as the location information of the unloading device, such as its distance from the unloading port of the mixing host. In the implementation process, the system first reads the task requirements from the task list, then synchronously collects the status data of all unloading devices in the waiting area, and filters the target device through preset rules. The preset rules can be set according to actual needs. For example, when the task list requires quick material receiving, the system will prioritize the device that is in the "queue waiting" state and is closest to the discharge port of the mixing host as the target device. If there are devices A and B in the waiting area, device A is 5 meters away from the discharge port of the mixing host and is in the queue waiting state, while device B is 10 meters away from the discharge port of the mixing host and is in the queue waiting state, then device A will be selected. If it is necessary to balance the utilization rate of devices, the system will count the historical task volume of each device and select the device with the shortest cumulative working time. For example, if device C has accumulated 2 hours of work and device D has accumulated 1 hour of work, even if device C is closer, device D will still be selected.

[0025] By identifying the target unloading device, the equipment resources in the waiting area are maximized, the task waiting time is reduced, and the foundation is laid for the efficient advancement of the subsequent unloading process.

[0026] Step 200: After the target unloading device completes receiving the material, generate multiple candidate paths from the current position of the target unloading device to the target unloading area; It is important to note that generating multiple candidate paths is crucial for handling dynamic scenarios involving multiple unloading devices. This prevents unloading from stalling due to unforeseen conflicts affecting a single path, and provides ample options for subsequent optimal path selection. The current position refers to the specific coordinates of the target unloading device after receiving material. This is typically determined using the mixer's unloading port as a base station (default coordinates 0, 0), obtained through positioning technology. For example, if the device is located 8 meters east of the base station after receiving material, its coordinates would be (8, 0). The target unloading area is the designated area where the mixer truck waits to receive concrete, which may be one of several pre-divided unloading sub-areas. When generating candidate paths, the physical layout of the unloading area is considered, such as the presence of fixed obstacles and channel width. Multiple different movement routes are planned, starting from the current position and ending at the target unloading area. For example, if the target unloading device is currently at coordinates (8, 0), and the target unloading area is pre-unloading area A (coordinates 20, 5), path 1 can be generated: "go straight along the east side passage to 20 meters, then turn north for 5 meters," path 2 can be generated: "go diagonally northeast to coordinates (15, 3), then go straight to the target area," and path 3 can be generated: "go around along the west side auxiliary passage to coordinates (20, 5)," etc. If there are temporarily stockpiled raw materials in the unloading area, a detour path will also be generated to avoid that area. Generating multiple candidate paths can effectively deal with potential path conflicts in the future, improve the flexibility of the unloading device's movement, and ensure that the unloading process is not interrupted due to a single path problem.

[0027] Step 300: Select the target path from multiple candidate paths based on the path information of other unloading devices, where other unloading devices are unloading devices that perform other unloading tasks; It should be noted that selecting the target path is crucial for ensuring that multiple unloading devices can move in parallel without conflict. By avoiding collisions between different unloading devices during movement, it ensures that the movement of devices within the entire unloading area is orderly and efficient. Other unloading devices refer to devices performing tasks other than the current unloading task. The path information of other unloading devices includes their respective movement routes, estimated movement times, and current positions. The target path is the optimal, conflict-free route selected from the candidate paths. During the selection process, the path information of each candidate path is compared with that of other unloading devices to determine whether there are any spatial or temporal overlaps or conflicts. For example, candidate path 1 is "go straight along the east passage to 20 meters, then turn north for 5 meters." If the path of other unloading device E is "move along the east passage from 15 meters to 10 meters," both will pass through the 10-15 meter section of the east passage simultaneously, creating a conflict. Therefore, candidate path 1 is eliminated. Candidate path 2 is "first move diagonally northeast to coordinates (15, 3), then go straight to the target area." After comparison, it does not overlap with any other device paths and has the shortest movement distance, so it is selected as the target path. If candidate path 3 has no conflict but the detour distance is too long, it will also be eliminated. By filtering paths to avoid conflicts in the movement of multiple devices, the safe and efficient movement of each device within the unloading area is ensured, improving the overall unloading efficiency.

[0028] Step 400: Control the target unloading device to move to the target unloading area based on the target path to complete the unloading; It should be noted that controlling the movement of the target unloading device can be achieved through the device's drive system and control system. The drive system is responsible for moving the unloading device along the target path, such as using drive wheels to achieve forward movement and turning. The control system receives positioning feedback in real time and adjusts the movement speed and direction to ensure the device moves accurately along the target path. When the target unloading device reaches the target unloading area, it must first confirm alignment with the receiving hopper of the mixer truck. This is usually done by using positioning technology to check if the two positions overlap. After alignment, the hopper gate of the unloading device is opened, and concrete is poured into the receiving hopper of the mixer truck, completing the unloading. For example, after the target unloading device moves to the pre-unloading area A along the target path, the positioning system detects that the coordinate error between the device and the receiving hopper of the mixer truck is within a preset range. The control system then issues a unloading command, the hopper gate opens, and concrete enters the mixing drum of the mixer truck through the receiving hopper. After detecting that the concrete in the device is emptied, the hopper gate is closed, completing the unloading. If the direction deviates due to uneven ground during the movement, the control system will adjust the steering of the drive wheels in a timely manner based on positioning feedback to correct the path.

[0029] Step 500: Control the target unloading device to return to the unloading device waiting area, waiting for the next unloading task.

[0030] It's important to note that controlling the return of the unloading device to the waiting area is crucial for achieving device recycling. This ensures that the device, having completed unloading, promptly returns to its standby state, preventing it from idling and occupying space in the unloading area, and guaranteeing rapid deployment for subsequent tasks. During the return process, a path is planned from the target unloading area to the unloading device's waiting area. This path must consider the movement of other devices within the unloading area and is typically planned in an orderly manner to ensure the return process does not conflict with other devices. After returning to the waiting area, the device updates its status to "queueing" and reports its status to the system in real time, awaiting the next task assignment. Controlling the return of the unloading device to the waiting area enables its recycling, maximizing its utilization rate, while maintaining a clean and orderly unloading area, ensuring continuous production for the entire mixing plant.

[0031] In this embodiment, the target unloading device is determined based on the acquired task list and the status of each unloading device in the unloading device waiting area. After the target unloading device completes receiving the material, multiple candidate paths are generated from the target unloading device's current position to the target unloading area. The target path is selected from the multiple candidate paths based on the path information of other unloading devices, where other unloading devices are those performing other unloading tasks. The target unloading device is controlled to move to the target unloading area based on the target path and complete the unloading. The target unloading device is then controlled to return to the unloading device waiting area to wait for the next unloading task. By operating multiple unloading devices in parallel, the production of the mixing plant and the receiving of the mixing transport vehicle are decoupled. Through dynamic obstacle avoidance technology, the safe and orderly movement of multiple unloading devices within a limited space is ensured, reducing the risk of collisions, thereby improving production efficiency and reducing energy consumption.

[0032] In this embodiment, it should be noted that, in one embodiment, the unloading control method described in this application can be specifically executed based on the unloading control system. For example, the unloading control system may include a task management module, a production control module, a path planning module, and an unloading device control module; this unloading control system is driven by a task list as its core, and is uniformly generated and managed by the task management module. Each task list records key information such as expected production time, task status, target unloading device information that can be updated later, and mixer transport vehicle information. The task status may include waiting, start, and end states. The task list runs through the entire task and is the "information bus" for all modules to work together. Based on the task list, the production control module automatically generates a production plan at the "expected production time" after checking that the raw materials and unloading device status meet the conditions. The production control module ensures that production is only started when the unloading device is aligned with the unloading port of the mixer host, achieving precise synchronization between production and material receiving. The unloading device control module is responsible for executing specific actions. The unloading device control module selects the nearest unloading device with a "waiting" status from the unloading device waiting area based on the task list. After the unloading device passes through the device's cooling area to cool down, its status is updated to "cooling." It then moves precisely to the unloading port of the mixing host to receive material, updating its status to "receiving material." After receiving material, the unloading device enters the target unloading area, aligns with the receiving hopper of the already positioned mixing truck, updates its status to "unloading start," and begins unloading. The status is then updated to "unloading complete." After completion, it enters the circular return area, updating its status to "return." Finally, it returns to the unloading device waiting area along the circular path, awaiting the next task, updating its status to "waiting." The path planning module is responsible for planning the path for each movement of the unloading device.

[0033] In one embodiment, the mixing plant further includes a mixing host, and before the step of generating multiple candidate paths from the current location of the target unloading device to the target unloading area after the target unloading device has completed receiving the material, the method further includes: Determine the differential signal between the actual position of the discharge port of the mixing host and the satellite positioning position; The device position of the target unloading device is obtained, and the device position is calibrated based on the differential signal; Based on the calibrated device position, the target unloading device is controlled to move to the unloading port of the mixing host to complete the material receiving.

[0034] It should be noted that, in order to ensure automated and high-precision material receiving operations for multiple unloading devices within a limited area, a unified high-precision positioning benchmark must be established. Relying solely on satellite positioning will result in decimeter-level errors due to atmospheric delays and satellite orbit deviations, which is far from meeting the centimeter-level alignment requirements for concrete receiving. Therefore, a local differential correction system needs to be established with the unloading port of the mixing host as the benchmark to provide a unified and accurate coordinate reference for all mobile equipment.

[0035] In this embodiment, RTK (Real-Time Kinematic) positioning technology can be used. The discharge port of the mixing host is used as a reference station, and its precise actual position coordinates are pre-measured and stored. The positioning receiver of the reference station continuously receives satellite signals and calculates its own satellite positioning position. By comparing the "known actual position" with the "real-time satellite positioning position," the deviation between the two can be calculated, and this deviation data is the differential signal. This differential signal is broadcast to all discharge devices in real time. The target discharge device selected to perform the task acts as a rover station, and its own positioning receiver also receives both the satellite signal and the differential signal broadcast by the reference station. The target discharge device first calculates its original position, which has a large error, based on the satellite signal, i.e., the device position. Subsequently, the target discharge device uses the received differential signal to correct its position, thereby obtaining a high-precision calibrated position that is completely consistent with the coordinate system of the reference station. The system continuously acquires the precise calibrated position of the target discharge device, generates a precise path from the current position of the target discharge device to the discharge port, and controls the target discharge device to move along this path. During the movement, the target unloading device continuously feeds back its calibration position to the system. When the system detects that the device and the unloading port are aligned, it determines that the alignment is successful, controls the target unloading device to stop moving, and waits for material to be received. At this time, the mixing host opens the unloading gate, and the concrete can fall accurately into the device, successfully completing the material receiving process.

[0036] In this embodiment, by reducing the inherent error of satellite positioning, the positioning accuracy of the unloading device is improved to the centimeter level, which fundamentally ensures the reliability and safety of automated operation of multiple devices, significantly reduces the risk of concrete spillage, and lays a solid foundation for subsequent efficient unloading.

[0037] In one embodiment, based on the calibrated device position, the target unloading device is controlled to move to the unloading port of the mixing host to complete the material receiving, including: Based on the calibrated device position, control the target unloading device to move to the unloading port of the mixing host; With the target unloading device aligned with the unloading port, material production is initiated based on the expected production time in the task list. When material production is completed, control the material transfer to the target unloading device so that the target unloading device can complete the material receiving.

[0038] In this embodiment, production is only started after the unloading device is physically in place, avoiding material waste or equipment damage due to misalignment. Based on the calibrated device position, the target unloading device is moved to the unloading port of the mixing host, and the expected production time in the task list is checked and determined. The expected production time is preset according to the overall production plan. There are several ways to implement this: if the current time is later than or equal to the expected production time, a start command is immediately sent to the production control module; if the current time is earlier than the expected production time, the system enters a waiting state and automatically starts production when the preset time point is reached. After receiving the start command, the production control module begins to control the mixing host to produce according to the formula. After production is completed, the production control module updates the production plan status to the completed state and sends a signal of production completion to the control system. After receiving the signal, the control system immediately sends commands to the unloading gate actuator of the mixing host and the gate control mechanism of the target unloading device to open the unloading gate, allowing the mixed concrete to be accurately transferred to the positioned target unloading device through the hopper and other transition devices.

[0039] In this embodiment, not only is the accuracy and safety of material receiving ensured and material waste is avoided, but the automation and intelligence of the production process are also realized, laying a solid and efficient foundation for subsequent parallel unloading of multiple devices.

[0040] In one embodiment, based on the calibrated device position, the target unloading device is controlled to move to the unloading port of the mixing host to complete the material receiving, including: Based on the calibrated device position, control the target unloading device to move to the device cooling zone for cooling; Once the target unloading device has cooled down, control the target unloading device to move to the unloading port of the mixing host to complete the material receiving.

[0041] It should be noted that in the parallel operation mode of multiple unloading devices, concrete may need to be temporarily stored in the unloading device while waiting for the mixer truck. Active cooling can significantly extend the initial setting time of the concrete, ensuring its workability, while ensuring that the device is physically in place and has completed temperature preparation before receiving the material.

[0042] In this embodiment, after the target unloading device is determined, the system controls it to move to a preset device cooling zone based on its calibrated high-precision position. The cooling zone is a dedicated area within the mixing plant for cooling the unloading device, typically equipped with a forced air cooling or water cooling system. After entering the cooling zone, the device remains there for a preset cooling time, such as 5 minutes, to ensure the device's temperature drops below a set threshold. This step effectively absorbs some of the heat from the subsequently loaded concrete, delaying its solidification. After cooling, the system again generates a precise path from the device cooling zone to the mixing host's discharge port based on the calibrated position, controlling the target unloading device to move and achieve high-precision alignment with the mixing host's discharge port. Once aligned successfully, the mixing host begins unloading according to the production plan, and the concrete accurately falls into the device, completing the receiving process.

[0043] In this embodiment, forced cooling significantly extends the safe temporary storage time of concrete in the device, providing a time window for multiple vehicles to receive materials in parallel, effectively improving the flexibility of production scheduling and the overall efficiency of the system, while ensuring the final quality of the concrete.

[0044] In one embodiment, selecting a target path from multiple candidate paths based on path information from other unloading devices includes: For each candidate path, determine whether there is a path conflict based on the path information of the candidate path and other unloading devices; Select candidate paths that do not conflict with each other as the initial target path; If there are multiple initial target paths, the target path among the multiple initial target paths is determined based on the preset screening requirements and / or the availability of the concrete mixer trucks. The concrete mixer trucks are those pre-associated in the task list.

[0045] It should be noted that the preset screening requirements may include strategies such as shortest path, lowest energy consumption, or priority use of the main channel; the arrival status of the mixer truck refers to whether the mixer truck associated with the task list has arrived at the target unloading area and is in position. In this embodiment, the candidate paths of the target unloading device each day are compared with the path information of other unloading devices, including the current location, target location, and planned path of the other unloading devices; if two paths overlap spatially and the time windows expected to pass through the overlap point intersect, it is determined that there is a path conflict. The system filters out all candidate paths without path conflicts to form an initial set of target paths. The paths in this set are all physically safe and feasible. It can be understood that if there is only one initial target path, it is directly used as the target path.

[0046] If there are multiple initial target paths, the target path among these paths is determined based on preset screening requirements and / or the availability of concrete mixer trucks. Specifically: Determine whether the mixer truck has arrived based on its location; Once the concrete mixer truck is in place, the initial target path that is closest to the destination and the location where the concrete mixer truck is parked will be taken as the target path. Before the concrete mixer truck arrives, a target path is selected from the initial target paths based on preset screening requirements.

[0047] It should be noted that route selection must serve the final unloading target, namely, docking with the concrete mixer truck. The real-time status of the concrete mixer truck is a key external condition for determining route priority. In this embodiment, positioning technology or sensor information is used to determine whether the concrete mixer trucks pre-associated in the task list are already in position at the target unloading area. If the concrete mixer truck is in position, the distance between the end point of each initial target path and the position of the already positioned concrete mixer truck is calculated, and the initial path with the shortest distance is selected as the final target path. This minimizes the fine-tuning distance of the device within the unloading area, achieving the fastest docking. If the concrete mixer truck is not in position, the target unloading device needs to wait in the unloading area. The system will select the most suitable path from the initial target paths as the final target path based on preset screening requirements, and the control device will move to the end point of the target path to wait. The preset screening requirements can be set based on actual needs, such as including the shortest path or heading to a preset waiting point with the best view.

[0048] refer to Figure 2 Taking the target unloading device as mobile station A1, other unloading devices as mobile station A2, and the mixer truck as mobile station B as an example, it can be seen that path 1 and path 2 have path conflicts; path 3 and path 4 are both initial target paths; among path 3 and path 4, the endpoint of path 3, "expected position 3 of mobile station A1", is closer to mobile station B, so path 3 is selected as the target path.

[0049] In this embodiment, by deeply coupling path decision-making with the actual production rhythm, the fastest docking can be achieved when the vehicle is in place at the mixing and transportation point, and the optimal waiting position can be selected when it is not in place, avoiding ineffective movement and further optimizing the efficiency of the entire production process.

[0050] In one embodiment, the unloading control method further includes: Centered on the target unloading area, a circular return zone is constructed with the first end of the unloading device waiting area as the region endpoint. Unloading devices entering the circular return zone can only move in the direction of the region endpoint. The second end of the unloading device waiting area is connected to the device cooling zone.

[0051] It should be noted that the circular return zone is an infrastructure and rule designed for the orderly and efficient return of multiple unloading devices. This is to avoid congestion and collisions during the return phase, ensuring that the unloading devices can quickly and safely return to the unloading device waiting area.

[0052] In this embodiment, with the target unloading area as the center, the first end of the unloading device waiting area is set as the end point of the circular return area, thus constructing a closed circular channel. This channel is defined as the circular return area. The system sets a one-way traffic rule for the circular return area, meaning that all unloading devices entering this area can only move towards the "end point," i.e., the first end of the waiting area. The second end of the unloading device waiting area is connected to the device cooling area. This layout means that the unloading device, starting from the unloading device waiting area, passes through the cooling area, receives material, and unloads, and can directly enter the entrance of the circular return area, returning to the other end of the unloading device waiting area along a one-way path, forming an efficient operation cycle.

[0053] In this embodiment, the traffic organization problem when multiple unloading devices return is completely solved by dividing the physical area and implementing one-way traffic rules. This ensures the orderliness and safety of the return process, avoids congestion, and allows the unloading devices to quickly enter the next cycle, thereby improving equipment turnover rate.

[0054] Specifically, in one embodiment, controlling the target unloading device to return to the unloading device waiting area includes: Determine the return path closest to the annular return zone based on the location of the target unloading device; The target unloading device enters the circular return zone based on the return path control. The material returns to the unloading device waiting area via the circular return zone.

[0055] In this embodiment, an optimal entry path is calculated for each unloading device that needs to return, and its return to the unloading device waiting area along the circular return zone is precisely controlled to complete the entire operation loop.

[0056] Specifically, after the target unloading device completes unloading, the system calculates the nearest entry point along the entire loop of the circular return zone based on its current precise location, and generates a return path from the target unloading device's current location to that entry point. Based on this return path, the system controls the target unloading device to move and precisely enter the circular return zone. Once inside, the target unloading device strictly adheres to the one-way traffic rule, automatically traveling along the circular return zone until it reaches its end point, i.e., the entrance to the unloading device waiting area. After entering the waiting area, the target unloading device completes its current task cycle, its status is updated to "waiting," and it prepares to receive the next task.

[0057] In this embodiment, it is ensured that each returning unloading device can integrate into the return traffic flow with the shortest path and the highest efficiency. The entire return process is automated, conflict-free, fast and safe, effectively improving the equipment turnover efficiency and ensuring the continuous and stable operation of the entire production system.

[0058] This application also provides an unloading control system, including: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the unloading control method as described in the above embodiments.

[0059] This application embodiment also provides a mixing plant, including: Mixing unit; Multiple unloading devices; The unloading control system as described in the above embodiments.

[0060] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the unloading control method as described in the above embodiments.

[0061] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0062] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0063] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0064] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0065] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0066] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0067] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0068] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0069] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling unloading, characterized in that, Applied to a mixing plant, the mixing plant including multiple unloading devices, the unloading control method includes: The target unloading device is determined based on the acquired task list and the status of each unloading device in the unloading device waiting area; After the target unloading device completes receiving the material, multiple candidate paths are generated from the target unloading device to the target unloading area from its current position. The target path is selected from multiple candidate paths based on the path information of other unloading devices, wherein the other unloading devices are unloading devices that perform other unloading tasks; The target unloading device is controlled to move to the target unloading area based on the target path to complete the unloading; The target unloading device is controlled to return to the unloading device waiting area to await the next unloading task.

2. The unloading control method according to claim 1, characterized in that, The mixing plant also includes a mixing host. Before the step of generating multiple candidate paths from the current position of the target unloading device to the target unloading area after the target unloading device completes receiving the material, the method further includes: Determine the differential signal between the actual position of the discharge port of the mixing host and the satellite positioning position; The device position of the target unloading device is obtained, and the device position is calibrated based on the differential signal; Based on the calibrated device position, the target unloading device is controlled to move to the unloading port of the mixing host to complete the material receiving.

3. The unloading control method according to claim 2, characterized in that, Based on the calibrated device position, controlling the target unloading device to move to the unloading port of the mixing host to complete the material receiving includes: Based on the calibrated device position, the target unloading device is controlled to move to the unloading port of the mixing host. With the target unloading device aligned with the unloading port, material production is initiated based on the expected production time in the task list. When material production is completed, the material is controlled to be transferred to the target unloading device so that the target unloading device can complete the receiving of the material.

4. The unloading control method according to claim 2, characterized in that, Based on the calibrated device position, controlling the target unloading device to move to the unloading port of the mixing host to complete the material receiving includes: Based on the calibrated device position, the target unloading device is controlled to move to the device cooling zone for cooling. Once the target unloading device has cooled down, control the target unloading device to move to the unloading port of the mixing host to complete the material receiving.

5. The unloading control method according to claim 1, characterized in that, The selection of the target path from multiple candidate paths based on path information from other unloading devices includes: For each candidate path, determine whether there is a path conflict based on the path information of the candidate path and the other unloading devices; Select candidate paths that do not conflict with each other as the initial target path; If there are multiple initial target paths, a target path is determined from the multiple initial target paths based on preset screening requirements and / or the availability of concrete mixer trucks, wherein the concrete mixer trucks are those pre-associated in the task list.

6. The unloading control method according to claim 5, characterized in that, The determination of the target path among the multiple initial target paths based on preset screening requirements and / or the arrival status of the mixer transport vehicle includes: Determine whether the mixer truck has arrived at its destination based on its location. Once the mixer truck has arrived, the initial target path that is closest to the destination location and the location where the mixer truck is parked will be taken as the target path. Before the mixer truck arrives, a target path is selected from the initial target path based on preset screening requirements.

7. The unloading control method according to claim 1, characterized in that, Also includes: Centered on the target unloading area, a circular return zone is constructed with the first end of the unloading device waiting area as the region endpoint. Unloading devices entering the circular return zone can only travel in the direction of the region endpoint. The second end of the unloading device waiting area is connected to the device cooling zone.

8. The unloading control method according to claim 7, characterized in that, The control of the target unloading device to return to the unloading device waiting area includes: Determine the return path closest to the annular return zone based on the location of the target unloading device; Based on the return path, the target unloading device is controlled to enter the annular return zone; The material returns to the unloading device waiting area via the annular return zone.

9. A material unloading control system, characterized in that, include: The memory is configured to store instructions; The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the unloading control method according to any one of claims 1 to 8.

10. A mixing plant, characterized in that, include: Mixing unit; Multiple unloading devices; The unloading control system according to claim 9.

11. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the unloading control method according to any one of claims 1 to 8.

Images