Control method and device for mixer truck, mixer truck and storage medium

Abstract

The invention discloses a control method and device for a mixer truck, the mixer truck and a storage medium, and relates to the technical field of engineering machinery. The control method comprises the following steps: acquiring a real-time environment image of the mixer truck; determining the relative position of the unloading target and the unloading groove and the target type of the unloading target in the real-time environment image based on an unloading target recognition algorithm; according to the target type of the unloading target, the target flow speed of the material flowing out of the unloading groove is determined; and determining a target angle of the discharge chute according to the relative position and the target flow velocity so as to control the discharge chute to discharge to the discharge target based on the target angle and the target flow velocity. According to the technical scheme, the target flow velocity of the material flowing out of the discharge chute can be determined based on the target type of the discharge target, so that the target flow velocity of the material is matched with the target type of the discharge target, and both the discharge efficiency and the discharge quality are considered; and based on the relative position of the unloading target and the unloading groove and the target flow speed, the target angle of the unloading groove is determined so that the materials can flow into the unloading target from the unloading groove.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, in particular to a control method and device for a mixer truck, a mixer truck and a storage medium. BACKGROUND

[0002] A concrete mixer truck generally needs to discharge concrete in a mixing drum to a discharge chute during a discharging process, and the concrete flows out of the discharge chute to a pump truck hopper, a pouring chute or other discharge objects, thereby completing the discharging process of the concrete mixer truck. In the above discharging process, an operator generally needs to repeatedly get off the vehicle to observe and manually control the discharge chute to be aligned with the discharge object, and then let the concrete flow out of the discharge chute to the discharge object at a certain discharging speed. The above process controlled manually by the operator has problems of complicated operation and low efficiency, and therefore a technical solution is needed to realize automatic discharging of the concrete mixer truck. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a control method and device for a mixer truck, a mixer truck and a storage medium, to solve the problem of how to realize automatic discharging of a concrete mixer truck in the prior art.

[0004] To achieve the above purpose, the first aspect of the present application provides a control method for a mixer truck, the mixer truck comprising a mixing drum and a discharge chute, material in the mixing drum flowing out through the discharge chute, the control method comprising: obtaining a real-time environment image of the mixer truck; determining a relative position of a discharge target and the discharge chute and a target type of the discharge target in the real-time environment image based on a discharge target recognition algorithm; determining a target flow rate of the material flowing out of the discharge chute according to the target type of the discharge target; determining a target angle of the discharge chute according to the relative position and the target flow rate, to control the discharge chute to discharge material to the discharge target based on the target angle and the target flow rate.

[0005] In the embodiments of the present application, determining the target flow rate of the material flowing out of the discharge chute according to the target type of the discharge target comprises: in the case that the target type of the discharge target is a large open target, determining the target flow rate of the material flowing out of the discharge chute as a maximum preset flow rate.

[0006] In the embodiments of the present application, determining the target flow rate of the material flowing out of the discharge chute according to the target type of the discharge target comprises: in the case that the target type of the discharge target is a medium container target or a small target, determining a dynamic loading allowance of the discharge target in the real-time environment image based on the discharge target recognition algorithm; and determining the target flow rate of the material flowing out of the discharge chute according to the dynamic loading allowance of the discharge target.

[0007] In this embodiment of the application, determining the relative position of the unloading target and the unloading chute, as well as the dynamic loading margin of the unloading target in real-time environmental imagery based on the unloading target recognition algorithm includes: determining the relative position of the unloading target and the unloading chute, the dynamic loading margin of the unloading target, and the target type of the unloading target in real-time environmental imagery based on the unloading target recognition algorithm; determining the target flow rate of the material flowing out of the unloading chute based on the dynamic loading margin of the unloading target includes: determining the target type coefficient based on the target type; and determining the target flow rate based on the target type coefficient and the dynamic loading margin.

[0008] In this application embodiment, the target types include: large open targets, medium container targets, and small targets; the target type coefficient of medium container targets is less than that of large open targets, but greater than that of small targets.

[0009] In this embodiment of the application, determining the target type of a unloading target in a real-time environmental image based on the unloading target recognition algorithm includes: determining the opening area of ​​the unloading target in the real-time environmental image based on the unloading target recognition algorithm; and determining the target type of the unloading target based on the opening area of ​​the unloading target.

[0010] In this embodiment of the application, the mixer truck also includes a slump detector; determining the target flow rate based on the target type coefficient and dynamic loading margin includes: obtaining the slump of the material in the mixing drum through the slump detector to determine the slump coefficient of the material; and determining the target flow rate based on the target type coefficient, dynamic loading margin, and slump coefficient.

[0011] In this embodiment of the application, determining the target flow rate based on the target type coefficient, dynamic loading margin, and slump coefficient includes: determining a preset unloading time in a preset unloading time database based on the target type coefficient, slump coefficient, and dynamic loading margin; and determining the target flow rate based on the target type coefficient, slump coefficient, dynamic loading margin, and preset unloading time, wherein the target type coefficient, slump coefficient, and dynamic loading margin are directly proportional to the target flow rate, and the preset unloading time is inversely proportional to the target flow rate.

[0012] In this embodiment of the application, the target flow velocity is determined based on formula (1): (1) in, Indicates the target flow rate. Indicates the target type coefficient. Indicates the slump coefficient. Indicates the opening area of ​​the unloading target. Indicates the real-time depth of the unloading target. This indicates the preset unloading time.

[0013] In this embodiment, the preset unloading time database includes a preset unloading time output model; the control method further includes a training step of the preset unloading time output model: based on a supervised learning algorithm, the preset unloading time output model is trained according to the unloading success dataset; wherein, each training data in the unloading success dataset includes: input features, output features, and data labels, the input features include the target type coefficient, slump coefficient, and dynamic loading margin of the unloading target, the output features include the preset unloading time, and the data labels include unloading success labels, which indicate that the unloading process corresponding to the training data has no splashing and no overflow.

[0014] In this embodiment of the application, the control method further includes: during the unloading process of controlling the unloading chute to unload material to the unloading target based on the target angle and the target flow rate, determining the unloading target area of ​​the unloading target in the real-time environmental image based on the unloading target recognition algorithm; when the unloading target area is determined, determining the area where the material is located in the real-time environmental image based on the material recognition algorithm; and when the area where the material is located exceeds the unloading target area in multiple consecutive frames of real-time environmental image, determining that there is overflow in the unloading process.

[0015] In this embodiment of the application, the control method further includes: during the unloading process of controlling the unloading chute to unload material to the unloading target based on the target angle and the target flow rate, determining the unloading target area of ​​the unloading target in the real-time environmental image based on the unloading target recognition algorithm; when the unloading target area is determined, determining the material location area in the real-time environmental image based on the material recognition algorithm; and when multiple discrete material location areas are included in the continuous multi-frame real-time environmental image, and there is a material location area outside the unloading target area, determining that there is material splashing during the unloading process.

[0016] In this embodiment of the application, the unloading target is the pump truck receiving hopper; determining the target flow rate of the material flowing out of the unloading trough based on the dynamic loading margin of the unloading target includes: obtaining the real-time pumping flow rate of the pump truck; determining the ideal material flow rate based on the dynamic loading margin of the unloading target; and selecting the minimum flow rate between the pumping flow rate and the ideal material flow rate as the target flow rate.

[0017] In this embodiment, the target angle includes a target horizontal angle and a target pitch angle; determining the target angle of the unloading chute based on the relative position and the target flow velocity, so as to control the unloading chute to unload material to the unloading target based on the target angle and the target flow velocity, includes: determining the target horizontal angle of the unloading chute based on the relative position; determining the target pitch angle of the unloading chute based on the relative position and the target flow velocity; and controlling the unloading chute to unload material to the unloading target based on the target flow velocity at the target horizontal angle and the target pitch angle.

[0018] In this embodiment of the application, a baffle plate is provided on the unloading chute, and the baffle plate is used to control the material flow rate; Controlling the discharge chute to discharge material to the discharge target based on the target flow rate at the target horizontal angle and target pitch angle includes: determining the target mixing drum speed according to the target flow rate and target pitch angle in the mixing drum speed matching library; controlling the mixing drum to convey material to the discharge chute at the target mixing drum speed; obtaining the real-time flow rate of the material on the discharge chute; and adjusting the opening of the baffle plate according to the real-time flow rate so that the discharge chute discharges material to the discharge target based on the target flow rate.

[0019] In this embodiment of the application, the control method further includes: during the unloading process of controlling the unloading chute to unload material to the unloading target based on the target angle and the target flow rate, determining the material landing point in the real-time environmental image based on the material recognition algorithm; and adjusting the angle of the unloading chute so that the material landing point coincides with the unloading target when the material landing point deviates from the unloading target.

[0020] In this embodiment of the application, the control method further includes: during the unloading process of the unloading chute unloading material to the unloading target based on the target angle and the target flow rate, determining the material rising rate in the unloading target based on the material recognition algorithm in multiple consecutive frames of real-time environmental images; when the material rising rate is greater than the rising rate threshold, reducing the actual material flow rate of the unloading chute unloading material to the unloading target until the material rising rate is less than or equal to the rising rate threshold.

[0021] In this embodiment, the unloading trough is equipped with a gravity sensor and a baffle plate is provided on the unloading trough. The baffle plate is used to control the material flow rate. The control method further includes: during the process of the unloading trough unloading material to the unloading target at the target angle based on the target flow rate, the real-time flow rate of the material in the unloading trough is determined according to the weight measured by the gravity sensor per unit time; the rotation speed of the stirring drum and the opening of the baffle plate are adjusted according to the real-time flow rate and the target flow rate so that the real-time flow rate is equal to the target flow rate.

[0022] In this embodiment of the application, the unloading trough includes: an unloading trough body and an unloading trough extension that are movably connected to each other; the control method further includes: determining the deviation between the unloading target and the unloading trough based on the relative position; and unfolding the unloading trough body and the unloading trough extension when the deviation is greater than the deviation threshold.

[0023] In this embodiment, the mixer truck further includes a vision sensor and a ranging sensor; the real-time environmental image includes a spatiotemporally synchronized two-dimensional environmental image and an environmental point cloud image; acquiring the real-time environmental image of the mixer truck includes: acquiring the two-dimensional environmental image through the vision sensor and acquiring the environmental point cloud image through the ranging sensor; obtaining the spatiotemporally synchronized two-dimensional environmental image and environmental point cloud image according to the spatiotemporal calibration relationship of the vision sensor and the ranging sensor; determining the relative position of the unloading target and the unloading chute and the target type of the unloading target in the real-time environmental image based on the unloading target recognition algorithm includes: determining the position of the unloading target in the spatiotemporally synchronized two-dimensional environmental image based on the unloading target recognition algorithm; determining the target point cloud corresponding to the unloading target in the spatiotemporally synchronized environmental point cloud image based on the position of the unloading target; and determining the target type of the unloading target and the relative position of the unloading target and the unloading chute based on the target point cloud.

[0024] A second aspect of this application provides a control device for a mixer truck, comprising: a processor configured to retrieve instructions from memory and, when executing the instructions, to implement the control method for a mixer truck provided according to a first aspect of this application.

[0025] A third aspect of this application provides a mixer truck, comprising: a control device for a mixer truck as provided in the second aspect of this application; a mixing drum and a discharge chute, wherein material in the mixing drum flows out through the discharge chute; Environmental image acquisition device.

[0026] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform a control method for a mixer truck according to a first aspect of this application.

[0027] Through the above technical solution, the control method for a mixer truck provided in this application determines the relative position of the unloading target and the unloading chute, as well as the target type of the unloading target, based on the real-time environmental image of the mixer truck and the unloading target recognition algorithm. It can also determine the target flow rate of the material flowing out of the unloading chute based on the target type, thereby matching the target flow rate with the target type to unload the material to the unloading target at a reasonable flow rate, balancing unloading efficiency and quality. Furthermore, given the target flow rate, the target angle of the unloading chute is determined based on the relative position of the unloading target and the unloading chute, as well as the target flow rate. This ensures that the mixer truck unloads at the target flow rate while aligning the unloading chute with the unloading target, allowing the material to flow from the unloading chute into the unloading target.

[0028] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0029] 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 structural schematic of a mixer truck according to an embodiment of this application; Figure 2 The schematic diagram illustrates a flow chart of a control method for a mixer truck according to an embodiment of this application; Figure 3 The schematic diagram illustrates a structural schematic of a discharge trough according to an embodiment of this application; Figure 4 The schematic diagram illustrates a flow chart of another control method for a mixer truck according to an embodiment of this application; Figure 5 The schematic diagram illustrates a flow chart of another control method for a mixer truck according to an embodiment of this application.

[0030] Explanation of reference numerals in the attached figures 110 mixing drum; 120 discharge chute; 121 first motor; 122 main body of discharge chute; Second motor 123; baffle plate 124; gravity sensor 125; discharge chute extension 126; 127 Electric actuator; 128 Distance sensor; 129 Third motor; 130 Environmental image acquisition device; Fourth motor 140; First slump tester 152; Second slump tester 154; The third slump tester 156. Detailed Implementation

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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 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. 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.

[0035] The manual unloading process requires operators to repeatedly get out of the mixer truck to observe the unloading and manually control the raising and rotating of the unloading chute, which is inefficient and increases the workload of the operators. Therefore, there is a demand for automated unloading methods for mixer trucks in the construction machinery field. However, since the existing unloading process is achieved through subjective human control, designing automated unloading methods for mixer trucks presents challenges in determining which parameters of the mixer truck should be controlled and based on what criteria to adjust these parameters to achieve an efficient and accurate unloading process.

[0036] Based on the above analysis, this application provides a control method for a concrete mixer truck, which is applicable to concrete mixer trucks such as... Figure 1 As shown, the system includes a mixing drum 110 and a discharge chute 120, through which the material in the mixing drum 110 flows out. The material in the mixing drum 110 may include concrete, mortar, etc. The rotation of the mixing drum 110 can be driven by a fourth motor 140.

[0037] Figure 2 The illustration schematically shows a flow chart of a control method for a mixer truck according to an embodiment of this application. Figure 2 As shown in the figure, this application provides a control method for a mixer truck, which may include the following steps: S202. Obtain real-time environmental images of the mixer truck.

[0038] Specifically, such as Figure 1As shown, an environmental image acquisition device 130 can be installed on the mixer truck to acquire real-time environmental images of the mixer truck and transmit the real-time environmental images to the execution unit for executing the control method for the mixer truck provided in this application embodiment. However, other environmental image acquisition devices can also be installed in the environment of the unloading target to acquire real-time environmental images of the mixer truck and transmit the real-time environmental images to the execution unit for executing the control method for the mixer truck provided in this application embodiment via wired or wireless communication.

[0039] S204. Based on the unloading target recognition algorithm, determine the relative position of the unloading target and the unloading trough 120 and the target type of the unloading target in the real-time environmental image.

[0040] Specifically, when the real-time environmental image is acquired using a monocular camera, the real-time algorithm for the unloading target may include a target recognition algorithm and a ranging algorithm. The target recognition algorithm may be, for example, YOLO, SSD (Single Shot MultiBox Detector), or RetinaNet, to identify the unloading target and / or the unloading trough 120. The ranging algorithm may be, for example, PnP, binocular ranging, or radar-vision fusion algorithms, to determine the relative position of the unloading target and the unloading trough 120, as well as the target type. The relative position of the unloading target and the unloading trough 120 may be determined based on a first position of the unloading trough 120 and a second position of the unloading target. The first position may be the outlet position, inlet position, or center of gravity position of the unloading trough 120, etc., and the second position may be the center position, deepest point, or any boundary point of the unloading target, etc.

[0041] S206. Determine the target flow rate of the material flowing out of the unloading chute 120 according to the target type of the unloading target.

[0042] Specifically, the target types for unloading targets can include large open targets, medium-sized container targets, and small targets, with different target types matching different target flow rates. As an example, the target flow rate for a medium-sized container target is lower than that for a large open target, but higher than that for a small target.

[0043] S208. Determine the target angle of the unloading trough 120 based on the relative position and target flow rate, so as to control the unloading trough 120 to unload material to the unloading target based on the target angle and target flow rate.

[0044] The control method for a mixer truck provided in this application determines the relative position of the unloading target and the unloading chute 120, as well as the target type of the unloading target, based on real-time environmental images of the mixer truck and an unloading target recognition algorithm. It can also determine the target flow rate of the material flowing out of the unloading chute 120 based on the target type of the unloading target, thereby matching the target flow rate of the material with the target type of the unloading target, unloading the material to the unloading target at a reasonable flow rate, balancing unloading efficiency and unloading quality. Furthermore, given the determined target flow rate, the target angle of the unloading chute 120 is determined based on the relative position of the unloading target and the unloading chute 120, as well as the target flow rate. This ensures that the mixer truck unloads material at the target flow rate, aligning the unloading chute 120 with the unloading target, so that material flows from the unloading chute 120 into the unloading target.

[0045] In some embodiments of this application, step S206, determining the target flow rate of the material flowing out of the unloading trough based on the target type of the unloading target, may include: when the target type of the unloading target is a large open target, determining the target flow rate of the material flowing out of the unloading trough as a maximum preset flow rate. Specifically, the maximum preset flow rate may be the maximum flow rate of material allowed by the mixer truck unloading, or a manually preset maximum flow rate.

[0046] In some embodiments of this application, step S206, which determines the target flow rate of the material flowing out of the unloading trough based on the target type of the unloading target, may include: when the target type of the unloading target is a medium-sized container target or a small target, determining the dynamic loading capacity of the unloading target in the real-time environmental image based on the unloading target identification algorithm; and determining the target flow rate of the material flowing out of the unloading trough based on the dynamic loading capacity of the unloading target.

[0047] Specifically, there is a positive correlation between the dynamic loading margin of the unloading target and the target flow rate; that is, the larger the dynamic loading margin, the greater the target flow rate. The dynamic loading margin of the unloading target can be determined based on the real-time opening size, real-time depth, or real-time volume of the unloading target.

[0048] In some embodiments of this application, in order to accurately match the target flow rate with the dynamic loading margin of the unloading target, the target flow rate of the material is determined. Step S206 may include: determining a target type coefficient based on the target type; and determining the target flow rate based on the target type coefficient and the dynamic loading margin.

[0049] Based on the above steps, the target flow rate of the material can be modified according to the target type of the unloading target, thereby making the target flow rate more compatible with the unloading target, so that the mixer truck unloads to the unloading target at a target flow rate that balances unloading efficiency and unloading quality. In some embodiments of this application, the target type may include: medium-sized container targets and small targets; the target type coefficient of medium-sized container targets is greater than that of small targets.

[0050] Specifically, the dynamic loading margin of the unloading target can be determined based on the opening size, depth, or volume of the unloading target. As an example, the dynamic loading margin of the unloading target can be its real-time volume. If the unloading target is a cubic container, the real-time volume can be determined based on the product of the opening area and the depth of the remaining space. In other examples, the opening size or depth of the unloading target can be considered as its dynamic loading margin, and a quantitative mapping relationship between the opening size or depth and the dynamic loading margin can be established through pre-calibration or other means. The target type can also be determined based on the opening profile shape of the unloading target. As an example, large open targets can be, for example, direct ground pouring or large pits; medium-sized container targets can include standard hoppers; and small targets can include prefabricated small molds or narrow trenches.

[0051] As an example, the opening size of the unloading target is the opening area of ​​the unloading target. Determining the target type of an unloading target in real-time environmental imagery based on the unloading target recognition algorithm may include: determining the opening area of ​​the unloading target in real-time environmental imagery based on the unloading target recognition algorithm; and determining the target type of the unloading target based on the opening area of ​​the unloading target.

[0052] In some embodiments of this application, the mixer truck also includes a slump meter. Determining the target flow rate based on the target type coefficient and dynamic loading margin includes: obtaining the slump of the material in the mixing drum 110 using the slump meter to determine the slump coefficient of the material; and determining the target flow rate based on the target type coefficient, dynamic loading margin, and slump coefficient.

[0053] Since the working conditions of materials such as concrete can also affect unloading efficiency and unloading quality, in the above embodiments, the target flow rate can also be corrected based on the slump coefficient determined by the slump of the material.

[0054] As an example, such as Figure 1As shown, a slump tester can be installed on the mixing drum 110. The slump tester includes a first slump tester 152, a second slump tester 154, and a third slump tester 156. The slump of the material in the mixing drum 110 can be taken as the arithmetic average of the slump measured by the first slump tester 152, the second slump tester 154, and the third slump tester 156. Each slump tester has a measuring container inside the mixing drum 110. During the rotation of the mixing drum 110, the volume of material in the measuring container changes. The rotation angle or rotation time of the mixing drum 110 during the process of the volume of material in the measuring container changing from a first preset volume to a second preset volume is determined. Based on the preset relationship between the rotation angle or rotation time and the slump, the slump value is determined.

[0055] In some embodiments of this application, determining the target flow rate based on the target type coefficient, dynamic loading margin, and slump coefficient includes: determining a preset unloading time in a preset unloading time database based on the target type coefficient, slump coefficient, and dynamic loading margin; and determining the target flow rate based on the target type coefficient, slump coefficient, dynamic loading margin, and preset unloading time, wherein the target type coefficient, slump coefficient, and dynamic loading margin are directly proportional to the target flow rate, and the preset unloading time is inversely proportional to the target flow rate.

[0056] The preset unloading time determined in the preset unloading time database reflects the ideal unloading time under the conditions that the target type, dynamic loading margin, and slump of the material are determined. Therefore, the correction of the target flow rate by the preset unloading time can directly affect the unloading efficiency and is reflected in maximizing the unloading efficiency while ensuring the unloading quality.

[0057] In some embodiments of this application, the target flow rate is determined based on formula (1): (1) in, Indicates the target flow rate. Indicates the target type coefficient. Indicates the slump coefficient. Indicates the opening area of ​​the unloading target. Indicates the real-time depth of the unloading target. This indicates the preset unloading time. Understandably, in formula (1), the dynamic loading margin of the unloading target is determined by the opening area and the real-time depth.

[0058] In some embodiments of this application, in order to obtain a preset unloading time that reflects the ideal unloading time, the preset unloading time database can be optimized. The preset unloading time database includes a preset unloading time output model; the control method also includes a training step of the preset unloading time output model: based on a supervised learning algorithm, the preset unloading time output model is trained according to the unloading success dataset; wherein, each training data in the unloading success dataset includes: input features, output features, and data labels, the input features include the target type coefficient, slump coefficient, and dynamic loading margin of the unloading target, the output features include the preset unloading time, and the data labels include unloading success labels, which indicate that the unloading process corresponding to the training data has no splashing and no overflow.

[0059] In an ideal concrete mixer truck unloading process, the unloading time should be as short as possible, the target flow rate of the material should be as high as possible, and there should be no splashing or overflowing of material during the unloading process. Therefore, the unloading quality can be judged based on whether splashing or overflowing occurs. In the above embodiment, the preset unloading time database determines the preset unloading time through a preset unloading time output model. This application embodiment trains the preset unloading time output model by selecting a unloading process without splashing and overflowing, thereby enabling the preset unloading time output model to output a preset unloading time that guarantees unloading quality.

[0060] In some embodiments of this application, the unloading success label may also indicate that the unloading process corresponding to the training data was free of splashing, overflowing, and human intervention.

[0061] In some embodiments of this application, after each unloading operation, the mixer truck can upload data to the cloud, including the target opening size, depth, target type, relative position of the target, concrete slump, ideal unloading time, and whether unloading was successful (no splashing, no overflow, no human intervention, etc.), for updating and training the preset unloading time output model. The updated and trained preset unloading time output model can then be distributed to the mixer truck. After integrating the new model, subsequent control methods will determine the preset unloading time based on the updated and trained preset unloading time output model.

[0062] In some embodiments of this application, in order to determine whether there is overflow during the unloading process, the control method for a mixer truck provided in this application may further include: during the unloading process of controlling the unloading chute 120 to unload material to the unloading target based on the target angle and the target flow rate, determining the unloading target area of ​​the unloading target in the real-time environmental image based on the unloading target recognition algorithm; when the unloading target area is determined, determining the area where the material is located in the real-time environmental image based on the material recognition algorithm; and when the area where the material is located exceeds the unloading target area in multiple consecutive frames of real-time environmental image, determining that there is overflow during the unloading process.

[0063] Specifically, both the unloading target recognition algorithm and the material recognition algorithm can be implemented using target recognition algorithms such as YOLO, SSD, or RetinaNet. These algorithms can be two separate target recognition algorithms implemented through different reinforcement learning processes, used to identify the unloading target and the material respectively. Alternatively, the unloading target recognition algorithm and the material recognition algorithm can be the same target recognition algorithm, used to identify both the unloading target and the material simultaneously.

[0064] In some embodiments of this application, in order to determine whether material splashing occurs during the unloading process, the control method for a mixer truck provided in this application may further include: during the unloading process of controlling the unloading chute 120 to unload material to the unloading target based on the target angle and the target flow rate, determining the unloading target area of ​​the unloading target in the real-time environmental image based on the unloading target recognition algorithm; when the unloading target area is determined, determining the material location area in the real-time environmental image based on the material recognition algorithm; and when multiple discrete material location areas are included in consecutive frames of real-time environmental image, and a material location area exists outside the unloading target area, determining that material splashing occurs during the unloading process.

[0065] In some embodiments of this application, the unloading target is the pump truck receiving hopper; determining the target flow rate of the material flowing out of the unloading trough 120 based on the dynamic loading margin of the unloading target includes: acquiring the real-time pumping flow rate of the pump truck; determining the ideal material flow rate based on the dynamic loading margin of the unloading target; and selecting the minimum flow rate between the pumping flow rate and the ideal material flow rate as the target flow rate. Specifically, the real-time pumping flow rate of the pump truck can be acquired in real time through a wireless communication protocol or CAN bus communication between the mixer truck and the pump truck.

[0066] In some embodiments of this application, the target angle includes a target horizontal angle and a target pitch angle; determining the target angle of the unloading trough 120 based on the relative position and the target flow rate to control the unloading trough 120 to unload material to the unloading target based on the target angle and the target flow rate includes: determining the target horizontal angle of the unloading trough 120 based on the relative position; determining the target pitch angle of the unloading trough 120 based on the relative position and the target flow rate; and controlling the unloading trough 120 to unload material to the unloading target based on the target flow rate at the target horizontal angle and the target pitch angle.

[0067] In the above embodiment, the unloading chute 120 has two rotational degrees of freedom: horizontal rotation and pitch rotation. For example, with the ground as a reference, the axis of horizontal rotation of the unloading chute 120 is perpendicular to the ground, and the axis of pitch rotation is parallel to the ground. Given the relative position of the unloading target and the unloading chute 120, the target horizontal angle of the unloading chute 120 can be determined, thereby aligning the unloading chute 120 with the unloading target. On the other hand, based on the relative position of the unloading target and the unloading chute 120, and the target flow velocity, the target pitch angle of the unloading chute 120 can be determined, ensuring that material flowing out of the unloading chute 120 at the target flow velocity can fall into the unloading target.

[0068] Specifically, determining the target pitch angle of the unloading trough 120 based on the relative position and target flow velocity may include: determining the material landing point of the unloading trough 120 at multiple different pitch angles based on the relative position and target flow velocity; and selecting the pitch angle that causes the material landing point to fall into the unloading target as the target pitch angle.

[0069] In some embodiments of this application, a baffle plate 124 is provided on the discharge chute 120, which is used to control the material flow rate. Controlling the discharge chute 120 to discharge material to the discharge target based on the target flow rate at the target horizontal angle and the target pitch angle includes: determining the target rotational speed of the mixing drum 110 according to the target flow rate and the target pitch angle in the mixing drum 110 rotational speed matching library; controlling the mixing drum 110 to deliver material to the discharge chute 120 at the target mixing drum 110 rotational speed; obtaining the real-time flow rate of the material on the discharge chute 120; and adjusting the opening of the baffle plate 124 according to the real-time flow rate so that the discharge chute 120 discharges material to the discharge target based on the target flow rate.

[0070] In the above embodiment, the material flow rate is adjusted by the opening degree of the baffle plate 124. Based on the above steps, the rotational speed of the mixing drum 110 can be determined in the rotational speed matching library according to the target flow rate and the target pitch angle. When the rotational speed of the mixing drum 110 is determined, the real-time flow rate of the material is adjusted by adjusting the opening degree of the baffle plate 124, so that the real-time flow rate of the material approaches the target flow rate, and the discharge chute 120 discharges material to the discharge target based on the target flow rate.

[0071] In some embodiments of this application, the control method of the mixer truck may further include: during the unloading process of the unloading chute 120 unloading material to the unloading target based on the target angle and the target flow rate, determining the material landing point in the real-time environmental image based on the material recognition algorithm; and adjusting the angle of the unloading chute 120 so that the material landing point coincides with the unloading target when the material landing point deviates from the unloading target.

[0072] In some embodiments of this application, the control method for the mixer truck may further include: during the unloading process of the unloading chute 120 unloading material to the unloading target based on the target angle and the target flow rate, determining the material rising rate in the unloading target based on a material identification algorithm in a series of real-time environmental images; if the material rising rate is greater than the rising rate threshold, reducing the actual material flow rate of the unloading chute 120 unloading material to the unloading target until the material rising rate is less than or equal to the rising rate threshold.

[0073] Based on the above steps, the material rising rate in the unloading target can reflect the material accumulation. If the material rising rate is greater than the rising rate threshold, it indicates that there is a blockage. The actual material flow rate can be reduced accordingly until the material rising rate is less than or equal to the rising rate threshold.

[0074] Specifically, reducing the actual material flow rate can be achieved by adjusting the rotational speed of the mixing drum 110 and the opening of the baffle plate 124 of the discharge chute 120. In some embodiments of this application, the actual material flow rate is preferentially adjusted by adjusting the rotational speed of the mixing drum 110. In some embodiments of this application, when the material rising rate is less than or equal to the rising rate threshold, the actual material flow rate is adjusted to the target flow rate.

[0075] In some embodiments of this application, the control method for the mixer truck may further include: during the unloading process of the unloading chute 120 unloading material to the unloading target based on the target angle and the target flow rate, determining the surface area change rate of the material in the unloading target based on a material identification algorithm in consecutive multi-frame real-time environmental images; if the surface area change rate is greater than the surface area change rate threshold, reducing the actual material flow rate of the unloading chute 120 unloading material to the unloading target until the material rising rate is less than or equal to the rising rate threshold.

[0076] In some embodiments of this application, the discharge trough 120 is equipped with a gravity sensor 125, and a baffle plate 124 is provided on the discharge trough 120. The baffle plate 124 is used to control the material flow rate. The control method further includes: during the process of the discharge trough 120 discharging material to the discharge target at a target angle based on the target flow rate, determining the real-time flow rate of the material in the discharge trough 120 based on the weight measured by the gravity sensor 125 per unit time; adjusting the rotation speed of the stirring drum 110 and the opening of the baffle plate 124 according to the real-time flow rate and the target flow rate, so that the real-time flow rate is equal to the target flow rate.

[0077] Understandably, as material flows through the discharge chute 120, the mass of the discharge chute 120 increases, resulting in an increase in the weight of the discharge chute 120. The gravity sensor 125 can detect the weight of the discharge chute 120 per unit time, and based on this weight value, the mass of material flowing through it per unit time can be determined accordingly, thereby determining the real-time flow rate of the material.

[0078] In some embodiments of this application, the unloading trough 120 includes an unloading trough body 122 and an unloading trough extension 126 that are movably connected to each other; the control method further includes: determining the deviation between the unloading target and the unloading trough 120 based on the relative position; and unfolding the unloading trough body 122 and the unloading trough extension 126 when the deviation is greater than the deviation threshold.

[0079] In the above steps, if the deviation between the unloading target and the unloading trough 120 is greater than the deviation threshold, it means that the distance between the unloading trough 120 and the unloading target is too far, and there is a risk that the material cannot fall from the unloading trough 120 into the unloading target, or there is a risk of material splashing. Therefore, in this case, the unloading trough body 122 and the unloading trough extension 126 can be unfolded to reduce the deviation between the unloading target and the unloading trough 120.

[0080] Specifically, the deviation can be determined based on the horizontal distance, straight-line distance, or deviation angle between the unloading target and the unloading trough 120. The unloading trough body 122 and the unloading trough extension 126 can be a sliding connection or a rotating connection.

[0081] In some embodiments of this application, determining the deviation between the unloading target and the unloading trough 120 based on their relative positions may include: determining the height difference and straight-line distance between the unloading target and the unloading trough 120 based on their relative positions; and unfolding the unloading trough body 122 and the unloading trough extension 126 when the deviation is greater than a deviation threshold, including unfolding the unloading trough body 122 and the unloading trough extension 126 when the height difference is greater than a height threshold and the straight-line distance is greater than a straight-line distance threshold.

[0082] In some embodiments of this application, when the deviation is greater than the deviation threshold, unfolding the unloading trough body 122 and the unloading trough extension 126 may include: when the deviation is greater than the deviation threshold, and the projection of the unloading trough 120 outlet on the plane where the unloading target is located is between the unloading target and the projection of the hopper inlet on the plane where the unloading target is located, unfolding the unloading trough body 122 and the unloading trough extension 126.

[0083] In the above embodiment, it is equivalent to a straight line passing through the inlet projection, the outlet projection, and the unloading target in sequence on the plane where the unloading target is located. In this case, unfolding the unloading trough body 122 and the unloading trough extension 126 can reduce the deviation between the unloading target and the unloading trough 120.

[0084] In some embodiments of this application, the mixer truck further includes a vision sensor and a ranging sensor 128; the real-time environmental image includes a spatiotemporally synchronized two-dimensional environmental image and an environmental point cloud image; acquiring the real-time environmental image of the mixer truck includes: acquiring the two-dimensional environmental image through the vision sensor and acquiring the environmental point cloud image through the ranging sensor 128; obtaining the spatiotemporally synchronized two-dimensional environmental image and the environmental point cloud image according to the spatiotemporal calibration relationship of the vision sensor and the ranging sensor 128; determining the relative position of the unloading target and the unloading trough 120 and the volume of the unloading target in the real-time environmental image based on the unloading target recognition algorithm includes: determining the position of the unloading target in the spatiotemporally synchronized two-dimensional environmental image based on the unloading target recognition algorithm; determining the target point cloud corresponding to the unloading target in the spatiotemporally synchronized environmental point cloud image based on the position of the unloading target; and determining the target type of the unloading target and the relative position of the unloading target and the unloading trough 120 based on the target point cloud.

[0085] Specifically, determining the target type of the unloading target based on the target point cloud may include: determining the opening boundary of the unloading target based on the target point cloud; determining the opening area of ​​the unloading target based on the opening boundary; and determining the target type of the unloading target based on the opening surface.

[0086] As an example, the discharge chute of the mixer truck is 120 mm. Figure 3 As shown, the unloading trough 120 includes: an unloading trough body 122, a baffle plate 124, an unloading trough extension 126, a distance sensor 128, a first motor 121, a second motor 123, a gravity sensor 125, an electric push rod 127, and a third motor 129. The electric push rod 127 enables the unloading trough body 122 to pitch (YZ plane); the third motor 129 enables the unloading trough body 122 to rotate horizontally (XY plane); the first motor 121 drives the extension trough to rotate (YZ plane), enabling automatic extension and retraction of the extension trough to meet the needs of different unloading states; the second motor 123 drives the baffle plate 124 to rotate (YZ plane), adjusting the opening of the baffle plate 124; a gravity sensor 125 is installed at the front support point of the unloading trough body 122 and the electric push rod 127; and a distance sensor 128 is installed on the unloading trough body 122.

[0087] The ranging sensor 128 can be a lidar, ultrasonic radar, etc. The environmental image acquisition device 130 included in the mixer truck can include a vision sensor and the ranging sensor 128. The vision sensor can be a camera, which can be installed at the rear of the mixer truck. The unloading chute 120 can also be equipped with a dual-axis angle sensor for the unloading chute body 122, an extension chute status sensor, a gravity sensor 125, and a slump detector to achieve real-time feedback on the current status of the actuators and the real-time speed of the material. The dual-axis angle sensor of the main chute is used to detect the pitch and horizontal angles of the unloading chute body 122 in real time; the extension chute status sensor is used to detect whether the extension chute is in a "retracted" or "extended" state; the gravity sensor 125 is used to monitor the weight of concrete in the main chute per unit time and convert it into real-time flow rate.

[0088] See Figure 4 and Figure 5 This paper illustrates the unloading process of a mixer truck executed by the control method for mixer trucks provided in the embodiments of this application. Different mixer trucks have different parameters and structures, requiring the setting of vehicle parameters. The main parameters include: vehicle ID; geometric lengths of the main trough (unloading trough body 122) and the extension trough (unloading trough extension 126); coordinates of the rotation center of the extension trough; coordinates of the horizontal rotation center of the main trough; coordinates of the pitch rotation center of the main trough; coordinates of the position of the end of the main trough / extension trough at the maximum and minimum pitch angles of the main trough in both the extended trough retracted and extended trough states; and coordinates of the end of the main trough / extension trough at the maximum and minimum horizontal rotation angles of the main trough in both the extended trough retracted and extended trough states. The vehicle, main trough, extension trough, and position parameters need to be preset in the system as the basis for the control unit's judgment. After unloading is completed, the system terminates the operation in a safe sequence: first, the rotation of the mixing drum 110 is stopped or adjusted to forward rotation; then, the baffle plate 124 is completely closed to cut off the material flow; finally, the main trough and extension trough are retracted to the transport position. The entire process is now complete, and the vehicle is ready to drive safely.

[0089] In summary, the control method for a mixer truck provided in this application can perform multi-dimensional perception of the unloading target based on a visual sensor: achieving target recognition and locking; quantitative analysis of target size, accurately calculating the target size (diameter, depth, volume, etc.), and using it as input for the ideal unloading speed; adaptive unloading speed planning based on the unloading target size: according to the target size, the control system calculates the ideal unloading flow rate, and automatically adjusts the mixing drum speed, main trough inclination angle, baffle opening angle, etc. accordingly; changing the fixed-speed unloading mode, realizing intelligent optimization of unloading efficiency according to the operating scenario. The system achieves high-quality results by constructing a queryable expert system database to store target type coefficients for different target types (such as large bases, precast beam molds, and pump truck hoppers), slump coefficients for different concrete slumps, and preset unloading times, enabling the system to learn from and reuse experience. Real-time monitoring of the unloading process utilizes not only a vision system for positioning but also real-time analysis of the accuracy of the landing point and the concrete accumulation pattern, enabling proactive prevention and autonomous resolution of sudden anomalies. This avoids production interruptions or equipment damage caused by severe material blockages, improving the robustness of the entire unloading system.

[0090] This application also provides a control device for a mixer truck, including a processor. The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the control method for a mixer truck provided according to this application.

[0091] This application embodiment also provides a mixer truck, including: the above-mentioned control device for mixer truck; a mixing drum 110 and a discharge chute 120, wherein the material in the mixing drum 110 flows out through the discharge chute 120; and an environmental image acquisition device 130.

[0092] This application also provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned control method for a mixer truck.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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 control method for a mixer truck, characterized in that, The mixer truck includes a mixing drum and a discharge chute, and the material in the mixing drum flows out through the discharge chute. The control method includes: Acquire real-time environmental images of the mixer truck; The unloading target recognition algorithm determines the relative position of the unloading target and the unloading chute, as well as the target type of the unloading target, in the real-time environmental image. The target flow rate of the material flowing out of the unloading trough is determined according to the target type of the unloading target. The target angle of the unloading chute is determined based on the relative position and the target flow rate, so as to control the unloading chute to unload material to the unloading target based on the target angle and the target flow rate.

2. The control method according to claim 1, characterized in that, Determining the target flow rate of the material flowing out of the unloading trough based on the target type of the unloading target includes: When the target type of the unloading target is a large open target, the target flow rate of the material flowing out of the unloading trough is determined to be the maximum preset flow rate.

3. The control method according to claim 1, characterized in that, Determining the target flow rate of the material flowing out of the unloading trough based on the target type of the unloading target includes: When the target type of the unloading target is a medium-sized container target or a small target, the dynamic loading capacity of the unloading target is determined in the real-time environmental image based on the unloading target identification algorithm; The target flow rate of the material flowing out of the unloading trough is determined based on the dynamic loading margin of the unloading target.

4. The control method according to claim 3, characterized in that, Determining the target flow rate of the material flowing out of the unloading chute based on the dynamic loading margin of the unloading target includes: Determine the target type coefficient based on the target type; The target flow rate is determined based on the target type coefficient and the dynamic loading margin.

5. The control method according to claim 4, characterized in that, The target types include: medium-sized container targets and small targets; the target type coefficient of the medium-sized container targets is greater than that of the small targets.

6. The control method according to claim 4, characterized in that, The target type determined by the unloading target recognition algorithm in the real-time environmental image includes: Based on the unloading target recognition algorithm, the opening area of ​​the unloading target is determined in the real-time environmental image. The target type of the unloading target is determined based on the opening area of ​​the unloading target.

7. The control method according to claim 4, characterized in that, The mixer truck also includes a slump tester; Determining the target flow rate based on the target type coefficient and the dynamic loading margin includes: The slump of the material in the mixing drum is obtained by the slump tester to determine the slump coefficient of the material. The target flow rate is determined based on the target type coefficient, the dynamic loading margin, and the slump coefficient.

8. The control method according to claim 7, characterized in that, Determining the target flow velocity based on the target type coefficient, the dynamic loading margin, and the slump coefficient includes: The preset unloading time is determined in the preset unloading time database based on the target type coefficient, the slump coefficient, and the dynamic loading margin. The target flow rate is determined based on the target type coefficient, the slump coefficient, the dynamic loading margin, and the preset unloading time, wherein the target type coefficient, the slump coefficient, and the dynamic loading margin are directly proportional to the target flow rate, and the preset unloading time is inversely proportional to the target flow rate.

9. The control method according to claim 8, characterized in that, The target flow velocity is determined based on formula (1): ； （1） in, Indicates the target flow rate. This represents the target type coefficient. This represents the slump coefficient. This represents the opening area of ​​the unloading target. This indicates the real-time depth of the unloading target. This indicates the preset unloading time.

10. The control method according to claim 8, characterized in that, The preset unloading time database includes a preset unloading time output model; the control method further includes a training step for the preset unloading time output model: Based on a supervised learning algorithm, a preset unloading time output model is trained according to a successful unloading dataset. Each training data point in the successful unloading dataset includes: input features, output features, and data labels. The input features include the target type coefficient, slump coefficient, and dynamic loading margin of the unloading target. The output features include the preset unloading time. The data labels include a successful unloading label, which indicates that the unloading process corresponding to the training data is free of splashing and overflow.

11. The control method according to claim 10, characterized in that, The control method further includes: During the unloading process of controlling the unloading chute to unload material to the unloading target based on the target angle and target flow rate, the unloading target area of ​​the unloading target is determined in the real-time environmental image based on the unloading target recognition algorithm; Once the unloading target area is determined, the area where the material is located is determined in the real-time environmental image based on a material identification algorithm. If, in multiple consecutive frames of the real-time environmental imagery, the area where the material is located exceeds the unloading target area, it is determined that there is material overflow during the unloading process.

12. The control method according to claim 10, characterized in that, The control method further includes: During the unloading process of controlling the unloading chute to unload material to the unloading target based on the target angle and target flow rate, the unloading target area of ​​the unloading target is determined in the real-time environmental image based on the unloading target recognition algorithm; Once the unloading target area is determined, the area where the material is located is determined in the real-time environmental image based on a material identification algorithm. If multiple discrete material locations are included in consecutive frames of the real-time environmental imagery, and the material location exists outside the unloading target area, it is determined that material splashing occurs during the unloading process.

13. The control method according to claim 3, characterized in that, The unloading target is the pump truck receiving hopper; determining the target flow rate of the material flowing out of the unloading trough based on the dynamic loading margin of the unloading target includes: Obtain the real-time pumping flow rate of the pump truck; The ideal material flow rate is determined based on the dynamic loading margin of the unloading target; The minimum flow rate between the pumping velocity and the ideal material flow rate is selected as the target flow rate.

14. The control method according to claim 1, characterized in that, The target angle includes a target horizontal angle and a target pitch angle; determining the target angle of the unloading chute based on the relative position and the target flow velocity, so as to control the unloading chute to unload material to the unloading target at the target angle based on the target flow velocity, includes: The target horizontal angle of the unloading chute is determined based on the relative position. The target pitch angle of the unloading chute is determined based on the relative position and the target flow velocity. The unloading chute is controlled to unload material to the unloading target based on the target flow rate at the target horizontal angle and the target pitch angle.

15. The control method according to claim 14, characterized in that, A baffle plate is provided on the unloading chute, and the baffle plate is used to control the material flow rate; The control of the unloading chute to unload material to the unloading target based on the target flow velocity at the target horizontal angle and the target pitch angle includes: The target stirring drum rotation speed is determined based on the target flow velocity and the target pitch angle in the stirring drum rotation speed matching library; Control the mixing drum to deliver material to the unloading trough at the target mixing drum rotation speed; Obtain the real-time flow rate of the material on the unloading chute; The opening of the baffle plate is adjusted according to the real-time flow rate so that the unloading chute unloads material to the unloading target based on the target flow rate.

16. The control method according to claim 1, characterized in that, The control method further includes: During the unloading process, which controls the unloading chute to unload material to the unloading target based on the target angle and target flow rate, the material landing point is determined in the real-time environmental image based on the material recognition algorithm. If the material landing point deviates from the unloading target, adjust the angle of the unloading chute so that the material landing point coincides with the unloading target.

17. The control method according to claim 1, characterized in that, The control method further includes: During the unloading process of controlling the unloading chute to unload material to the unloading target based on the target angle and target flow rate, the material rising rate in the unloading target is determined in multiple consecutive frames of the real-time environmental image based on the material recognition algorithm; If the material rising rate is greater than the rising rate threshold, the actual material flow rate of the unloading chute to the unloading target is reduced until the material rising rate is less than or equal to the rising rate threshold.

18. The control method for a mixer truck according to claim 1, characterized in that, The discharge chute is equipped with a gravity sensor, and a baffle plate is installed on the discharge chute to control the material flow rate; the control method further includes: During the process of unloading material from the unloading chute to the unloading target at the target angle and based on the target flow rate, the real-time flow rate of the material in the unloading chute is determined based on the weight measured by the gravity sensor per unit time. The rotational speed of the mixing drum and the opening of the baffle plate are adjusted according to the real-time flow rate and the target flow rate so that the real-time flow rate is equal to the target flow rate.

19. The control method according to claim 1, characterized in that, The unloading trough includes: an unloading trough body and an unloading trough extension that are movably connected to each other; the control method further includes: The deviation between the unloading target and the unloading chute is determined based on the relative position. If the deviation is greater than the deviation threshold, the main body of the unloading trough and the extension of the unloading trough are deployed.

20. The control method according to claim 1, characterized in that, The mixer truck also includes a vision sensor and a ranging sensor; the real-time environmental imagery includes spatiotemporally synchronized two-dimensional environmental imagery and environmental point cloud imagery; acquiring the real-time environmental imagery of the mixer truck includes: The visual sensor acquires a two-dimensional image of the environment, and the ranging sensor acquires a point cloud image of the environment. Based on the spatiotemporal calibration relationship between the visual sensor and the ranging sensor, spatiotemporally synchronized two-dimensional environmental images and environmental point cloud images are obtained. The unloading target recognition algorithm determines the relative position of the unloading target and the unloading chute, as well as the target type of the unloading target, in the real-time environmental imagery, including: The location of the unloading target is determined in the spatiotemporally synchronized two-dimensional environmental image based on the unloading target recognition algorithm. The target point cloud corresponding to the unloading target is determined based on the environmental point cloud image after the spatiotemporal synchronization of the unloading target location; The target type of the unloading target and the relative position of the unloading target and the unloading chute are determined based on the target point cloud.

21. A control device for a mixer truck, characterized in that, include: The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the control method for a mixer truck according to any one of claims 1 to 20.

22. A mixer truck, characterized in that, include: The control device for a mixer truck according to claim 21; A mixing drum and a discharge chute, wherein the material in the mixing drum flows out through the discharge chute; Environmental image acquisition device.

23. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the control method for a mixer truck according to any one of claims 1 to 20.

Images