Control method, control device, and control system for pumping displacement of pump truck, and pump truck

Abstract

A control method, control device (100), and control system (1) for the pumping displacement of a pump truck, and a pump truck. The control method comprises: on the basis of an operating working condition and a control mode of a pump truck, determining an optimal displacement value; determining a control strategy on the basis of the optimal displacement value and the control mode; and determining the pumping displacement on the basis of the control strategy and the operating displacement, wherein the control strategy comprises: a relationship between the pumping displacement and the operating displacement is a monotonically increasing relationship. The control method can control a continuous response of the pumping displacement, and a certain pumping displacement is not kept all the time, thereby ensuring the continuity of the displacement operation, and improving the operating experience of an operator.

Description

Pumping displacement control method, control device, control system and pumping truck

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202310890944.X filed on July 19, 2023, entitled “Control method, control device, control system and pump truck for controlling pumping displacement of a pump truck,” which is incorporated herein by reference in its entirety. Technical Field

[0003] The present application relates to the technical field of engineering machinery, and in particular to a method for controlling the pumping displacement of a pump truck, a control device, a control system, and a pump truck.

[0004] Background of the Invention

[0005] A concrete pump truck is a type of construction machinery that uses pressure to continuously transport concrete along a pipeline. It is widely used in various fields, including road construction, bridge engineering, underground engineering, and industrial and civil construction. The pumping speed of a concrete pump truck is primarily affected by factors such as engine speed, the plunger pump swash plate angle, and the load on the pumping system. Engine speed is primarily controlled by adjusting the pump's operating displacement; however, a higher operating displacement does not necessarily mean faster pumping speed. Furthermore, fuel consumption per unit time is positively correlated with operating displacement. While low displacement reduces fuel consumption per unit time, pumping speed is slow, while high displacement increases fuel consumption per unit time.

[0006] In the existing technical solutions, the fastest or most economical optimal displacement value is found, and when the operating displacement exceeds the optimal displacement value, the optimal displacement value is used as the pumping displacement. That is, when the operating displacement exceeds the optimal displacement value, even if the operating displacement continues to increase, the pumping displacement will not change, affecting the user experience.

[0007] Summary of the Invention

[0008] In view of this, the present application provides a method, a control device, a control system and a pump truck for controlling the pumping displacement of a pump truck, which solves the technical problem in the prior art that it is difficult for the operator of a pump truck to complete the pumping operation in a fast and fuel-efficient manner while controlling the continuous response of the pumping displacement under different pumping conditions.

[0009] As a first aspect of the present application, the present application provides a method for controlling the pumping displacement of a pump truck, comprising: obtaining the operating conditions and control mode of the pump truck, wherein the control mode includes the fastest control mode and / or the most economical control mode; determining an optimal displacement value matching the operating conditions and the control mode based on the operating conditions and the control mode; determining a control strategy for the pumping displacement of the pump truck based on the control mode and the optimal displacement value, wherein the control strategy includes: the relationship between the pumping displacement and the operating displacement is a monotonically increasing relationship; and determining the pumping displacement based on the control strategy and the operating displacement.

[0010] In one possible implementation, a control strategy for determining the pumping displacement of the pump truck based on the control mode and the optimal displacement value includes: when the control mode is the fastest control mode or the most economical control mode, determining the control strategy for the pumping displacement of the pump truck as follows: establishing a rectangular coordinate system with the operating displacement as the horizontal coordinate and the pumping displacement as the vertical coordinate; determining a starting point based on a preset minimum value of the operating displacement, wherein the horizontal coordinate and the vertical coordinate of the starting point are both the preset minimum value; determining an end point based on a preset maximum value of the operating displacement and the optimal displacement value, wherein the horizontal coordinate of the end point is the preset maximum value and the vertical coordinate is the optimal displacement value; determining a first point based on the optimal displacement value, wherein the horizontal coordinate and the vertical coordinate of the first point are both the optimal displacement value; establishing a first linear relationship based on the starting point and the first point , a second linear relationship is established based on the first point and the end point, and a third linear relationship is established based on the starting point and the end point; when the operating displacement is less than the optimal displacement value and greater than or equal to the preset minimum value, the pumping displacement and the operating displacement satisfy the first relationship curve, and under the same horizontal coordinate, the vertical coordinate of the midpoint of the first relationship curve is greater than or equal to the vertical coordinate of the midpoint of the third linear relationship and less than or equal to the vertical coordinate of the midpoint of the first linear relationship; when the operating displacement is greater than or equal to the optimal displacement value and less than or equal to the preset maximum value, the pumping displacement and the operating displacement satisfy the second relationship curve, and under the same horizontal coordinate, the vertical coordinate of the midpoint of the second relationship curve is greater than or equal to the vertical coordinate of the midpoint of the third linear relationship and less than or equal to the vertical coordinate of the midpoint of the second linear relationship; the first relationship curve and the second relationship curve are continuous and monotonically increasing.

[0011] In a possible implementation, when the operating displacement is less than the optimal displacement value and greater than or equal to the preset minimum value, the pumping displacement and the operating displacement satisfy a first relationship curve, including: determining a displacement turning point based on the starting point and the first point, wherein the displacement turning point satisfies the first linear relationship, and the abscissa of the displacement turning point is greater than or equal to the abscissa of the starting point and less than the abscissa of the first point; when the abscissa of the displacement turning point is greater than the abscissa of the starting point and less than the abscissa of the first point, if the operating displacement is greater than or equal to the abscissa of the starting point and less than or equal to the abscissa of the displacement turning point, the pumping displacement and the operating displacement satisfy the first linear relationship; if the operating displacement is greater than the abscissa of the displacement turning point and less than the optimal displacement value, the pumping displacement and the operating displacement satisfy a third relationship curve, and under the same abscissa, the ordinate of the midpoint of the third relationship curve is greater than or equal to the ordinate of the midpoint of the third linear relationship and less than the ordinate of the midpoint of the first linear relationship; and forming the first relationship curve based on the first linear relationship and the third relationship curve.

[0012] In one possible implementation, when the abscissa of the displacement turning point is equal to the abscissa of the starting point, if the operating displacement is greater than or equal to the abscissa of the starting point and is less than the optimal displacement value, the pumping displacement and the operating displacement satisfy a fourth relationship curve, and at the same abscissa, the ordinate of the midpoint of the fourth relationship curve is greater than or equal to the ordinate of the midpoint of the third linear relationship and less than the ordinate of the midpoint of the first linear relationship; the first relationship curve is formed based on the fourth relationship curve.

[0013] In one possible implementation, determining the optimal displacement value that matches the operating condition and the control mode based on the operating condition and the control mode includes: searching for the optimal displacement value that matches the operating condition and the control mode in a displacement database based on the operating condition and the control mode; wherein the displacement database includes: the operating condition, the control mode, and the optimal displacement value corresponding to the control mode and the operating condition.

[0014] In one possible implementation, obtaining the operating condition of the pump truck includes: obtaining the stirring pressure of the stirring device of the pump truck; obtaining the ambient temperature of the working environment of the pump truck; obtaining the arm posture data of the pump truck; and determining the operating condition of the pump truck based on the stirring pressure, the ambient temperature and the arm posture.

[0015] In one possible implementation, the boom posture data of the pump truck is obtained, including: obtaining the arm angle of each arm in the boom; calculating the end height of the arm according to the arm angle and the length of the arm; and determining the boom posture data of the boom according to the end height of each arm.

[0016] In a possible implementation, the fastest control mode refers to a working mode with the largest pumping volume per unit time, and the most economical control mode refers to a working mode with the lowest pumping volume fuel consumption under the same pumping volume.

[0017] In a possible implementation, the control mode of the pump truck further includes a conventional control mode, where the conventional control mode refers to a normal pumping displacement determined according to an operating displacement, where the pumping displacement is the operating displacement input by the operator.

[0018] As a second aspect of the present application, the present application also provides a control device for the pumping displacement of a pump truck, including: a data acquisition module, configured to acquire the operating conditions and control mode of the pump truck, wherein the control mode includes the fastest control mode and / or the most economical control mode; an optimal displacement value determination module, configured to determine the optimal displacement value of the pump that matches the operating conditions and the control mode based on the operating conditions and the control mode; a control strategy determination module, configured to determine the control strategy of the pumping displacement of the pump truck based on the control mode and the optimal displacement value, wherein the control strategy includes: the relationship between the pumping displacement and the operating displacement is a monotonically increasing relationship; and a control module, configured to determine the pumping displacement based on the control strategy and the operating displacement.

[0019] As a third aspect of the present application, the present application further provides a control system for the pumping displacement of a pump truck, comprising: the control device described above; a pressure sensor configured to detect the stirring pressure of the stirring device; a temperature sensor configured to detect the ambient temperature of the environment in which the pump truck is located; and an inclination sensor configured to detect the angle of the section arm of the boom;

[0020] Wherein, the control device is communicatively connected with the pressure sensor, temperature sensor and tilt sensor respectively.

[0021] As a fourth aspect of the present application, the present application further provides a pump truck, comprising: a chassis and a turret arranged on the chassis; an arm mounted on the turret; a stirring device mounted on the chassis; and the control system described above.

[0022] The present application provides a method for controlling the pumping displacement of a pump truck. When the pump truck operator inputs a control mode, the optimal displacement value that matches the pump truck can be determined according to the operating conditions of the pump truck and the input control mode. Then, the control strategy of the control mode is determined according to the control mode and the optimal displacement value, and the pumping displacement of the pump truck is determined according to the control strategy and the operating displacement input by the operator. The fastest control mode and the most economical control mode are integrated into the displacement control strategy, so that under different operating conditions of the pump truck, the operator can complete the pumping operation in the fastest or most economical way. In addition, no matter what control mode is used, the corresponding control strategy is a monotonically increasing relationship, which can control the continuous response of the pumping displacement and will not always stay at a certain pumping displacement, thereby ensuring the continuity of the displacement operation and improving the operator's operating experience.

[0023] BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and other objects, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0025] FIG1 is a flow chart showing a method for controlling the pumping displacement of a pump truck according to an embodiment of the present application;

[0026] FIG2 is a schematic diagram showing the monotonically increasing relationship between the control mode, pumping displacement, and operating displacement provided by an embodiment of the present application;

[0027] FIG3 is a schematic diagram showing a monotonically increasing relationship between a control mode, a pumping displacement, and an operating displacement according to another embodiment of the present application;

[0028] FIG4 is a schematic diagram showing a monotonically increasing relationship between a control mode, a pumping displacement, and an operating displacement according to another embodiment of the present application;

[0029] FIG5 is a flow chart showing a method for controlling the pumping displacement of a pump truck according to another embodiment of the present application;

[0030] FIG6 is a flow chart showing a method for controlling the pumping displacement of a pump truck according to another embodiment of the present application;

[0031] FIG7 is a schematic diagram showing the included angle of the boom section of the boom of a pump truck in one embodiment of the present application;

[0032] FIG8 is a working principle diagram of a pumping displacement control device of a pump truck provided by one embodiment of the present application;

[0033] FIG9 is a working principle diagram of a pumping displacement control system of a pump truck provided by one embodiment of the present application;

[0034] FIG10 is a diagram showing the working principle of an electronic device provided in an embodiment of the present application.

[0035] Methods of implementing this application

[0036] In the description of the application, the meaning of "multiple" is at least two, for example two, three, etc., unless otherwise clearly and specifically limited. In the embodiments of the present application, all directional indications (such as up, down, left, right, front, back, top, bottom ...) are only used to explain the relative position relationship, motion situation, etc. between each component under a certain specific posture (as shown in the drawings). If this specific posture changes, this directional indication also changes accordingly. In addition, the terms "comprise" and "have" and any deformation thereof are intended to cover non-exclusive inclusion. For example, the process, method, system, product or equipment comprising a series of steps or units is not limited to the steps or units listed, but optionally also includes the steps or units not listed, or optionally also includes other steps or units inherent to these processes, methods, products or equipment.

[0037] In addition, references to "embodiments" herein mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of such phrases in various places in the specification does not necessarily refer to the same embodiment, nor does it necessarily refer to independent or alternative embodiments that are mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0038] Application Overview

[0039] As mentioned above, during a pump truck's pumping operation, the pumping speed is primarily influenced by factors such as engine speed, the plunger pump swash plate angle, and the pumping system load. Engine speed is primarily controlled by adjusting the operating displacement, while the pumping load is primarily influenced by factors such as concrete conditions, boom posture, pumping rate, pipeline resistance, and ambient temperature. As the pumping load increases, the engine output power also increases. To prevent excessive engine power output, a critical power point is set during pumping operations. When the engine power reaches this critical power point, the pumping rate is reduced to reduce the pumping load. Therefore, a higher operating displacement does not necessarily mean a faster pumping speed.

[0040] At the same time, the fuel consumption per unit time of pumping is positively correlated with the operating displacement. Although low displacement has low fuel consumption per unit time, the pumping speed is slow, while high displacement has fast pumping speed but high fuel consumption per unit time.

[0041] In the prior art, most methods for controlling pumping displacement adopt a forced control scheme. For example, the controller pre-stores safe operating displacement points under different pumping conditions. When the operator operates the displacement higher than the safe displacement point, the pumping displacement does not respond and still maintains the safe displacement pumping, that is, the pumping displacement is difficult to respond continuously.

[0042] In actual operation, pump truck operators often use full displacement pumping to speed up the pumping rate. This method not only does not achieve the fastest pumping rate, but also consumes relatively high fuel. Therefore, under different pumping conditions, it is difficult for operators to complete the pumping operation in the fastest or most economical way.

[0043] The present application proposes a method for controlling the pumping displacement of a pump truck, in which the control mode, operation and corresponding optimal displacement value are stored in a displacement database in advance. Then, when the pump truck operator inputs the control mode, the corresponding optimal displacement value can be determined in the displacement database according to the operating conditions of the pump truck and the input control mode. Then, the control strategy of the control mode is determined according to the control mode and the optimal displacement value, and the pumping displacement of the pump truck is determined according to the control strategy and the operating displacement input by the operator. The fastest control mode and the most economical control mode are integrated into the displacement control strategy, so that under different pumping conditions of the pump truck, the operator can complete the pumping operation in the fastest or most economical way. In addition, no matter what control mode is used, the corresponding control strategy is a monotonically increasing relationship, which can control the continuous response of the pumping displacement and will not always stay at a certain pumping displacement, thereby ensuring the continuity of the displacement operation and improving the operator's operating experience.

[0044] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical methods in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0045] Exemplary Control Methods

[0046] As a first aspect of the present application, the present application provides a method for controlling the pumping displacement of a pump truck. FIG1 is a flow chart of a method for controlling the pumping displacement of a pump truck provided by the present application. As shown in FIG1 , the method for controlling the pumping displacement of a pump truck includes the following steps:

[0047] Step S10: Acquire the control mode of the pump truck and the operating condition of the pump truck, wherein the control mode includes the fastest control mode and / or the most economical control mode;

[0048] Specifically, the operating condition of the pump truck can be determined by the working condition data of the pump truck, and the working condition data of the pump truck includes the stirring pressure of the stirring device of the pump truck, the boom posture data, and the ambient temperature of the environment in which the pump truck works. The stirring pressure can be collected by the pressure sensor installed on the stirring device, and the boom posture data can be quantified by the height change of the end of each section of the boom, and the height change of the end of each section of the boom can be determined by the section angle of each section of the boom, and the section angle of the section arm can be collected by the inclination sensor installed on the section arm; the ambient temperature can be collected by the temperature sensor.

[0049] Specifically, the stirring pressure can reflect the type of material being pumped by the pump truck, the boom posture data can reflect the type of operation the pump truck is performing, and the ambient temperature can reflect the working environment of the pump truck.

[0050] Specifically, the pump truck's control mode is input by the pump truck operator. The fastest control mode is the operating mode that maximizes the pumping volume per unit time. The most economical control mode is the operating mode that minimizes fuel consumption for the same pumping volume.

[0051] In addition to the fastest control mode and the most economical control mode mentioned above, the control mode of the pump truck also includes a conventional control mode. The conventional control mode refers to the normal pumping displacement determined according to the operating displacement. That is, no matter how large the operating displacement input by the operator is, the pumping displacement is the operating displacement input by the operator, and no mandatory control scheme is required.

[0052] Specifically, after obtaining the working condition data of the pump truck, the operating condition of the pump truck is determined based on the working condition data. For example, the type of material being pumped by the pump truck can be determined based on the mixing pressure. The type of operation of the pump truck can be determined based on the boom posture data. The operating environment of the pump truck can also be determined based on the ambient temperature.

[0053] Step S20: determining an optimal displacement value that matches the operating condition and the control mode of the pump truck according to the operating condition and the control mode.

[0054] Optionally, a displacement database can be pre-built, wherein the displacement database includes: operating conditions, control modes, and optimal displacement values ​​of the pumps corresponding to the control modes and operating conditions. Among them, the optimal displacement value of the most economical control mode is the displacement value corresponding to the lowest fuel consumption when the pumping volume is the same under the operating conditions. The optimal displacement value of the fastest control mode is the displacement value corresponding to the shortest pumping time when the pumping volume is the same under the operating conditions. For example, operating condition 1, conventional control mode, and optimal displacement value 1 are a group of data; operating condition 1, the most economical control mode, and optimal displacement value 2 are a group of data; and operating condition 1, the fastest control mode, and optimal displacement value 3 are a group of data. That is, the operating conditions, control modes, and optimal displacement values ​​in the displacement database correspond one to one.

[0055] After the displacement database is constructed, the optimal displacement value of the pump that matches the pump's operating conditions and control mode can be queried in the displacement database according to the pump's operating conditions and control mode.

[0056] It should be understood that the method for determining the optimal displacement value based on the operating conditions and control mode of the pump, in addition to the above-mentioned method of obtaining the optimal displacement value by querying from the displacement database, can also be used to determine the optimal displacement value through machine learning methods such as neural networks. For example, a neural network-based model is constructed, and then the training data (including the operating conditions, control modes and optimal displacement value of the pump) is input into the model for training. The operating conditions and control modes of the pump are then input into the trained model, and the model can output the optimal displacement value that matches the operating conditions and control modes of the pump.

[0057] In step S10, the operating condition of the pump truck is determined according to the operating condition data. In step S10, the pump truck operator inputs the control mode. Therefore, in step S20, the optimal displacement value matching the operating condition of the pump and the input control mode can be determined.

[0058] Step S30: determining a control strategy for the pumping displacement of the pump truck based on the control mode of the pump truck and the optimal displacement value, wherein the control strategy includes: a monotonically increasing relationship between the pumping displacement and the operating displacement.

[0059] Specifically, the operating displacement is the displacement input by the operator of the pump truck, and the pumping displacement is the displacement actually output by the pump truck.

[0060] A monotonically increasing relationship means that as the operating displacement increases, the pumping displacement also increases.

[0061] Each control mode has a different control strategy. For example, the control strategy corresponding to the conventional control mode is: the monotonically increasing relationship between the pumping displacement and the operating displacement is expressed as a linear relationship, and the maximum value of the pumping displacement is 100%.

[0062] For example, as shown in Figures 2 and 3, when the control mode is the fastest control mode or the most economical control mode, the pumping displacement and the operating displacement are monotonically increasing. At this time, the maximum value of the pumping displacement is the optimal displacement value corresponding to the fastest control mode or the most economical control mode determined in step S30.

[0063] After the operator of the pump truck inputs the operating displacement, the pumping displacement can be determined according to the monotonically increasing relationship and the operating displacement, that is, step S40 is executed.

[0064] Step S40: Determine the pumping displacement of the pump truck based on the control strategy and the operating displacement.

[0065] In step S30, the control strategy corresponding to the control mode is determined, that is, the specific expression of the monotonically increasing relationship is determined. When the operator inputs the operating displacement, the pumping displacement can be determined according to the specific expression of the monotonically increasing relationship.

[0066] The present application provides a method for controlling the pumping displacement of a pump truck. When the pump truck operator inputs a control mode, the method first determines the optimal displacement value that matches the pump truck's operating conditions and the control mode, then determines the control strategy of the control mode based on the control mode and the optimal displacement value, and determines the pumping displacement of the pump truck based on the control strategy and the operating displacement input by the operator. The fastest control mode and the most economical control mode are integrated into the displacement control strategy, so that under different pumping conditions of the pump truck, the operator can complete the pumping operation in the fastest or most economical way. In addition, no matter what control mode is used, the control strategy that matches it is a monotonically increasing relationship, which can control the continuous response of the pumping displacement and will not always stay at a certain pumping displacement, thereby ensuring the continuity of the pumping operation and improving the operator's operating experience.

[0067] In one possible implementation, as shown in FIG5 , in combination with FIG2 to FIG4 , step S30 (determining a control strategy for the pumping displacement of the pump truck based on the control mode of the pump truck and the optimal displacement value) specifically includes the following steps:

[0068] Step S301: Establish a rectangular coordinate system with the operating displacement as the horizontal coordinate and the pumping displacement as the vertical coordinate;

[0069] Step S302: determining a starting point based on a preset minimum value of the operating displacement, wherein both the horizontal and vertical coordinates of the starting point are the preset minimum values;

[0070] Specifically, the preset minimum value of the operating displacement, ie, the operating displacement, is 0%, and the coordinate value of the starting point determined based on the preset minimum value of the operating displacement in the rectangular coordinate system is (0%, 0%).

[0071] Step S303: determining an end point based on a preset maximum value of the operating displacement and an optimal displacement value, wherein the abscissa of the end point is the preset maximum value and the ordinate is the optimal displacement value;

[0072] Specifically, the preset maximum operating displacement, i.e., the operating displacement, is 100%, the optimal displacement value is the optimal displacement value PC determined in step S20, and the coordinate value of the end point determined based on the preset maximum operating displacement in the rectangular coordinate system is (100%, PC).

[0073] Step S304: determining a first point based on the optimal displacement value, wherein both the horizontal coordinate and the vertical coordinate of the first point are the optimal displacement value;

[0074] That is, the coordinate value of the first point in the rectangular coordinate system is (PC, PC).

[0075] Step S305: establishing a first linear relationship based on the starting point and the first point, establishing a second linear relationship based on the first point and the end point, and establishing a third linear relationship based on the starting point and the end point;

[0076] Specifically, as shown in Figures 2 to 4, the starting point and the first point can form a first straight line, that is, the first linear relationship Y1; the first point and the end point can form a straight line, that is, the second linear relationship Y2; the starting point and the end point can form a straight line, that is, the third linear relationship Y3.

[0077] Step S306: When the operating displacement is less than the optimal displacement value and greater than or equal to the preset minimum value, the pumping displacement and the operating displacement satisfy the first relationship curve, and under the same horizontal coordinate, the vertical coordinate of the midpoint of the first relationship curve is greater than or equal to the vertical coordinate of the midpoint of the third linear relationship and less than or equal to the vertical coordinate of the midpoint of the first linear relationship;

[0078] That is, when the operating displacement is greater than 0% and less than the optimal displacement value, the relationship between the pumping displacement and the operating displacement satisfies the first relationship curve, and the first relationship curve is located between the first linear relationship Y1 and the third linear relationship Y3, and the first relationship curve satisfies a monotonically increasing relationship, that is, on the first relationship curve, one operating displacement has one and only one pumping displacement corresponding to the operating displacement, and the larger the operating displacement, the larger the pumping displacement corresponding to the operating displacement.

[0079] Specifically, as shown in Figures 2 to 4, when the operating displacement x satisfies the relationship: 0% ≤ x < PC, the pumping displacement y determined by the first relationship curve satisfies the following relationship: y3 ≤ y ≤ y1, where y3 is y3 corresponding to x in the third linear relationship Y3, and y1 is y1 corresponding to X in the first linear relationship Y1.

[0080] Step S307: When the operating displacement is greater than or equal to the optimal displacement value and less than or equal to the preset maximum value, the pumping displacement and the operating displacement satisfy the second relationship curve, and under the same horizontal coordinate, the vertical coordinate of the midpoint of the second relationship curve is greater than or equal to the vertical coordinate of the midpoint of the third linear relationship and less than or equal to the vertical coordinate of the midpoint of the second linear relationship;

[0081] That is, when the operating displacement is greater than or equal to the optimal displacement value and less than or equal to 100%, the relationship between the pumping displacement and the operating displacement satisfies the second relationship curve, and the second relationship curve lies between the second linear relationship Y2 and the third linear relationship Y3. The second relationship curve also satisfies a monotonically increasing relationship. That is, on the second relationship curve, one operating displacement has only one corresponding pumping displacement, and the larger the operating displacement, the larger the corresponding pumping displacement. Furthermore, the first and second relationship curves are continuous, and when x = PC, the first and second relationship curves are smooth.

[0082] Specifically, as shown in Figures 2 to 4, when the operating displacement x satisfies the relationship: PC≤x≤100%, the pumping displacement y determined by the second relationship curve satisfies the following relationship: y3≤y≤y2 (i.e., PC), where y3 is y3 corresponding to x in the third linear relationship Y3, and y2 is y2 corresponding to x in the second linear relationship Y2. Since the second linear relationship is parallel to the horizontal axis, y2 is the PC value (i.e., the optimal displacement value).

[0083] Optionally, when the operating displacement is greater than or equal to the optimal displacement value, the second relationship curve may be a straight line (eg, a fourth linear relationship Y4), as shown in FIG2 , or a curve, as shown in FIG3 and FIG4 .

[0084] Optionally, when the operating displacement is less than the optimal displacement value and greater than or equal to a preset minimum value (i.e., 0%), in combination with FIG. 2-4 , when the pumping displacement and the operating displacement satisfy a first relationship curve, a specific method for determining the first relationship curve (i.e., step S306 ) includes:

[0085] (1) determining a displacement turning point based on the starting point (0%, 0) and the first point (PC, PC), wherein the displacement turning point satisfies a first linear relationship, and the abscissa of the displacement turning point is greater than or equal to the abscissa of the starting point and is less than the abscissa of the first point;

[0086] Specifically, the coordinates of the displacement turning point are (x 转 ,y 转 ), and 0≤x 转 <PC, and the abscissa and ordinate of the displacement turning point satisfy the first linear relationship Y1, that is, the displacement turning point is on the first straight line.

[0087] (2) When the horizontal coordinate of the displacement turning point is greater than the horizontal coordinate of the starting point and less than the horizontal coordinate of the first point, that is, 0% < x 转 When <PC, as shown in FIG2 , the specific method for determining the first relationship curve is:

[0088] If the operating displacement is greater than or equal to the abscissa of the starting point and less than or equal to the abscissa of the displacement turning point, the pumping displacement and the operating displacement satisfy the first linear relationship;

[0089] That is, when 0≤x≤x 转 When , the pumping displacement and the operating displacement satisfy the first linear relationship, that is, the pumping displacement y=y1.

[0090] If the operating displacement is greater than the displacement turning point and the abscissa is less than the optimal displacement value, the pumping displacement and the operating displacement satisfy the third relationship curve. Under the same abscissa, the ordinate of the midpoint of the third relationship curve is greater than or equal to the ordinate of the midpoint of the third linear relationship and less than the ordinate of the midpoint of the first linear relationship.

[0091] That is, when x 转 When x < PC, the pumping displacement and the operating displacement satisfy the third relationship curve. That is, the pumping displacement y determined by the third relationship curve satisfies the following relationship: y3 ≤ y < y1. This means that the third relationship curve lies between the first linear relationship Y1 and the third linear relationship Y3, and the third relationship curve is monotonically increasing. That is, on the third relationship curve, each operating displacement has exactly one corresponding pumping displacement, and the larger the operating displacement, the larger the corresponding pumping displacement.

[0092] Specifically, the third relationship curve may be a fourth linear relationship Y4, as shown in Figure 2 , which is a linear relationship between the displacement turning point and the end point. In this case, the first relationship curve includes the first linear relationship Y1 and the fourth linear relationship Y4.

[0093] (3) When the horizontal coordinate of the displacement turning point is equal to the horizontal coordinate of the starting point, that is, x 转 =0%, as shown in FIG3 and FIG4, the specific method for determining the first relationship curve is:

[0094] If the operating displacement is greater than or equal to the starting point and the abscissa is less than the optimal displacement value, the pumping displacement and the operating displacement satisfy the fourth relationship curve. Under the same abscissa, the ordinate of the midpoint of the fourth relationship curve is greater than or equal to the ordinate of the midpoint of the third linear relationship and less than the ordinate of the midpoint of the first linear relationship.

[0095] That is, when 0≤x<PC, and x 转= 0%, the pumping displacement and the operating displacement satisfy the fourth relationship curve. That is, the pumping displacement y determined by the fourth relationship curve satisfies the following relationship: y3 ≤ y < y1. This means that the fourth relationship curve lies between the first linear relationship Y1 and the third linear relationship Y3, and the fourth relationship curve is monotonically increasing. That is, on the fourth relationship curve, each operating displacement has exactly one corresponding pumping displacement, and the larger the operating displacement, the larger the corresponding pumping displacement. At this point, the first relationship curve becomes the fourth relationship curve.

[0096] Specifically, as shown in FIG3 and FIG4 , the fourth relationship curve may be a curve (eg, an arc), as shown in FIG3 , or a straight line and a curve, as shown in FIG4 .

[0097] In a possible implementation, as shown in FIG6 , step S10 (obtaining the operating condition of the pump truck) may specifically include the following steps:

[0098] Step S101: obtaining the stirring pressure of the stirring device of the pump truck;

[0099] Specifically, the stirring pressure can be collected by a pressure sensor installed on the stirring device. The stirring pressure can be used to determine the type of material being stirred in the stirring device.

[0100] Step S102: obtaining the ambient temperature of the working environment of the pump truck;

[0101] The ambient temperature can be collected by a temperature sensor, and the working environment of the pump truck can be determined based on the ambient temperature.

[0102] Step S103: Acquire the boom posture data of the pump truck;

[0103] The boom attitude data can be quantified by the height change of the end of each boom section, and the height change of the end of each boom section can be determined by the boom angle of each boom section, and the boom angle of the boom section can be collected by the inclination sensor installed on the boom section.

[0104] The operation type of the pump truck can be determined based on the boom posture data.

[0105] Step S104: determining the operating condition of the pump truck according to the stirring pressure, ambient temperature and boom posture.

[0106] Optionally, step S103 (obtaining boom posture data of the pump truck) may specifically include the following steps:

[0107] (1) Obtaining the arm angle of each arm in the boom;

[0108] Specifically, the boom of the pump truck includes multiple boom sections, wherein the boom angle of the first boom section refers to the angle between the first boom section and the horizontal direction, and the boom angles of the second boom section and subsequent boom sections refer to the angles between the two boom sections, as shown in FIG7 .

[0109] (2) Calculate the end height of the boom according to the boom angle and the length of the boom;

[0110] Specifically, the boom attitude data can be quantified by the change in the end height of each section, and the change in the end height of each section can be determined by the angle between each section. For example, if the boom of a pump truck includes 7 sections, then the attitude data of the boom is quantified as [10, 15, 8, 20, 15, 11, 5], in meters.

[0111] The end height of each section of the boom is calculated based on the section angle of the boom and the length of each section. For example, the boom of a pump truck consists of 5 sections of booms. The section angles of the 5 sections are A = [A1, A2, A3, A4, A5], in degrees, and the section lengths are L = [L1, L2, L3, L4, L5], in meters. Calculate the cumulative value of the angles. Calculate the height of each arm end Where n = 1, 2, 3, 4, 5.

[0112] (3) Determine the boom attitude data of the boom according to the end height of each boom section.

[0113] Exemplary Control Devices

[0114] As a second aspect of the present application, the present application further provides a control device for the pumping displacement of a pump truck. As shown in FIG8 , the control device 100 includes:

[0115] The data acquisition module 101 is configured to acquire the operating conditions and control mode of the pump truck, wherein the control mode includes the fastest control mode and / or the most economical control mode;

[0116] That is, the data acquisition module 101 is configured to execute step S10 in the above-mentioned method for controlling the pumping displacement of the pump truck.

[0117] Specifically, the operating condition of the pump truck can be determined by the operating condition data of the pump truck, and the operating condition data of the pump truck includes the stirring pressure of the stirring device of the pump truck, the boom posture data, and the ambient temperature of the environment in which the pump truck operates. The stirring pressure can be collected by a pressure sensor installed on the stirring device. The boom posture data can be quantified by the change in the end height of each section of the boom, and the change in the end height of each section of the boom can be determined by the section angle of each section of the boom, and the section angle of the section of the boom can be collected by the inclination sensor installed on the section of the boom; the ambient temperature can be collected by the temperature sensor. That is, the data acquisition module 101 is communicatively connected to the pressure sensor, temperature sensor, and inclination sensor respectively, so as to obtain the operating condition data of the pump truck and determine the operating condition of the pump truck based on the operating condition data.

[0118] Specifically, the pump truck's control mode is input by the operator. The fastest control mode is the operating displacement that maximizes the pumping volume per unit time. The most economical control mode is the operating displacement that minimizes fuel consumption for the same pumping volume. The pump truck's control modes also include a conventional control mode, which determines the pumping volume based on the operating displacement without requiring any mandatory control scheme.

[0119] Specifically, after obtaining the working condition data of the pump truck, the operating condition of the pump truck is determined based on the working condition data. For example, the type of material being pumped by the pump truck can be determined based on the mixing pressure. The type of operation of the pump truck can be determined based on the boom posture data. The operating environment of the pump truck can also be determined based on the ambient temperature.

[0120] The optimal displacement value determination module 102 is configured to determine the optimal displacement value of the pump that matches the operating condition and control mode of the pump truck according to the operating condition and control mode of the pump truck;

[0121] That is, the optimal displacement value determining module 102 is configured to execute step S20 in the above-mentioned method for controlling the pumping displacement of the pump truck.

[0122] Specifically, a displacement database can be pre-constructed, wherein the displacement database includes: the operating conditions, control modes, and optimal displacement values ​​that match the operating conditions and control modes of the pump truck. Among them, the optimal displacement value of the most economical control mode is the displacement value corresponding to the lowest fuel consumption when the pumping volume is the same under the operating conditions. The optimal displacement value of the fastest control mode is the displacement value corresponding to the shortest pumping time when the pumping volume is the same under the operating conditions. For example, operating condition 1, conventional control mode, and optimal displacement value 1 are a group of data; operating condition 1, the most economical control mode, and optimal displacement value 2 are a group of data; operating condition 1, the fastest control mode, and optimal displacement value 3 are a group of data. That is, the operating conditions, control modes, and optimal displacement values ​​in the displacement database correspond one to one.

[0123] After the displacement database is built, the optimal displacement value of the pump that matches the operating conditions and control mode can be queried in the displacement database.

[0124] The control strategy determination module 103 is configured to determine a control strategy for the pumping displacement of the pump truck based on the control mode and the optimal displacement value, wherein the control strategy includes: the relationship between the pumping displacement and the operating displacement is a monotonically increasing relationship;

[0125] That is, the control strategy determination module 103 is configured to execute step S30 in the above-mentioned method for controlling the pumping displacement of the pump truck.

[0126] Specifically, the monotonically increasing relationship means that as the operating displacement increases, the pumping displacement also increases.

[0127] Each control mode has a different control strategy. For example, the control strategy corresponding to the conventional control mode is: the monotonically increasing relationship between the pumping displacement and the operating displacement is expressed as a linear relationship, and the maximum value of the pumping displacement is 100%.

[0128] For example, as shown in Figures 2 and 3, when the control mode is the fastest control mode or the most economical control mode, the pumping displacement and the operating displacement are monotonically increasing. At this time, the maximum value of the pumping displacement is the optimal displacement value corresponding to the fastest control mode or the most economical control mode determined in step S30.

[0129] The control module 104 is configured to determine the pumping displacement of the pump truck based on the control strategy and the operating displacement.

[0130] That is, the control module 104 is configured to execute step S40 in the above-mentioned method for controlling the pumping displacement of the pump truck.

[0131] When the specific form of the monotonically increasing relationship is determined, after the operator inputs the operating displacement, the pumping displacement can be determined according to the specific form of the monotonically increasing relationship.

[0132] The present application provides a control device for the pumping displacement of a pump truck. When the pump truck operator inputs a control mode, the device first determines the optimal displacement value based on the operating conditions of the pump truck and the input control mode, then determines the control strategy of the control mode based on the control mode and the optimal displacement value, and determines the pumping displacement of the pump truck based on the control strategy and the operating displacement input by the operator. The fastest control mode and the most economical control mode are integrated into the displacement control strategy, so that under different pumping conditions of the pump truck, the operator can complete the pumping operation in the fastest or most economical way. In addition, no matter what control mode is used, the corresponding control strategy is a monotonically increasing relationship, which can control the continuous response of the pumping displacement and will not always stay at a certain pumping displacement, thereby ensuring the continuity of the displacement operation and improving the operator's operating experience.

[0133] Exemplary Systems

[0134] As a third aspect of the present application, the present application further provides a control system for the pumping displacement of a pump truck, as shown in FIG9 , the control system 1 includes:

[0135] The control device 100 described above;

[0136] The pressure sensor 200 is configured to detect the stirring pressure of the stirring device, so that the stirred material in the stirring device can be determined by the stirring pressure.

[0137] The temperature sensor 300 is configured to detect the ambient temperature of the environment in which the pump truck is located, so that the working environment of the pump truck can be determined by the ambient temperature.

[0138] The inclination sensor 400 is configured to detect the arm angle of the arm; the arm angle of the arm can be used to determine the height change of the end of each arm, and the arm posture data of the boom of the pump truck can be determined by quantifying the height change of the end of each arm.

[0139] The control device 100 is communicatively connected to the pressure sensor 200 , the temperature sensor 300 , and the tilt sensor 400 , respectively.

[0140] The working condition data of the pump truck during operation can be acquired through the pressure sensor 200 , the temperature sensor 300 and the inclination sensor 400 , and the operating condition of the pump truck can be determined based on the working condition data.

[0141] Exemplary pump truck

[0142] As a third aspect of the present application, the present application further provides a pump truck, comprising: a chassis and a turret disposed on the chassis; an arm mounted on the turret; a stirring device mounted on the chassis; and

[0143] The control system described above.

[0144] Exemplary electronic devices

[0145] The electronic device according to an embodiment of the present application is described below with reference to Figure 10. Figure 10 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0146] As shown in FIG. 10 , the electronic device 600 includes one or more processors 601 and a memory 602 .

[0147] The processor 601 may be a central processing unit (CPU) or other forms of processing units having information processing capabilities and / or information execution capabilities, and may control other components in the electronic device 600 to perform desired functions.

[0148] The memory 601 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), a hard disk, flash memory, etc. One or more computer program information may be stored on the computer-readable storage medium, and the processor 601 may execute the program information to implement the control methods of the various embodiments of the present application described above or other desired functions.

[0149] In one example, the electronic device 600 may further include an input device 603 and an output device 604 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0150] The input device 603 may include, for example, a keyboard, a mouse, and the like.

[0151] The output device 604 can output various information to the outside. The output device 604 can include, for example, a display, a communication network and a remote output device connected thereto.

[0152] Of course, for the sake of simplicity, FIG10 only shows some of the components of the electronic device 600 that are relevant to the present application, omitting components such as a bus, input / output interfaces, etc. In addition, the electronic device 600 may further include any other appropriate components depending on the specific application.

[0153] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program information, which, when executed by a processor, enables the processor to execute the steps of the control method according to various embodiments of the present application described in this specification.

[0154] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0155] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program information stored thereon, which, when executed by a processor, enables the processor to execute the steps of the control method according to various embodiments of the present application in this specification.

[0156] The computer-readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0157] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0158] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0159] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent modes of the present application.

[0160] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be applied in the widest sense consistent with the principles and novel features of the present invention.

[0161] The above description is only a preferred embodiment of the invention of this application and is not intended to limit the invention of this application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the invention of this application should be included in the scope of protection of the invention of this application.

Claims

1. A method for controlling the pumping displacement of a pump truck, comprising: Acquire the operating condition and control mode of the pump truck, wherein the control mode includes the fastest control mode and / or the most economical control mode; According to the operating condition and the control mode, determining an optimal displacement value matching the operating condition and the control mode; A control strategy for the pumping displacement of the pump truck is determined based on the control mode and the optimal displacement value, wherein the control strategy includes: The relationship between the pumping displacement and the operating displacement is a monotonically increasing relationship; and The pumping displacement is determined based on the control strategy and the operating displacement.

2. The control method according to claim 1, wherein: The control strategy for determining the pumping displacement of the pump truck based on the control mode and the optimal displacement value includes: When the control mode is the fastest control mode or the most economical control mode, the control strategy for determining the pumping displacement of the pump truck is: Establish a rectangular coordinate system with the operating displacement as the abscissa and the pumping displacement as the ordinate; Determining a starting point based on a preset minimum value of the operating displacement, wherein both the abscissa and the ordinate of the starting point are the preset minimum values; Based on the preset maximum value of the operating displacement and the optimal displacement value, determining an end point, wherein the abscissa of the end point is the preset maximum value, and the ordinate is the optimal displacement value; Determine a first point based on the optimal displacement value, wherein the abscissa and the ordinate of the first point are both the optimal displacement value; Establishing a first linear relationship according to the starting point and the first point, establishing a second linear relationship according to the first point and the end point, and establishing a third linear relationship according to the starting point and the end point; When the operating displacement is less than the optimal displacement value and greater than or equal to the preset minimum value, the pumping displacement and the operating displacement satisfy a first relationship curve, and under the same abscissa, the ordinate of the midpoint of the first relationship curve is greater than or equal to the ordinate of the midpoint of the third linear relationship and less than or equal to the ordinate of the midpoint of the first linear relationship; When the operating displacement is greater than or equal to the optimal displacement value and less than or equal to the preset maximum value, the pumping displacement and the operating displacement satisfy a second relationship curve, and under the same horizontal coordinate, the ordinate of the midpoint of the second relationship curve is greater than or equal to the ordinate of the midpoint of the third linear relationship and less than or equal to the ordinate of the midpoint of the second linear relationship; The first relationship curve and the second relationship curve are continuous and monotonically increasing.

3. The control method according to claim 2, wherein: When the operating displacement is less than the optimal displacement value and greater than or equal to the preset minimum value, the pumping displacement and the operating displacement satisfy a first relationship curve, including: Determining a displacement turning point based on the starting point and the first point, wherein the displacement turning point satisfies the first linear relationship, and a horizontal coordinate of the displacement turning point is greater than or equal to a horizontal coordinate of the starting point and is less than a horizontal coordinate of the first point; When the horizontal coordinate of the displacement turning point is greater than the horizontal coordinate of the starting point and smaller than the horizontal coordinate of the first point, If the operating displacement is greater than or equal to the abscissa of the starting point and less than or equal to the abscissa of the displacement turning point, the pumping displacement and the operating displacement satisfy the first linear relationship; If the operating displacement is greater than the displacement turning point and the abscissa is less than the optimal displacement value, the pumping displacement and the operating displacement satisfy a third relationship curve, and at the same abscissa, the ordinate of the midpoint of the third relationship curve is greater than or equal to the ordinate of the midpoint of the third linear relationship and less than the ordinate of the midpoint of the first linear relationship; The first relationship curve is constructed based on the first linear relationship and the third relationship curve.

4. The control method according to claim 3, wherein: When the abscissa of the displacement turning point is equal to the abscissa of the starting point, if the operating displacement is greater than or equal to the abscissa of the starting point and less than the optimal displacement value, the pumping displacement and the operating displacement satisfy a fourth relationship curve, and at the same abscissa, the ordinate of the midpoint of the fourth relationship curve is greater than or equal to the ordinate of the midpoint of the third linear relationship and less than the ordinate of the midpoint of the first linear relationship; The first relationship curve is constructed based on the fourth relationship curve.

5. The control method according to any one of claims 1 to 4, wherein: The determining, according to the operating condition and the control mode, an optimal displacement value matching the operating condition and the control mode comprises: According to the operating condition and the control mode, searching a displacement database for an optimal displacement value matching the operating condition and the control mode; The displacement database includes: operating conditions, control modes, and optimal displacement values ​​corresponding to the control modes and the operating conditions.

6. The control method according to any one of claims 1 to 5, wherein: Obtain the operating conditions of the pump truck, including: Obtaining the stirring pressure of the stirring device of the pump truck; Acquire the ambient temperature of the working environment of the pump truck; Acquiring arm posture data of the pump truck; and The operating condition of the pump truck is determined according to the stirring pressure, the ambient temperature and the boom posture.

7. The control method according to claim 6, wherein: Acquiring the boom posture data of the pump truck, including: Obtain the arm angle of each arm in the boom; Calculating the end height of the joint arm according to the joint arm angle and the length of the joint arm; and The boom posture data of the boom is determined according to the end height of each boom section.

8. The control method according to any one of claims 1 to 7, wherein: The fastest control mode refers to a working mode in which the pumping volume is the largest per unit time, and the most economical control mode refers to a working mode in which the pumping volume fuel consumption is the lowest under the same pumping volume.

9. The control method according to claim 8, wherein: The control mode of the pump truck also includes a conventional control mode, wherein the conventional control mode refers to a normal pumping displacement determined according to an operating displacement, and the pumping displacement is an operating displacement input by an operator.

10. A control device for the pumping displacement of a pump truck, comprising: A data acquisition module, configured to acquire the operating condition and control mode of the pump truck, wherein the control mode includes the fastest control mode and / or the most economical control mode; An optimal displacement value determination module is configured to determine an optimal displacement value of a pump matching the operating condition and the control mode according to the operating condition and the control mode; a control strategy determination module configured to determine a control strategy for the pumping displacement of the pump truck based on the control mode and the optimal displacement value, wherein the control strategy includes: a relationship between the pumping displacement and the operating displacement is a monotonically increasing relationship; and The control module is configured to determine the pumping displacement based on the control strategy and the operating displacement.

11. A control system for pumping displacement of a pump truck, comprising: The control device according to claim 10; a pressure sensor configured to detect a stirring pressure of the stirring device; A temperature sensor, wherein the temperature sensor is configured to detect an ambient temperature of an environment in which the pump truck is located; An inclination sensor configured to detect an included angle of a section arm of a boom; Wherein, the control device is communicatively connected with the pressure sensor, the temperature sensor, and the inclination sensor respectively.

12. A pump truck, comprising: A chassis and a turret arranged on the chassis; A boom mounted on the turret; A stirring device mounted on the chassis; as well as The control system of claim 11.

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