WO2021253891A1 - 检测坍落度的方法、装置和系统及搅拌式工程机械 - Google Patents

检测坍落度的方法、装置和系统及搅拌式工程机械 Download PDF

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Publication number
WO2021253891A1
WO2021253891A1 PCT/CN2021/081045 CN2021081045W WO2021253891A1 WO 2021253891 A1 WO2021253891 A1 WO 2021253891A1 CN 2021081045 W CN2021081045 W CN 2021081045W WO 2021253891 A1 WO2021253891 A1 WO 2021253891A1
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Prior art keywords
concrete
drum
slump
preset
volume
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PCT/CN2021/081045
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English (en)
French (fr)
Inventor
陈健晖
张国君
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中联重科股份有限公司
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Publication of WO2021253891A1 publication Critical patent/WO2021253891A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
    • B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
    • B28C5/4203—Details; Accessories
    • B28C5/4206—Control apparatus; Drive systems, e.g. coupled to the vehicle drive-system
    • B28C5/422—Controlling or measuring devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N11/00—Investigating flow properties of materials, e.g. viscosity, plasticity; Analysing materials by determining flow properties
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N11/00—Investigating flow properties of materials, e.g. viscosity, plasticity; Analysing materials by determining flow properties
    • G01N11/10—Investigating flow properties of materials, e.g. viscosity, plasticity; Analysing materials by determining flow properties by moving a body within the material
    • G01N11/14—Investigating flow properties of materials, e.g. viscosity, plasticity; Analysing materials by determining flow properties by moving a body within the material by using rotary bodies, e.g. vane

Definitions

  • the present invention relates to the field of construction machinery, in particular to a method, device and system for detecting slump, and agitating construction machinery.
  • the ready-mixed concrete lacks effective quality monitoring in the transportation link.
  • the quality of the concrete cannot be prevented in advance.
  • Unqualified concrete has a huge impact on the quality of the main body of the project.
  • it will cause problems between the concrete manufacturer, the logistics company and the construction party. Wrangling, it is impossible to distinguish the responsible party for the out-of-control concrete quality.
  • the quality of concrete mainly examines the homogeneity of concrete, and an important technical index of homogeneity evaluation is the slump of concrete.
  • the first is based on the GB/T 26408 product standard, using manual processing as the main method, as shown in Figure 1; the second is the hydraulic system (or Reducer) is equipped with pressure (or torque) sensors to monitor the loss or change of concrete slump through pressure changes; the third is to use low-speed energy/speed/slump curve data or pre-stored equations to calculate slump , Where the slump is obtained as a function of the slope of the line segment; the fourth is to monitor the slump of concrete by measuring the moisture and consistency of the material to be mixed in the drum mixer.
  • the methods for detecting slump in the prior art have the following shortcomings: low efficiency, large investment, relatively backward means, high labor intensity, resulting in a great waste of manpower and material resources, time-consuming and labor-consuming; and many influencing factors, easy Resulting in data distortion; real-time online detection is not possible; automatic detection is not possible; measurement accuracy is restricted by the characteristics of raw materials and operating conditions (material pressure stability, engine speed, mixing drum speed, etc.), and the measurement accuracy is low, and the slump cannot be accurately reflected The size of the fall, the practical value is not high.
  • the purpose of the present invention is to provide a method, device and system for detecting slump, and agitating construction machinery, which can solve or at least partially solve the above technical problems.
  • one aspect of the present invention provides a method for detecting the slump of concrete in a mixing type construction machine, the method comprising: judging whether the concrete is installed on the drum of the mixing type construction machine. Whether the volume of the concrete in the container changes from a first preset volume to a second preset volume with the rotation of the drum; when the volume changes from the first preset volume to the second preset volume In this case, determine the slump detection parameter corresponding to the concrete, where the slump detection parameter is the rotation of the drum when the volume changes from the first preset volume to the second preset volume. And determining the slump of the concrete based on the determined slump detection parameter and a preset correspondence, wherein the preset correspondence is the slump detection parameter and the The corresponding relationship between slump is described.
  • the judging whether the volume of the concrete in the concrete container installed on the drum of the mixing type construction machine changes from a first preset volume to a second preset volume along with the rotation of the drum includes : Obtain the torque generated by the concrete being poured out of the concrete container during the rotation of the drum; and determine whether the torque has changed from a first preset torque to a second preset torque, wherein the The first preset torque corresponds to the first preset volume, and the second preset torque corresponds to the second preset volume.
  • the obtained torque is determined based on the following: during the rotation of the drum, obtain the pressure on the two walls of the concrete container at opposite positions due to the squeezing of the concrete The difference, wherein, during the rotation of the drum, the height of the two walls from the ground is different except that the drum is rotated to the lowest position and the highest position; and the torque is determined based on the difference.
  • the installation position of the concrete container along the axis of the drum satisfies the following conditions: in the cylindrical part of the drum, along the installation position in the section of the drum and perpendicular to the axis In the direction of, the value range of the ratio m of the distance between the static liquid level line of the concrete and the wall of the drum in contact with the concrete to the diameter of the drum is 0.3 ⁇ m ⁇ 0.7.
  • the angle ⁇ between the axis of the concrete container and the tangent to the circumference of the drum satisfies the following condition: 45° ⁇ 90°.
  • the preset correspondence relationship is determined based on the following: determining the slump detection parameter corresponding to each sample in the concrete sample; and based on the slump detection parameter corresponding to each sample in the concrete sample The fall detection parameter and the slump determine the preset corresponding relationship.
  • another aspect of the present invention provides a device for detecting the slump of concrete in a mixing type construction machine.
  • the device includes: a judging module for judging the drum installed in the mixing type construction machine. Whether the volume of the concrete in the upper concrete container changes from the first preset volume to the second preset volume with the rotation of the drum; the slump detection parameter determines whether the volume changes from the first When the preset volume becomes the second preset volume, determine the slump detection parameter corresponding to the concrete, wherein the slump detection parameter is the change of the volume from the first preset volume Is the time or angle of the rotation of the drum when the second preset volume is present; and a slump determination module for determining the slump of the concrete based on the determined slump detection parameter and the preset corresponding relationship The slump, wherein the preset corresponding relationship is the corresponding relationship between the slump detection parameter and the slump.
  • the judging module judges whether the volume of the concrete in the concrete container installed on the drum of the mixing construction machine changes from a first preset volume to a second preset with the rotation of the drum
  • the volume includes: obtaining the torque generated by the concrete being poured out of the concrete container during the rotation of the drum; and judging whether the torque has changed from a first preset torque to a second preset torque, wherein, The first preset torque corresponds to the first preset volume, and the second preset torque corresponds to the second preset volume.
  • the obtained torque is determined based on the following: during the rotation of the drum, obtain the pressure on the two walls of the concrete container at opposite positions due to the squeezing of the concrete The difference, wherein, during the rotation of the drum, the height of the two walls from the ground is different except that the drum is rotated to the lowest position and the highest position; and the torque is determined based on the difference.
  • the installation position of the concrete container along the axis of the drum satisfies the following conditions: in the cylindrical part of the drum, along the installation position in the section of the drum and perpendicular to the axis In the direction of, the value range of the ratio m of the distance between the static liquid level line of the concrete and the wall of the drum in contact with the concrete to the diameter of the drum is 0.3 ⁇ m ⁇ 0.7.
  • the angle ⁇ between the axis of the concrete container and the tangent to the circumference of the drum satisfies the following condition: 45° ⁇ 90°.
  • the preset correspondence relationship is determined based on the following: determining the slump detection parameter corresponding to each sample in the concrete sample; and based on the slump detection parameter corresponding to each sample in the concrete sample The fall detection parameter and the slump determine the preset corresponding relationship.
  • another aspect of the present invention also provides a system for detecting the slump of concrete in a mixing type construction machine.
  • the system includes: the above-mentioned device; a concrete container installed on the mixing type construction machine. On the drum, used to hold concrete; an angle detection module, used to detect the angle that the drum has rotated; and a force detection module, used to detect that the concrete container is at the opposite position during the rotation of the drum The difference between the pressure on the two walls due to the squeezing of the concrete; and/or a torque detection module for detecting that the concrete in the concrete container is poured out during the rotation of the drum The torque produced.
  • the torque detection module is detachably fixedly connected to a metering link and a mounting plate, the mounting plate is fixedly connected to the manhole cover, and the metering link is between the manhole cover and the manhole cover. Distance preset distance.
  • another aspect of the present invention also provides an agitated engineering machine, which includes the above-mentioned system.
  • another aspect of the present invention also provides a machine-readable storage medium having instructions stored on the machine-readable storage medium, and the instructions are used to cause a machine to execute the above-mentioned method.
  • the above technical scheme automatically detects the slump, and only needs to determine the volume change of the concrete and the slump detection parameters to determine the slump.
  • the investment is relatively small, the work efficiency is improved, the labor intensity is small, and there is no need to spend a lot of money.
  • Great human and material resources the above technical solution has a simple process, few influencing factors, is not easy to cause data distortion, can ensure accuracy, can detect slump on-line in real time, and automatically detects.
  • the above technical solution is not affected by many factors such as the characteristics of raw materials and operating conditions, improves the measurement accuracy, and can more accurately reflect the size of the slump.
  • the technical solution has strong practicability.
  • Figure 1 is a schematic diagram of manual slump measurement
  • FIG. 2 is a flowchart of a method for detecting the slump of concrete in a mixing construction machine according to another embodiment of the present invention
  • FIG. 3 is a schematic diagram of the installation position of a concrete container and a detection sensor according to another embodiment of the present invention.
  • FIG. 4 is a schematic diagram of the volume and shape of the material in the measuring hopper when the mixing drum is rotating according to another embodiment of the present invention
  • FIG. 5 is a schematic diagram of the working principle of a torque sensor and signal collection provided by another embodiment of the present invention.
  • Fig. 6 is a schematic diagram of an assembly structure of a metering bucket provided by another embodiment of the present invention.
  • Fig. 7 is a schematic diagram of the installation position of a measuring bucket provided by another embodiment of the present invention.
  • FIG. 8 is a schematic diagram of the angle of the axis of the metering bucket and the tangent to the circumference of the drum provided by another embodiment of the present invention.
  • Fig. 9 is a structural block diagram of a device for detecting the slump of concrete in a mixing construction machine according to another embodiment of the present invention.
  • the concrete mixer truck is equipped with a set of online slump detection system, which can grasp the change of concrete slump in the transportation link in real time, laying the foundation for subsequent product improvement and intelligent control of concrete quality in all links, and greatly improving the core competition of the product. force.
  • One aspect of the embodiment of the present invention provides a method for detecting the slump of concrete in a mixing type construction machine. Specifically, this embodiment can be applied to a concrete mixer truck.
  • Fig. 2 is a flowchart of a method for detecting the slump of concrete in a mixing construction machine according to an embodiment of the present invention. As shown in Figure 2, the method includes the following.
  • step S20 it is determined whether the volume of the concrete in the concrete container installed on the drum of the mixing construction machine changes from the first preset volume to the second preset volume with the rotation of the drum. If yes, go to step S21; if not, go to step S20.
  • the concrete container contains concrete that needs to be tested for slump and is installed on the drum. As the drum rotates, the concrete is poured out from the container, and the volume of the concrete in the concrete container becomes smaller.
  • the concrete container may be a weighing hopper.
  • the first preset volume may be the volume of the container, that is, the container is filled with concrete.
  • the second preset volume may be 0, that is, as the drum rotates, the container is emptied. It should be noted that the first preset volume and the second preset volume can be set according to actual conditions, and this is not used to limit the present invention.
  • the volume of the concrete in the concrete container changes from the first preset volume to the second preset volume with the rotation of the drum. For example, it can be judged based on the torque generated when the concrete in the concrete container is poured out. As the drum rotates, the concrete in the container is poured out, and torque is generated due to the poured out of the concrete in the container. As the concrete is poured out, the volume of the concrete gradually decreases, and the generated torque changes.
  • the first preset volume of the concrete in the concrete container corresponds to the first preset torque
  • the second preset volume corresponds to the second preset torque. Therefore, it can be determined whether the volume of the concrete changes from the first preset volume to the second preset volume according to whether the torque changes from the first preset torque to the second preset torque.
  • determining whether the volume of the concrete in the concrete container installed on the drum of the mixing construction machine changes from the first preset volume to the second preset volume with the rotation of the drum includes: acquiring the process of the rotation of the drum The torque generated by pouring the concrete in the concrete container; and judging whether the torque has changed from the first preset torque to the second preset torque, where the first preset torque corresponds to the first preset volume, and the second preset torque Let the torque correspond to the second preset volume.
  • one way may be to install a torque sensor on the concrete container, and the torque sensor measures the torque generated when the concrete in the concrete container is poured out.
  • a force sensor can be used to detect the difference in pressure.
  • the container is filled with concrete.
  • the concrete is poured out, and the volume of the concrete in the container decreases.
  • the upper and lower walls 12 of the container (with the rotation of the drum, the heights of the two walls 12 from the ground are different) are subjected to different pressures of the concrete, and the pressure difference between the two walls 12 is detected. Then the torque is determined based on the pressure difference.
  • step S21 when the volume of the concrete changes from the first preset volume to the second preset volume, determine the slump detection parameter corresponding to the concrete, where the slump detection parameter is the volume change from the first preset volume
  • the angle detection module can be used to detect the angle that the drum has rotated when the volume of the concrete changes from the first preset volume to the second preset volume, for example, using an angle sensor to detect.
  • a timer can be used to determine the time when the volume of the concrete changes from the first preset volume to the second preset volume.
  • the time for the drum rotation is determined.
  • the detection parameter is the angle that the drum has rotated
  • step S22 the slump of the concrete is determined based on the determined slump detection parameter and a preset corresponding relationship, where the preset corresponding relationship is the corresponding relationship between the slump detection parameter and the slump .
  • the corresponding relationship between the slump detection parameter and the slump is determined by default.
  • the real-time determined slump detection parameter is determined based on the predetermined corresponding relationship.
  • the corresponding slump may be the relationship curve between the slump detection parameter and the slump.
  • the slump can be directly determined based on the relationship curve; if there is no real-time determination on the relationship curve
  • the slump corresponding to the slump detection parameter detected in real time is determined, Among them, the single increase relationship is that the larger the slump detection parameter, the smaller the slump.
  • two slump detection parameter values are selected on the relationship curve, the slump detection parameter detected in real time is between the two selected detection parameter values, and the two selected slump detection parameter values are based on the relationship curve.
  • the slump corresponding to the detected parameter value and the single increase relationship respectively estimate the slump corresponding to the slump detected parameter detected in real time.
  • the device designed in the embodiment of the present invention can be combined with concrete test samples of known slump to determine the slump test parameters corresponding to each test sample (using the method described in the above embodiment to determine each test sample).
  • a slump detection parameter of the test sample so as to determine the preset corresponding relationship between the concrete slump detection parameter and the slump based on the slump detection parameter and the slump corresponding to each test sample.
  • the preset correspondence relationship is determined based on the following: determining the slump detection parameter corresponding to each sample in the concrete sample; and based on the slump detection parameter and slump determination corresponding to each sample in the concrete sample Preset correspondence.
  • the number of test samples can be selected according to the actual situation, the more the number, the higher the accuracy.
  • the above technical scheme automatically detects the slump, and only needs to determine the volume change of the concrete and the slump detection parameters to determine the slump.
  • the investment is relatively small, the work efficiency is improved, the labor intensity is small, and there is no need to spend a lot of money.
  • Great human and material resources the above technical solution has a simple process, few influencing factors, is not easy to cause data distortion, can ensure accuracy, can detect slump on-line in real time, and automatically detects.
  • the above technical solution is not affected by many factors such as the characteristics of raw materials and operating conditions, improves the measurement accuracy, and can more accurately reflect the size of the slump.
  • the technical solution has strong practicability.
  • the installation position of the concrete container on the drum can be set according to the specific situation, as long as it is satisfied that the volume of the concrete can be changed from the first preset volume to the second during the rotation of the drum.
  • the preset volume can be changed.
  • the location where the concrete container is installed may satisfy the following conditions.
  • the installation position of the concrete container along the axis of the drum satisfies the following conditions: In the cylindrical part of the drum, in the direction perpendicular to the axis and along the installation position in the section of the drum, the static liquid level of the concrete reaches the level of the drum and the concrete
  • the value range of the ratio m of the distance between the contacting wall and the diameter of the roller is 0.3 ⁇ m ⁇ 0.7.
  • the concrete container is a measuring hopper, which is installed on the cylindrical part of the drum.
  • the distance between the static liquid level of the concrete and the wall of the drum that is in contact with the concrete (the other wall of the drum is not in contact with the concrete) in the direction perpendicular to the axis of the drum at the installation point of the metering point The ratio m to the diameter L of the drum satisfies 0.3 ⁇ m ⁇ 0.7.
  • the placement method of the concrete container can be determined according to the specific situation, as long as it can be achieved during the rotation of the drum, so that the volume of the concrete can be changed from the first preset volume to the second preset volume.
  • the change can be.
  • the angle ⁇ between the axis of the concrete container and the tangent to the circumference of the drum satisfies the following condition: 45° ⁇ 90°.
  • the concrete container is a measuring bucket
  • the included angle A between the axis of the measuring bucket and the tangent to the circumference of the drum is 90°.
  • the concrete container can be a measuring hopper
  • the mixing construction machinery can be a mixer truck.
  • the concrete container and the detection sensor are used in the technical solution provided by the embodiment of the present invention, and the installation positions of the concrete container and the detection sensor 4 can be referred to as shown in FIG. 3.
  • one or more concrete containers are arranged inside the mixing drum (equivalent to the drum described in the embodiment of the present invention), and the detection sensor may include a load cell and/or a torque sensor. To determine the torque.
  • the cup When the concrete container is at the bottom position, the cup is filled with concrete material, as shown in Figure 4.
  • the concrete container rotates counterclockwise as the drum, and the material in the cup is slowly poured out.
  • the rotation angle of the drum becomes larger, the concrete in the cup is slowly poured out. Finally, it empties between about three o'clock and one o'clock.
  • the emptying time or angle is different for different slump. Large slump will empty earlier, while low slump will empty later.
  • the concrete container is taken as an example of a measuring hopper.
  • Figure 4 shows the changes in the volume and shape of the material in the measuring hopper when the mixing drum rotates.
  • the weak signal output by the detection sensor (for example, torque sensor or force sensor) is sorted and amplified by the transmitter to form a constant current source signal or voltage signal, and then converted into a digital signal by an analog quantity collector, and sent by a wireless data transmission transceiver.
  • the data processing unit in the cab or frame processes the detection signal and finally obtains the detection result.
  • the working principle of torque sensor and signal acquisition is shown in Figure 5.
  • the installation structure of the measuring hopper is shown in Figure 6.
  • the torque sensor 5 is detachably (for example threaded) connected to the metering connecting rod 6 and the mounting plate 13, wherein the mounting plate 13 is fixedly connected to the manhole cover 10 (such as welding or bonding), and the metering connecting rod 6 passes the torque
  • the sensor 5 is connected with the mounting plate 13, and the distance between the metering connecting rod 6 and the manhole cover plate 10 is a preset distance.
  • the screw 11 transmits the pressure to the torque sensor 5.
  • the metering connecting rod 6 is connected with the metering bucket 7 (the cross-section of the metering bucket is preferably an ellipse) through two upper and lower screws 11 and a rubber block 8, wherein the rubber block 8 plays a role of sealing.
  • the mixing drum rotates, the volume and shape of the material in the measuring hopper 7 change, and the load difference is transmitted to the torque sensor 5 through the upper and lower screws 11 (or, the load difference is transmitted to the force sensor).
  • the physical quantity detection sensor selection, layout and installation can be shown in Figure 7.
  • the installation position of the metering bucket along the axis of the drum needs to be carefully selected.
  • Selection principle As shown in Figure 7, the value of L1/L is between 0.3 and 0.7 (the selection principle is: in the process of one rotation of the mixing drum, try to satisfy the two states of filling and emptying the measuring bucket.
  • the number of measuring hoppers is not limited).
  • the technicians familiar with the mixer know that the mixing drum is generally placed at an angle, and the material in the mixing drum is not completely filled. If it is completely filled, our solution will be useless, because we need Detect the change of drum angle or time change in the process of the material in the measuring hopper from being relatively full to relatively empty.
  • the angle A between the axis of the metering bucket and the tangent to the circumference of the drum may not be a right angle, but is taken to be between 45° and 90°, including 45° and 90°.
  • the weighing bucket will start to dump, but the dumping process is very short, and it empties all at once. If the time span is too short, it will have a great impact on the accuracy of our measurement. If the measuring hopper is installed at an angle in advance, the measuring hopper is not easy to soak in the concrete material, and its dumping time is also late at such an angle. Therefore, if the liquid level is high, the measuring hopper should be installed at an angle, as shown in angle A in the figure.
  • the cross section of the measuring bucket is not limited to a circular shape.
  • the ratio of the size of the measuring bucket in the lateral direction (that is, along the axis of the drum) to the size of the vertical direction (that is, along the circumferential direction of the drum section) is 0.4 to 0.9.
  • the torque generated by the material carried by the measuring hopper is transmitted by the upper and lower screws, and the torque is formed by the difference in the force on the screws.
  • the torque can be directly detected by the torque sensor, or the force sensor can be used to detect the force difference between the two screws, and then the torque can be calculated based on the force difference.
  • the rotation speed may delay the time when the drum is empty, that is, the actual time or angle of the drum corresponding to the slump is smaller than the detected time or angle. Therefore, when establishing the relationship curve, The detection parameter (the time or angle the drum has rotated) can be corrected, specifically, the detection parameter is reduced, so that the corresponding relationship between the detection parameter and the slump is more accurate, and the accuracy of the slump detection is improved.
  • the single-increasing relationship between the slump and the detection parameters is that the detection parameter with a large slump is small, and the detection parameter with a small slump is large. Therefore, in addition to correcting the detection parameters to compensate for the time caused by the speed In addition to the point delay, the slump can also be corrected based on the single increase relationship, specifically, the slump is reduced, so that the corresponding relationship between the detection parameter and the slump is more accurate.
  • the number of samples is usually between 500 and 5000.
  • test parameter value (the time or angle the drum has rotated) for each rotation of the mixing drum is taken as a sample value
  • the final test parameter value takes the arithmetic mean of each sample value, that is, for each test sample.
  • the mixing drum rotates several times to determine the corresponding detection parameter value, and the arithmetic mean of the detection parameter value corresponding to each circle is taken as the final detection parameter value of the test sample.
  • the technical solution provided by the embodiment of the present invention has the following advantages. 1.
  • the working conditions are completely consistent.
  • the FL-MOBIMIC-Inspector currently promoted on the market is a concrete online measurement system, which is mainly composed of a microwave humidity measurement probe and a viscosity measurement rod (with a sending unit), which is used to record multiple process parameters in a concrete mixer. Including concrete humidity, viscosity, slump, concrete temperature and rotating speed and direction of the mixing drum, etc. FL-MOBIMIC-Inspector detects slump through concrete humidity and viscosity.
  • another aspect of the embodiments of the present invention provides a device for detecting the slump of concrete in a mixing type construction machine.
  • Fig. 9 is a structural block diagram of a device for detecting the slump of concrete in a mixing construction machine according to another embodiment of the present invention. As shown in Figure 9, the device includes a judgment module 1, a slump detection parameter determination module 2, and a slump determination module 3.
  • the judgment module 1 is used to judge whether the volume of the concrete in the concrete container installed on the drum of the mixing construction machine changes from the first preset volume to the second preset volume with the rotation of the drum;
  • the detection parameter determination 2 is used to determine the slump detection parameter corresponding to the concrete when the volume changes from the first preset volume to the second preset volume, where the slump detection parameter is the volume change from the first preset volume The time or angle of rotation of the drum when the volume becomes the second preset volume;
  • the slump determination module 3 is used to determine the slump of the concrete based on the determined slump detection parameters and the preset corresponding relationship, wherein the preset corresponding The relationship is the corresponding relationship between the slump detection parameter and the slump.
  • the judging module judges whether the volume of the concrete in the concrete container installed on the drum of the mixing construction machine changes from the first preset volume to the second preset with the rotation of the drum.
  • Setting the volume includes: obtaining the torque generated by the concrete being poured out of the concrete container during the rotation of the drum; and judging whether the torque has changed from the first preset torque to the second preset torque, where the first preset torque Corresponding to the first preset volume, the second preset torque corresponds to the second preset volume.
  • the acquired torque is determined based on the following content: during the rotation of the drum, the pressure on the two walls of the concrete container at opposite positions due to the squeezing of the concrete is acquired Among them, during the rotation of the drum, the height of the two walls from the ground is different except that the drum rotates to the lowest position and the highest position; and based on the difference, the torque is determined.
  • the installation position of the concrete container along the axis of the drum satisfies the following conditions: in the cylindrical part of the drum, in the cross section of the drum, along the installation position and perpendicular to the axis, the concrete
  • the value range of the ratio m of the distance between the static liquid level line and the wall of the drum that is in contact with the concrete and the diameter of the drum is 0.3 ⁇ m ⁇ 0.7.
  • the angle ⁇ between the axis of the concrete container and the tangent to the circumference of the drum satisfies the following condition: 45° ⁇ 90°.
  • the preset correspondence relationship is determined based on the following: determining the slump detection parameter corresponding to each sample in the concrete sample; and based on the slump corresponding to each sample in the concrete sample The detection parameters and slump determine the preset corresponding relationship.
  • the specific working principle and benefits of the device for detecting the slump of concrete in a mixing construction machine provided by the embodiment of the present invention are the same as those provided by the embodiment of the present invention for detecting the slump of concrete in a mixing construction machine.
  • the specific working principles and benefits of the method are similar, so I will not repeat them here.
  • another aspect of the embodiments of the present invention also provides a system for detecting the slump of concrete in a mixing type construction machine.
  • the system includes: the device described in the above embodiment; a concrete container, which is installed On the drum of the mixing construction machinery, it is used to contain concrete; the angle detection module is used to detect the angle that the drum has rotated; and the force detection module is used to detect that the concrete container is on the opposite side during the rotation of the drum The difference between the pressures of the two walls due to the squeezing of the concrete; and/or the torque detection module is used to detect the torque generated by the concrete in the concrete container being poured out during the rotation of the drum.
  • the torque detection module is detachably fixedly connected to the metering link and the mounting plate, the mounting plate is fixedly connected to the manhole cover, and the distance between the metering link and the manhole cover is preset distance.
  • the torque detection module may be a torque sensor.
  • Another aspect of the embodiments of the present invention also provides an agitated construction machine, which includes the system described in the foregoing embodiment.
  • another aspect of the embodiments of the present invention also provides a machine-readable storage medium having instructions stored on the machine-readable storage medium, and the instructions are used to cause a machine to execute the method described in the foregoing embodiment.

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Abstract

本发明涉及工程机械领域，公开了一种检测坍落度的方法、装置和系统及搅拌式工程机械。该方法包括：判断被安装在所述搅拌式工程机械的滚筒上的混凝土盛装容器中的混凝土的体积随着所述滚筒的转动是否从第一预设体积变为第二预设体积；在所述体积从所述第一预设体积变为所述第二预设体积的情况下，确定所述混凝土对应的坍落度检测参数，其中，所述坍落度检测参数为所述体积从所述第一预设体积变为所述第二预设体积时所述滚筒转动的时间或角度；以及基于所确定的坍落度检测参数及预设对应关系，确定所述混凝土的所述坍落度，其中，所述预设对应关系为所述坍落度检测参数与所述坍落度之间的对应关系。籍此，实现了无需人工参与自动检测坍落度。

Description

检测坍落度的方法、装置和系统及搅拌式工程机械
相关申请的交叉引用
本申请要求2020年06月16日提交的中国专利申请202010549979.3的权益，该申请的内容通过引用被合并于本文。
技术领域
本发明涉及工程机械领域，具体地，涉及一种检测坍落度的方法、装置和系统及搅拌式工程机械。
背景技术
目前预拌混凝土在运输环节缺少有效的质量监控，混凝土质量的好坏无法提前预防，不合格的混凝土对工程主体质量影响巨大，同时会造成混凝土生产商、物流公司和施工方三者之间发生扯皮，无法分辨混凝土质量失控的责任主体。
混凝土质量主要考查混凝土匀质性，而匀质性评价的一项重要技术指标就是混凝土的坍落度。现有技术中，主要有以下几种检测坍落度的方法：第一种是根据GB/T 26408产品标准，采用人工进行为主要方式，如图1所示；第二种是液压系统(或减速机)带有压力(或转矩)传感器，通过压力的变化来监控混凝土坍落度的损失或变化；第三种是使用低速能量/速度/坍落度曲线数据或预存方程计算坍落度，其中作为线段斜率的函数得到坍落度；第四种是通过测量滚筒式搅拌机中待混合材料的水分和稠度的系统来监控混凝土坍落度。现有技术中的检测坍落度的方法具有以下缺点：效率低下，投入大，手段比较落后，劳动强度大，对人力与物力均造成极大的浪费，费时费工；且影响因素多，易造成数据失真；无法实时在线检测；无法实现自动化检测；测量精度受制于原材料特性和使用工况(物料压力稳定性、发动机转速、搅拌筒转速等)诸多的影响，测量精度低，不能准确反映坍落度大小，实用价值不高。
发明内容
本发明的目的是提供一种检测坍落度的方法、装置和系统及搅拌式工程机械，其可实现解决或至少部分解决上述技术问题。
为了实现上述目的，本发明的一个方面提供一种用于检测搅拌式工程机械中的混凝 土的坍落度的方法，该方法包括：判断被安装在所述搅拌式工程机械的滚筒上的混凝土盛装容器中的混凝土的体积随着所述滚筒的转动是否从第一预设体积变为第二预设体积；在所述体积从所述第一预设体积变为所述第二预设体积的情况下，确定所述混凝土对应的坍落度检测参数，其中，所述坍落度检测参数为所述体积从所述第一预设体积变为所述第二预设体积时所述滚筒转动的时间或角度；以及基于所确定的坍落度检测参数及预设对应关系，确定所述混凝土的所述坍落度，其中，所述预设对应关系为所述坍落度检测参数与所述坍落度之间的对应关系。
可选地，所述判断被安装在所述搅拌式工程机械的滚筒上的混凝土盛装容器中的混凝土的体积随着所述滚筒的转动是否从第一预设体积变为第二预设体积包括：获取在所述滚筒转动的过程中因所述混凝土盛装容器中的混凝土被倒出产生的扭矩；以及判断所述扭矩是否从第一预设扭矩变为第二预设扭矩，其中，所述第一预设扭矩对应所述第一预设体积，所述第二预设扭矩对应所述第二预设体积。
可选地，所获取的扭矩基于以下内容被确定：在所述滚筒的转动过程中，获取所述混凝土盛装容器的处于对立面位置上的两器壁因所述混凝土的挤压而受到的压力的差值，其中，在所述滚筒的转动过程中，除所述滚筒转动到最低位置及最高位置外，所述两器壁距离地面的高度不同；以及基于所述差值，确定所述扭矩。
可选地，所述混凝土盛装容器沿所述滚筒的轴线的安装位置满足以下条件：在所述滚筒的圆柱体部分，在所述滚筒的截面内沿过所述安装位置且与所述轴线垂直的方向上，所述混凝土的静置液面线到所述滚筒的与所述混凝土接触的壁的距离与所述滚筒的直径的比值m的取值范围为0.3≤m≤0.7。
可选地，所述混凝土盛装容器的轴线与所述滚筒圆周切线的角度θ满足以下条件：45°≤θ≤90°。
可选地，所述预设对应关系基于以下内容被确定：确定混凝土样本中的每一样本对应的所述坍落度检测参数；以及基于所述混凝土样本中的每一样本对应的所述坍落度检测参数及坍落度确定所述预设对应关系。
相应地，本发明的另一方面提供一种用于检测搅拌式工程机械中的混凝土的坍落度的装置，该装置包括：判断模块，用于判断被安装在所述搅拌式工程机械的滚筒上的混凝土盛装容器中的混凝土的体积随着所述滚筒的转动是否从第一预设体积变为第二预设体积；坍落度检测参数确定，用于在所述体积从所述第一预设体积变为所述第二预设体积的情况下，确定所述混凝土对应的坍落度检测参数，其中，所述坍落度检测参数为所 述体积从所述第一预设体积变为所述第二预设体积时所述滚筒转动的时间或角度；以及坍落度确定模块，用于基于所确定的坍落度检测参数及预设对应关系，确定所述混凝土的所述坍落度，其中，所述预设对应关系为所述坍落度检测参数与所述坍落度之间的对应关系。
可选地，所述判断模块判断被安装在所述搅拌式工程机械的滚筒上的混凝土盛装容器中的混凝土的体积随着所述滚筒的转动是否从第一预设体积变为第二预设体积包括：获取在所述滚筒转动的过程中因所述混凝土盛装容器中的混凝土被倒出产生的扭矩；以及判断所述扭矩是否从第一预设扭矩变为第二预设扭矩，其中，所述第一预设扭矩对应所述第一预设体积，所述第二预设扭矩对应所述第二预设体积。
可选地，所获取的扭矩基于以下内容被确定：在所述滚筒的转动过程中，获取所述混凝土盛装容器的处于对立面位置上的两器壁因所述混凝土的挤压而受到的压力的差值，其中，在所述滚筒的转动过程中，除所述滚筒转动到最低位置及最高位置外，所述两器壁距离地面的高度不同；以及基于所述差值，确定所述扭矩。
可选地，所述混凝土盛装容器沿所述滚筒的轴线的安装位置满足以下条件：在所述滚筒的圆柱体部分，在所述滚筒的截面内沿过所述安装位置且与所述轴线垂直的方向上，所述混凝土的静置液面线到所述滚筒的与所述混凝土接触的壁的距离与所述滚筒的直径的比值m的取值范围为0.3≤m≤0.7。
可选地，所述混凝土盛装容器的轴线与所述滚筒圆周切线的角度θ满足以下条件：45°≤θ≤90°。
可选地，所述预设对应关系基于以下内容被确定：确定混凝土样本中的每一样本对应的所述坍落度检测参数；以及基于所述混凝土样本中的每一样本对应的所述坍落度检测参数及坍落度确定所述预设对应关系。
此外，本发明的另一方面还提供一种用于检测搅拌式工程机械中的混凝土的坍落度的系统，该系统包括：上述的装置；混凝土盛装容器，被安装在所述搅拌式工程机械的滚筒上，用于盛装混凝土；角度检测模块，用于检测所述滚筒转过的角度；以及力检测模块，用于检测在所述滚筒的转动过程中，所述混凝土盛装容器的处于对立面位置上的两器壁因所述混凝土的挤压而受到的压力的差值；和/或扭矩检测模块，用于检测在所述滚筒转动的过程中因所述混凝土盛装容器中的混凝土被倒出产生的扭矩。
可选地，所述扭矩检测模块可拆卸的与计量连杆和安装板固定连接，所述安装板与所述人孔盖板固定连接，所述计量连杆与所述人孔盖板之间距离预设距离。
另外，本发明的另一方面还提供一种搅拌式工程机械，该搅拌式工程机械包括上述的系统。
此外，本发明的另一方面还提供一种机器可读存储介质，该机器可读存储介质上存储有指令，该指令用于使得机器执行上述的方法。
通过上述技术方案，实现了无需人工参与自动检测坍落度。另外，上述技术方案自动检测坍落度，只需确定混凝土的体积的变化及坍落度检测参数即可确定出坍落度，投入性比较小，提高了工作效率，劳动强度小，无需花费极大的人力与物力。此外，上述技术方案过程简单，影响因素少，不易造成数据失真，可以保证准确性，可以实时在线检测坍落度，且自动化检测。上述技术方案在检测坍落度时，不受制于原材料特性和使用工况等诸多因素的影响，提高了测量精度，可以较准确的反映坍落度大小，技术方案具有很强的实用性。
本发明的其它特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本发明的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明，但并不构成对本发明的限制。在附图中：
图1是人工测量坍落度的示意图；
图2是本发明另一实施例提供的用于检测搅拌式工程机械中的混凝土的坍落度的方法的流程图；
图3是本发明另一实施例提供的混凝土盛装容器和检测传感器安装位置示意图；
图4是本发明另一实施例提供的搅拌筒转动时计量斗内物料体积及形状变化示意图；
图5是本发明另一实施例提供的扭矩传感器与信号采集工作原理示意图；
图6是本发明另一实施例提供的计量斗安装结构装配示意图；
图7是本发明另一实施例提供的计量斗安装位置示意图；
图8是本发明另一实施例提供的计量斗轴线也滚筒圆周切线的角度示意图；以及
图9是本发明另一实施例提供的用于检测搅拌式工程机械中的混凝土的坍落度的装置的结构框图。
附图标记说明
1    判断模块         2     坍落度检测参数确定模块
3    坍落度确定模块   4     混凝土盛装容器和检测传感器
5    扭矩传感器       6     计量连杆
7    计量斗           8     橡胶块
9    搅拌筒筒壁       10    人孔盖板
11螺杆             12    器壁
13安装板
具体实施方式
以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明，并不用于限制本发明。
鉴于现有技术中存在的技术问题，如何快速准确有效地检测出混凝土坍落度，对有效提高混凝土生产效率、实现生产过程的自动化控制以及加强混凝土的质量管理意义重大，市场需求也越来越迫切。因此，在混凝土搅拌车上搭载一套坍落度在线检测系统，可以实时掌握混凝土在运输环节的坍落度变化情况，为后续产品改进和全环节混凝土质量智能控制奠定基础，大幅提升产品核心竞争力。
本发明实施例的一个方面提供一种用于检测搅拌式工程机械中的混凝土的坍落度的方法，具体地，本实施例可以应用于混凝土搅拌车。
图2是本发明一实施例提供的用于检测搅拌式工程机械中的混凝土的坍落度的方法的流程图。如图2所示，该方法包括以下内容。
在步骤S20中，判断被安装在搅拌式工程机械的滚筒上的混凝土盛装容器中的混凝土的体积随着滚筒的转动是否从第一预设体积变为第二预设体积。若是则执行步骤S21；若否则执行步骤S20。混凝土盛装容器中盛装需要检测坍落度的混凝土且被安装在滚筒上。随着滚筒的转动，混凝土从盛装容器中被倒出，混凝土盛装容器中的混凝土的体积变小。可选地，在本发明实施例中，混凝土盛装容器可以是计量斗。此外，在本发明实施例中，第一预设体积可以是盛装容器的体积，也就是混凝土装满盛装容器。另外，第二预设体积可以是0，也就是，随着滚筒的转动，盛装容器被倒空。需要说明的是，可以根据实际情况设置第一预设体积和第二预设体积，对此，不用于限制本发明。
可选地，在本发明实施例中，判断混凝土盛装容器中的混凝土的体积随着滚筒的转动是否从第一预设体积变为第二预设体积有很多方式。例如，可以根据因混凝土盛装容器中的混凝土被倒出产生的扭矩来判断。随着滚筒的转动，盛装容器中的混凝土被倒出， 因盛装容器中的混凝土被倒出产生扭矩，随着混凝土被倒出，混凝土的体积逐渐减小，产生的扭矩发生变化。混凝土盛装容器中混凝土的第一预设体积对应第一预设扭矩，第二预设体积对应第二预设扭矩。由此，根据扭矩是否从第一预设扭矩变为第二预设扭矩即可判断出混凝土的体积是否从第一预设体积变为第二预设体积。
具体地，判断被安装在搅拌式工程机械的滚筒上的混凝土盛装容器中的混凝土的体积随着滚筒的转动是否从第一预设体积变为第二预设体积包括：获取在滚筒转动的过程中因混凝土盛装容器中的混凝土被倒出产生的扭矩；以及判断扭矩是否从第一预设扭矩变为第二预设扭矩，其中，第一预设扭矩对应第一预设体积，第二预设扭矩对应第二预设体积。
在本发明实施中，确定因混凝土盛装容器中的混凝土被倒出产生的扭矩的方式有很多。例如，一种方式可以是在混凝土盛装容器上安装扭矩传感器，扭矩传感器测量因混凝土盛装容器中的混凝土被倒出产生的扭矩。此外，还可以通过检测因混凝土被倒出而在盛装容器上产生的压力差，基于产生的压力差来确定扭矩。具体地，获取在滚筒转动的过程中的因混凝土盛装容器中的混凝土被倒出产生的扭矩可以基于以下内容确定。在滚筒的转动过程中，获取混凝土盛装容器的处于对立面位置上的两器壁因混凝土的挤压而受到的压力的差值，其中，在滚筒的转动过程中，除滚筒转动到最低位置及最高位置外，两器壁距离地面的高度不同。基于差值，确定扭矩。可选地，可以采用力传感器检测压力的差值。如图4所示，当滚筒在最低位置时，盛装容器中装满混凝土，随着滚筒的转动，混凝土被倒出，盛装容器中的混凝土的体积减小。盛装容器的上下两器壁12(随着滚筒的转动，该两器壁12距离地面的高度不同)受到混凝土的压力不同，检测该两器壁12的压力差。进而根据压力差确定扭矩。
在步骤S21中，在混凝土的体积从第一预设体积变为第二预设体积的情况下，确定混凝土对应的坍落度检测参数，其中，坍落度检测参数为体积从第一预设体积变为第二预设体积时滚筒转动的时间或角度。其中，若检测参数是滚筒转过的角度，可以用角度检测模块检测当混凝土的体积从第一预设体积变为第二预设体积时，滚筒转过的角度，例如，采用角度传感器检测。此外，若检测参数为时间，可以采用计时器计时来确定混凝土的体积从第一预设体积变为第二预设体积时，滚筒转动的时间；还可以是确定出滚筒转过的角度，再结合滚筒转动的角速度确定出滚筒转动的时间。另外，在检测参数是滚筒转过的角度的情况下，还可以是先确定出滚筒转过的时间，再结合滚筒转动的角速度确定出滚筒转过的角度。
在步骤S22中，基于所确定的坍落度检测参数及预设对应关系，确定混凝土的所述坍落度，其中，预设对应关系为坍落度检测参数与坍落度之间的对应关系。预设确定出坍落度检测参数与坍落度之间的对应关系，在实时确定出坍落度检测参数的情况下，基于预设确定的对应关系，确定出实时确定的坍落度检测参数对应的坍落度。其中，预设对应关系可以是坍落度检测参数与坍落度之间的关系曲线。在基于预设对应关系确定坍落时，若在关系曲线上有对应的实时确定的坍落度检测参数，则基于该关系曲线可以直接确定出坍落度；若在关系曲线上没有与实时确定的坍落度检测参数对应的检测参数值，则基于该关系曲线及坍落度检测参数与坍落度之间的单增关系确定出实时检测到的坍落度检测参数对应的坍落度，其中，单增关系为坍落度检测参数越大则坍落度越小。具体地，在关系曲线上选择两个坍落度检测参数值，实时检测到的坍落度检测参数处于该选定的两个检测参数值之间，在基于关系曲线上该选定的两个检测参数值分别对应的坍落度及单增关系估计出实时检测到的坍落度检测参数对应的坍落度。
可选地，确定坍落度检测参数与坍落度之间的预设对应关系的方式有很多。例如，可以是采用本发明实施例中设计的设备，结合已知坍落度的混凝土检测样本，确定出每一检测样本对应的坍落度检测参数(采用上述实施例中所述的方法确定每一检测样本的坍落度检测参数)，从而基于每一检测样本对应的坍落度检测参数及坍落度确定出混凝土坍落度检测参数与坍落度之间的预设对应关系。具体地，预设对应关系基于以下内容被确定：确定混凝土样本中的每一样本对应的坍落度检测参数；以及基于混凝土样本中的每一样本对应的坍落度检测参数及坍落度确定预设对应关系。其中，可以根据实际情况选择检测样本的数量，数量越多精度越高。
通过上述技术方案，实现了无需人工参与自动检测坍落度。另外，上述技术方案自动检测坍落度，只需确定混凝土的体积的变化及坍落度检测参数即可确定出坍落度，投入性比较小，提高了工作效率，劳动强度小，无需花费极大的人力与物力。此外，上述技术方案过程简单，影响因素少，不易造成数据失真，可以保证准确性，可以实时在线检测坍落度，且自动化检测。上述技术方案在检测坍落度时，不受制于原材料特性和使用工况等诸多因素的影响，提高了测量精度，可以较准确的反映坍落度大小，技术方案具有很强的实用性。
可选地，在本发明实施例中，混凝土盛装容器在滚筒上的安装位置可以根据具体情况进行设置，只要满足在滚筒转动的过程中能够实现使得混凝土的体积从第一预设体积到第二预设体积的转变即可。具体地，混凝土盛装容器被安装的位置可以满足以下条件。 混凝土盛装容器沿滚筒的轴线的安装位置满足以下条件：在滚筒的圆柱体部分，在滚筒的截面内沿过安装位置且与轴线垂直的方向上，混凝土的静置液面线到滚筒的与混凝土接触的壁的距离与滚筒的直径的比值m的取值范围为0.3≤m≤0.7。如图7所示，混凝土盛装容器为计量斗，计量斗被安装在滚筒的圆柱体部分。在滚筒的截面内，在过计量点安置点且与滚筒轴线垂直的方向上，混凝土料静置液面线到滚筒的与混凝土接触的壁(滚筒的另一壁不与混凝土接触)的距离L1与滚筒的直径L的比值m满足0.3≤m≤0.7。
可选地，在本发明实施例中，混凝土盛装容器的放置方式可以根据具体情况而定，只要满足在滚筒转动的过程中能够实现使得混凝土的体积从第一预设体积到第二预设体积的转变即可。具体地，混凝土盛装容器的轴线与滚筒圆周切线的角度θ满足以下条件：45°≤θ≤90°。如图8所示，混凝土盛装容器为计量斗，计量斗轴线与滚筒圆周切线的夹角A为90°。
下面结合图3-图8对本发明实施例提供的用于检测搅拌式工程机械中的混凝土的坍落度的方法的逻辑进行示例性介绍。其中，混凝土盛装容器可以为计量斗，搅拌式工程机械可以为搅拌车。此外，在本发明实施例提供的技术方案中用到混凝土盛装容器和检测传感器，其中，混凝土盛装容器和检测传感器4的安装位置可以参考图3所示。另外，在搅拌筒(等同于本发明实施例中所述的滚筒)内部设置一个或数个混凝土盛装容器，检测传感器可以包括测力传感器和/或扭矩传感器，根据测力传感器和/或扭矩传感器来确定扭矩。混凝土盛装容器在底部位置时，杯中充满混凝土料，如图4所示。混凝土盛装容器随着滚筒逆时针旋转，杯中的物料慢慢倾倒而出，如图4所示，随着滚筒转动角度的变大，杯中的混凝土料慢慢被倒出。最终在转到大约三点钟位置至一点钟位置之间倒空。对同一种标号的混凝土，不同坍落度，其倒空时间或角度是不同的。坍落度大的，会比较早倒空，而坍落度小的，则倒空时间偏后。
在下面的介绍中，以混凝土盛装容器为计量斗为例进行说明。采用与搅拌筒一起转动的计量斗方案，采集计量斗内物料从大变小变化的时间长短(或对应的角度区间)。在计量斗底部安装扭矩传感器或力传感器，检测斗内物料体积变化导致的扭矩或力变化值，同时采集搅拌筒实时转速(等同于上述实施例中所述的角速度)作为额外影响因素，例如，在建立混凝土的检测物理量与坍落度之间的关联性大小及其关系曲线时，考虑转速的影响，以提高坍落度检测的准确性。搅拌筒转动时计量斗内物料体积及形状变化如图4所示。
检测传感器(例如，扭矩传感器或力传感器)输出的微弱信号经过变送器整理和放 大，形成恒流源信号或电压信号，再通过模拟量采集器转变成数字信号，通过无线数传收发器送入驾驶室或车架上的数据处理单元对检测信号进行处理并最终得出检测结果。扭矩传感器与信号采集工作原理如图5所示。
计量斗安装结构装配示意如图6所示。扭矩传感器5可拆卸的(例如螺纹连接)与计量连杆6和安装板13固定连接，其中安装板13与人孔盖板10固定连接(如焊接或粘接等)，计量连杆6通过扭矩传感器5与安装板13连接，计量连杆6与人孔盖板10之间距离预设距离，其中，该预设距离可以根据具体情况进行设定，以便计量斗7内物料体积变化时，上下螺杆11将压力传导至扭矩传感器5。
计量连杆6通过上下两件螺杆11、橡胶块8与计量斗7(计量斗截面优选为椭圆)连接在一起，其中橡胶块8起密封作用。搅拌筒转动时，计量斗7内物料体积、形状发生变化，通过上下端螺杆11将负载差值传递给扭矩传感器5(或者是，将负载差值传递给力传感器)。
物理量检测传感器选型、布置和安装可以图7所示。计量斗沿滚筒轴线的安装位置需要经过精心选择。选择原则：如图7所示，L1/L的值在0.3～0.7之间(选择的原则是：在搅拌筒旋转一圈的过程中，尽量能满足计量斗装满和倒空两种状态，计量斗数量不限)。熟悉搅拌车的技术人员都知道，搅拌筒一般是倾斜一个角度安置的，而搅拌筒里面的物料不是完全装满的，如果完全装满，我们的这个方案也就没法用了，因为我们需要检测计量斗中物料从比较满到比较空这个过程中的滚筒角度变化或者时间变化。如果装得很满，计量斗里面始终是满满当当的，这种变化就比较难以测出来。即使确实没有装满，也不意味着肯定能够测出这种变化，这和计量斗在轴线方向的布置位置很有关系。如图7，如果计量斗装在很靠前的位置，搅拌筒转动的时候上方几乎没有留下什么空间，这样的话，计量斗几乎总是相当满的，这不利于我们检测。如果装得很靠后，搅拌筒转动的时候上方留下很大空间，而下方留下的物料很少，这样计量斗就只装了一点点甚至没有，这也不利于我们检测。所以我们要选一个合适的位置，使得在搅拌筒转动一周的时候，计量斗内的物料有一个明显的体积和重量变化。L1/L的值在0.3～0.7之间(包括0.3和0.7这两个比值)就是比较合适的位置。)
计量斗轴线与滚筒圆周切线的角度A(上述实施例中所述的θ)可不为直角，取为45°～90°之间，包含45°和90°。下面解释一下角度A取值范围。让计量斗在滚筒旋转一圈的过程中，在各种不同的液位下，尽量明确地出现装满和倒空两种状态。比如图8中画的是90°的状态，这样安装，如果液面远低于搅拌筒中心线，则没有问题，计量斗 中的物料随着搅拌筒的逆时针转动，在计量斗由口朝上到口朝左的过程中，早早地就开始倾倒物料，直到搅拌筒再转过若干角度后计量斗倒空，这样就实现了一个完整的倒空过程，且跨越的时间或者搅拌筒转角足够大，我们可以顺利地测出这种差别。但如果搅拌筒里面的液位比较高，比如高过搅拌筒中心线了，这种情况下，计量斗要很晚才开始倾倒物料，因为较长时间内，计量斗是泡在整个混凝土料里面的，尽管计量斗已经横过来了，但里面的物料无法在重力的作用下倒出。等到搅拌筒继续旋转到一定角度，计量斗才会开始倾倒，但倾倒过程很短，一下子就倒空了。时间跨度太短，对我们测量的精度就很有影响。如果事先将计量斗成一个角度安装，则计量斗不容易泡在混凝土料里面，其倾倒时刻也晚了这么一个角度。所以，如果液位较高，则应该将计量斗成一个角度安装，如图中的角度A。
计量斗截面不局限为圆形。计量斗横向(即沿滚筒轴线方向)尺寸与上下方向(即沿滚筒断面圆周方向)尺寸的比值为0.4～0.9。
计量斗承载物料产生的扭矩由上下两根螺杆传出，由螺杆上的受力差值构成扭矩。可以直接用扭矩传感器检测出扭矩，也可以用力传感器检测出两根螺杆上的受力差值，进而基于受力差值计算出扭矩。
获取混凝土的检测物理量(滚筒转过的时间或角度)与坍落度之间的关联性大小及其关系曲线。在获得水泥混凝土滚筒角度的同时，还获取滚筒转速参数，将其作为一种额外的影响因素用于构建检测物理量与坍落度之间的关联性大小及其关系曲线，提高了坍落度检测的准确性。具体地，转速可能导致滚筒倒空的时间点延后，也就是实际与坍落度对应的滚筒转过的时间或角度相对于检测出来的时间或角度偏小，因此，在建立关系曲线时，可以对检测参数(滚筒转过的时间或角度)进行修正，具体地，将检测参数减小，以使得检测参数与坍落度之间的对应关系更加准确，提高坍落度检测的准确性。此外，坍落度与检测参数之间的单增关系是，坍落度大的检测参数小，坍落度小的检测参数大，因此，除了对检测参数进行修正以弥补因转速带来的时间点延后外，还可以基于单增关系对坍落度进行修正，具体地，将坍落度减小，以使得检测参数与坍落度之间的对应关系更加准确。在确定坍落度检测参数(滚筒转过的时间或角度)与坍落度之间的预设对应关系时，通常取样本数在500～5000之间。针对每一检测样本，搅拌筒每转一圈的检测参数值(滚筒转过的时间或角度)作为一个样本值，最终检测参数值取各样本值的算术均值，即，针对每一检测样本，搅拌筒转多圈来确定起对应的检测参数值，取每一圈对应的检测参数值算术平均值作为该检测样本最终的检测参数值。
本发明实施例提供的技术方案具有以下优点。1、行业首创，技术先进，实用价值高，通过获取计量斗中混凝土的流动性而感知受力大小的变化，从而研究两者与坍落度之间的关系来实现坍落度检测，与实际工况完全吻合。而目前市场上推广的FL-MOBIMIC-Inspector是一种混凝土在线测量系统，主要由微波湿度测量探头、粘稠度测量杆(带发送单元)组成，用于混凝土搅拌车中记录多个过程参数，包括混凝土湿度、粘稠度、坍落度、混凝土温度及搅拌筒旋转速度和方向等。FL-MOBIMIC-Inspector则是通过混凝土湿度与粘稠度来检测坍落度，从原理上来讲关联性不强，且测量精度受制于原材料特性和使用工况(物料压力稳定性等)的诸多的影响，实用价值不高，虽进行了多年的推广，仍没有进入应用阶段，无市场应用。2、实时在线检测，及时获得坍落度数据；无需人工干预，全程自动测量；目前行业绝大多数采用人工检测混凝土坍落度，手段落后，劳动强度大，费时费工；且影响因素多，样本数量少,易造成数据失真。3、成本优势明显，有利于批量应用。
相应地，本发明实施例的另一方面提供一种用于检测搅拌式工程机械中的混凝土的坍落度的装置。
图9是本发明另一实施例提供的用于检测搅拌式工程机械中的混凝土的坍落度的装置的结构框图。如图9所示，该装置包括判断模块1、坍落度检测参数确定模块2和坍落度确定模块3。其中，判断模块1用于判断被安装在搅拌式工程机械的滚筒上的混凝土盛装容器中的混凝土的体积随着滚筒的转动是否从第一预设体积变为第二预设体积；坍落度检测参数确定2用于在体积从第一预设体积变为第二预设体积的情况下，确定混凝土对应的坍落度检测参数，其中，坍落度检测参数为体积从第一预设体积变为第二预设体积时滚筒转动的时间或角度；坍落度确定模块3用于基于所确定的坍落度检测参数及预设对应关系，确定混凝土的坍落度，其中，预设对应关系为坍落度检测参数与坍落度之间的对应关系。
可选地，在本发明实施例中，判断模块判断被安装在搅拌式工程机械的滚筒上的混凝土盛装容器中的混凝土的体积随着滚筒的转动是否从第一预设体积变为第二预设体积包括：获取在滚筒转动的过程中因混凝土盛装容器中的混凝土被倒出产生的扭矩；以及判断扭矩是否从第一预设扭矩变为第二预设扭矩，其中，第一预设扭矩对应第一预设体积，第二预设扭矩对应第二预设体积。
可选地，在本发明实施例中，所获取的扭矩基于以下内容被确定：在滚筒的转动过程中，获取混凝土盛装容器的处于对立面位置上的两器壁因混凝土的挤压而受到的压力 的差值，其中，在滚筒的转动过程中，除滚筒转动到最低位置及最高位置外，两器壁距离地面的高度不同；以及基于差值，确定扭矩。
可选地，在本发明实施例中，混凝土盛装容器沿滚筒的轴线的安装位置满足以下条件：在滚筒的圆柱体部分，在滚筒的截面内沿过安装位置且与轴线垂直的方向上，混凝土的静置液面线到滚筒的与混凝土接触的壁的距离与滚筒的直径的比值m的取值范围为0.3≤m≤0.7。
可选地，在本发明实施例中，混凝土盛装容器的轴线与滚筒圆周切线的角度θ满足以下条件：45°≤θ≤90°。
可选地，在本发明实施例中，预设对应关系基于以下内容被确定：确定混凝土样本中的每一样本对应的坍落度检测参数；以及基于混凝土样本中的每一样本对应的坍落度检测参数及坍落度确定预设对应关系。
本发明实施例提供的用于检测搅拌式工程机械中的混凝土的坍落度的装置的具体工作原理及益处与本发明实施例提供的用于检测搅拌式工程机械中的混凝土的坍落度的方法的具体工作原理及益处相似，这里将不再赘述。
此外，本发明实施例的另一方面还提供一种用于检测搅拌式工程机械中的混凝土的坍落度的系统，该系统包括：上述实施例中所述的装置；混凝土盛装容器，被安装在搅拌式工程机械的滚筒上，用于盛装混凝土；角度检测模块，用于检测滚筒转过的角度；以及力检测模块，用于检测在滚筒的转动过程中，混凝土盛装容器的处于对立面位置上的两器壁因混凝土的挤压而受到的压力的差值；和/或扭矩检测模块，用于检测在滚筒转动的过程中因混凝土盛装容器中的混凝土被倒出产生的扭矩。
可选地，在本发明实施例中，扭矩检测模块可拆卸的与计量连杆和安装板固定连接，安装板与人孔盖板固定连接，计量连杆与人孔盖板之间距离预设距离。可选地，扭矩检测模块可以是扭矩传感器。
另外，本发明实施例的另一方面还提供一种搅拌式工程机械，该搅拌式工程机械包括上述实施例中所述的系统。
此外，本发明实施例的另一方面还提供一种机器可读存储介质，该机器可读存储介质上存储有指令，该指令用于使得机器执行上述实施例中所述的方法。
以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于上述实施方式中的具体细节，在本发明的技术构思范围内，可以对本发明的技术方案进行多种简单变型，这些简单变型均属于本发明的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合。为了避免不必要的重复，本发明对各种可能的组合方式不再另行说明。
此外，本发明的各种不同的实施方式之间也可以进行任意组合，只要其不违背本发明的思想，其同样应当视为本发明所公开的内容。

Claims (16)

  1. 一种用于检测搅拌式工程机械中的混凝土的坍落度的方法，其特征在于，该方法包括：
    判断被安装在所述搅拌式工程机械的滚筒上的混凝土盛装容器中的混凝土的体积随着所述滚筒的转动是否从第一预设体积变为第二预设体积；
    在所述体积从所述第一预设体积变为所述第二预设体积的情况下，确定所述混凝土对应的坍落度检测参数，其中，所述坍落度检测参数为所述体积从所述第一预设体积变为所述第二预设体积时所述滚筒转动的时间或角度；以及
    基于所确定的坍落度检测参数及预设对应关系，确定所述混凝土的所述坍落度，其中，所述预设对应关系为所述坍落度检测参数与所述坍落度之间的对应关系。
  2. 根据权利要求1所述的方法，其特征在于，所述判断被安装在所述搅拌式工程机械的滚筒上的混凝土盛装容器中的混凝土的体积随着所述滚筒的转动是否从第一预设体积变为第二预设体积包括：
    获取在所述滚筒转动的过程中因所述混凝土盛装容器中的混凝土被倒出产生的扭矩；以及
    判断所述扭矩是否从第一预设扭矩变为第二预设扭矩，其中，所述第一预设扭矩对应所述第一预设体积，所述第二预设扭矩对应所述第二预设体积。
  3. 根据权利要求2所述的方法，其特征在于，所获取的扭矩基于以下内容被确定：
    在所述滚筒的转动过程中，获取所述混凝土盛装容器的处于对立面位置上的两器壁因所述混凝土的挤压而受到的压力的差值，其中，在所述滚筒的转动过程中，除所述滚筒转动到最低位置及最高位置外，所述两器壁距离地面的高度不同；以及
    基于所述差值，确定所述扭矩。
  4. 根据权利要求1所述的方法，其特征在于，所述混凝土盛装容器沿所述滚筒的轴线的安装位置满足以下条件：在所述滚筒的圆柱体部分，在所述滚筒的截面内沿过所述安装位置且与所述轴线垂直的方向上，所述混凝土的静置液面线到所述滚筒的与所述混凝土接触的壁的距离与所述滚筒的直径的比值m的取值范围为0.3≤m≤0.7。
  5. 根据权利要求1所述的方法，其特征在于，所述混凝土盛装容器的轴线与所述滚筒圆周切线的角度θ满足以下条件：45°≤θ≤90°。
  6. 根据权利要求1-5中任一项所述的方法，其特征在于，所述预设对应关系基于以下内容被确定：
    确定混凝土样本中的每一样本对应的所述坍落度检测参数；以及
    基于所述混凝土样本中的每一样本对应的所述坍落度检测参数及坍落度确定所述预设对应关系。
  7. 一种用于检测搅拌式工程机械中的混凝土的坍落度的装置，其特征在于，该装置包括：
    判断模块，用于判断被安装在所述搅拌式工程机械的滚筒上的混凝土盛装容器中的混凝土的体积随着所述滚筒的转动是否从第一预设体积变为第二预设体积；
    坍落度检测参数确定，用于在所述体积从所述第一预设体积变为所述第二预设体积的情况下，确定所述混凝土对应的坍落度检测参数，其中，所述坍落度检测参数为所述体积从所述第一预设体积变为所述第二预设体积时所述滚筒转动的时间或角度；以及
    坍落度确定模块，用于基于所确定的坍落度检测参数及预设对应关系，确定所述混凝土的所述坍落度，其中，所述预设对应关系为所述坍落度检测参数与所述坍落度之间的对应关系。
  8. 根据权利要求7所述的装置，其特征在于，所述判断模块判断被安装在所述搅拌式工程机械的滚筒上的混凝土盛装容器中的混凝土的体积随着所述滚筒的转动是否从第一预设体积变为第二预设体积包括：
    获取在所述滚筒转动的过程中因所述混凝土盛装容器中的混凝土被倒出产生的扭矩；以及
    判断所述扭矩是否从第一预设扭矩变为第二预设扭矩，其中，所述第一预设扭矩对应所述第一预设体积，所述第二预设扭矩对应所述第二预设体积。
  9. 根据权利要求8所述的装置，其特征在于，所获取的扭矩基于以下内容被确定：
    在所述滚筒的转动过程中，获取所述混凝土盛装容器的处于对立面位置上的两器壁因所述混凝土的挤压而受到的压力的差值，其中，在所述滚筒的转动过程中，除所述滚筒转动到最低位置及最高位置外，所述两器壁距离地面的高度不同；以及
    基于所述差值，确定所述扭矩。
  10. 根据权利要求7所述的装置，其特征在于，所述混凝土盛装容器沿所述滚筒的轴线的安装位置满足以下条件：在所述滚筒的圆柱体部分，在所述滚筒的截面内沿过所述安装位置且与所述轴线垂直的方向上，所述混凝土的静置液面线到所述滚筒的与所述混凝土接触的壁的距离与所述滚筒的直径的比值m的取值范围为0.3≤m≤0.7。
  11. 根据权利要求7所述的装置，其特征在于，所述混凝土盛装容器的轴线与所述滚筒圆周切线的角度θ满足以下条件：45°≤θ≤90°。
  12. 根据权利要求7-11中任一项所述的装置，其特征在于，所述预设对应关系基于以下内容被确定：
    确定混凝土样本中的每一样本对应的所述坍落度检测参数；以及
    基于所述混凝土样本中的每一样本对应的所述坍落度检测参数及坍落度确定所述预设对应关系。
  13. 一种用于检测搅拌式工程机械中的混凝土的坍落度的系统，其特征在于，该系统包括：
    权利要求7-12中任一项所述的装置；
    混凝土盛装容器，被安装在所述搅拌式工程机械的滚筒上，用于盛装混凝土；
    角度检测模块，用于检测所述滚筒转过的角度；以及
    力检测模块，用于检测在所述滚筒的转动过程中，所述混凝土盛装容器的处于对立面位置上的两器壁因所述混凝土的挤压而受到的压力的差值；和/或
    扭矩检测模块，用于检测在所述滚筒转动的过程中因所述混凝土盛装容器中的混凝土被倒出产生的扭矩。
  14. 根据权利要求13所述的系统，其特征在于，所述扭矩检测模块可拆卸的与计 量连杆和安装板固定连接，所述安装板与人孔盖板固定连接，所述计量连杆与所述人孔盖板之间距离预设距离。
  15. 一种搅拌式工程机械，其特征在于，该搅拌式工程机械包括权利要求13或14所述的系统。
  16. 一种机器可读存储介质，该机器可读存储介质上存储有指令，该指令用于使得机器执行权利要求1-6中任意一项所述的方法。
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