WO2023004955A1 - 搅拌车及控制方法、搅拌站及控制方法和对中控制系统 - Google Patents
搅拌车及控制方法、搅拌站及控制方法和对中控制系统 Download PDFInfo
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- WO2023004955A1 WO2023004955A1 PCT/CN2021/118347 CN2021118347W WO2023004955A1 WO 2023004955 A1 WO2023004955 A1 WO 2023004955A1 CN 2021118347 W CN2021118347 W CN 2021118347W WO 2023004955 A1 WO2023004955 A1 WO 2023004955A1
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- mixing station
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- 238000000034 method Methods 0.000 title claims abstract description 106
- 238000004891 communication Methods 0.000 claims abstract description 115
- 238000004590 computer program Methods 0.000 claims description 44
- 238000012795 verification Methods 0.000 claims description 35
- 230000003993 interaction Effects 0.000 claims description 8
- 238000003756 stirring Methods 0.000 claims description 2
- 230000007547 defect Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 239000000463 material Substances 0.000 description 8
- 238000012790 confirmation Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 239000002699 waste material Substances 0.000 description 5
- 238000010295 mobile communication Methods 0.000 description 4
- 230000006855 networking Effects 0.000 description 3
- 239000010426 asphalt Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000012546 transfer Methods 0.000 description 1
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Classifications
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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
- B28C7/00—Controlling the operation of apparatus for producing mixtures of clay or cement with other substances; Supplying or proportioning the ingredients for mixing clay or cement with other substances; Discharging the mixture
- B28C7/16—Discharge means, e.g. with intermediate storage of fresh concrete
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C7/00—Controlling the operation of apparatus for producing mixtures of clay or cement with other substances; Supplying or proportioning the ingredients for mixing clay or cement with other substances; Discharging the mixture
- B28C7/02—Controlling the operation of the mixing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C7/00—Controlling the operation of apparatus for producing mixtures of clay or cement with other substances; Supplying or proportioning the ingredients for mixing clay or cement with other substances; Discharging the mixture
- B28C7/04—Supplying or proportioning the ingredients
- B28C7/0481—Plant for proportioning, supplying or batching
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Definitions
- the present application relates to the field of mixer truck control, in particular, to a mixer truck and its control method, a mixer station and its control method, and a centering control system.
- the mixer truck is a special engineering mixer truck used to transport concrete and other materials.
- the mixer truck drives into the mixing station to load materials, it is necessary to park the mixer truck at a discharge channel in the mixing station, and align the feed hopper of the mixer truck with the discharge port of the mixing station.
- the truck is very difficult, and it usually requires the command of the station staff or the driver to get off the truck repeatedly to check to complete the alignment operation between the feed hopper and the discharge port. It cannot send a prompt message when the driver adjusts the position of the mixer truck, and can only rely on the driver's own experience Or others prompt to adjust the position of the mixer truck.
- the centering of the discharge port and the feeding hopper requires a manual judgment on the position of the mixer truck, and the driver's own experience is used to adjust the parking position of the mixer truck.
- the existing technology can only judge whether the manually aligned discharge port and the image of the feed hopper have been accurately aligned. If there is no alignment, the driver still needs to adjust the position of the mixer truck by himself.
- the working efficiency in the middle process is low, and the method in the prior art can only judge whether the discharge port and the feeding hopper are aligned at a short distance, and when the mixer truck is far away from the mixing station or the reverse position is far from the discharge port , the centering judging method in the prior art can only judge that there is no centering, but cannot give the driver a prompt, so the driver can only adjust the position of the mixer truck blindly.
- the first aspect of the present application proposes a control method for a mixer truck.
- the second aspect of the present application also proposes a control method for a mixing station.
- the third aspect of the present application also proposes a mixer truck.
- the fourth aspect of the present application also proposes a mixing station.
- the fifth aspect of the present application also provides a centering control system.
- the control method for a mixer truck includes: establishing a communication connection with the mixing station; after establishing a communication connection with the mixing station, receiving images in the target unloading channel Information, the image information in the target discharge channel includes the position information of the discharge port to be centered; according to the image information in the target discharge channel, the driving operation prompt is given, or the mixer truck is controlled according to the image information in the target discharge channel Carry out automatic driving; when the alignment completion instruction is obtained, confirm the alignment completion.
- the mixer truck control method when the mixer truck arrives at the mixer station, a communication connection is automatically established with the mixer station, ensuring the information transmission between the mixer truck and the mixer station. After the communication connection between the mixer truck and the mixing station is established, and after the mixer truck receives the image information in the target unloading channel, if the mixer truck does not have the automatic driving function, it will issue a driving operation to the driver according to the information Tips, to assist the driver to adjust the position of the mixer truck, and then realize the centering of the discharge port and the feeding hopper. The mutual cooperation between the manual and the machine improves the centering speed.
- the mixer truck has an automatic driving function, it can According to the image information in the target discharge channel, the automatic driving of the mixer truck is controlled to adjust the position of the mixer truck to achieve the centering of the discharge port and the feed hopper. After the mixer truck receives the information that the mixer truck has been accurately centered, it confirms that the mixer truck has been centered.
- the control method of the mixer truck in this application by establishing a communication connection between the mixing station and the mixer truck, the video images around the discharge port in the discharge channel are sent to the mixer truck in the distance and displayed, so that the mixer truck can move from a far distance The distance between itself and the mixing station can be known.
- the image information sent can be used to know the unloading channel to go to, and after entering the unloading channel, it will You can observe the specific position of yourself when entering the image field of view of the unloading channel through the image, and then adjust the position of the mixer truck according to the image and prompt information. Even if the position deviation is large, the driver can also make adjustments according to the prompt or image information. Correct operation instructions, that is, the application can realize long-distance centering, which overcomes the defect that the prior art can only judge the centering state at the discharge port at close range.
- the control method of the mixer truck in this application can also assist the driver to adjust the position of the mixer truck, that is, when the driver adjusts the position of the mixer truck, it will give the driver a prompt.
- this application only needs to use video images to adjust the position of the mixer truck
- the centering status can be checked, which not only improves the loading efficiency of the mixer truck, but also ensures the personal safety of the staff.
- unloading it is necessary to receive accurate alignment information and send a request for unloading command, and then start unloading. This is a double guarantee, which greatly reduces the possibility of overflow and leakage.
- This intelligent centering method of the mixer truck realizes the intelligent centering of the discharge port and the feed hopper, and greatly improves the efficiency and safety of the mixer truck loading.
- control method of the mixer truck in the above technical solution provided by the present application may also have the following additional technical features:
- the step of establishing a communication connection with the mixing station specifically includes: judging whether the vehicle-mounted communication module of the mixer truck is in an open state, and turning on the vehicle-mounted communication module when the vehicle-mounted communication module is not in an open state; When the module is in the open state, search for the communication modules around the mixer truck, perform matching verification with the searched communication modules, and establish a communication connection with the verified communication modules after the verification is passed.
- the vehicle-mounted communication module Before the communication connection between the mixing station and the mixer truck is established, it is first judged whether the vehicle-mounted communication module is in the open state. If the module is not opened, it will be opened immediately. After scanning other communication modules to be communicated, a matching verification is performed, and if the verification passes, the two communication modules establish a communication connection. In this way, the automatic networking between the mixer truck and the mixing station is realized, and the network connection is established through automatic scanning, which does not require manual operation, saves time and effort, and improves the efficiency of the entire mixer truck loading process.
- vehicle communication module is always on.
- the image information in the target discharge channel includes video information and/or picture information representing the relative positions of the discharge port and the feed hopper.
- the image information in the target discharge channel includes at least one of video information and picture information of the relative positions of the discharge port and the feed hopper. In this way, the position between the discharge port and the feeding hopper can be judged through the video information or picture information around the discharge port, so as to facilitate the subsequent adjustment of the position of the mixer truck.
- control method of the mixer truck further includes, after establishing a communication connection with the mixer station, sending the number information of the mixer truck to the mixer station.
- the mixer truck serial number information of the mixer truck is sent to the mixer truck, so that the mixer truck can check the mixer truck serial number information and issue the corresponding unloading information.
- the image information around the material opening realizes the automatic acquisition of the monitoring video or picture of the discharge opening of the discharge channel, without manual selection, which improves the automation of the mixing station.
- any of the above technical solutions preferably, after receiving the image information in the target discharge channel, analyze the verification information in the image information in the target discharge channel, and judge the image information in the target discharge channel according to the verification information Whether it matches the mixer truck number information of the mixer truck, when it is judged that the image information in the target discharge channel matches the mixer truck number information of the mixer truck, generate a driving operation prompt based on the image information in the target discharge channel, or generate a driving operation prompt according to the image information in the target discharge channel
- the image information in the target unloading channel controls the steps of automatic driving of the mixer truck.
- the received information in addition to the image information in the target discharge channel, the received information also includes the verification information in the image information in the target discharge channel, and the verification information includes the information of the discharge port and the stirring Vehicle number information, compare the number information of the mixer truck in the verification information with the mixer truck number information of the mixer truck itself, to confirm whether the information is correct, and avoid the mixer truck going to the wrong unloading channel due to incorrect information transmission.
- a driving operation prompt will be generated according to the received image information in the target unloading channel to remind the driver Send a control command to the mixer truck to adjust the position of the mixer truck, assist the driver to adjust the position of the mixer truck, and cooperate with the machine to increase the centering speed.
- the image information inside automatically controls the position of the mixer truck.
- the step of prompting the driving operation according to the image information in the target unloading channel includes: analyzing and displaying the image information in the target unloading channel; Image information, generating and displaying auxiliary identification information and/or giving voice navigation prompts; auxiliary identification information includes the position of the unloading port to be aligned, the position of the mixer truck feed hopper, and path identification information.
- the received image data around the discharge port is analyzed, and the analyzed image is displayed, and then the position of the mixer truck to assist the driver is generated according to the position of the discharge port in the displayed image.
- the identified identification information is displayed on the displayed image together with the generated auxiliary identification information.
- the correct control command assists in the adjustment of the position of the mixer truck, improves the centering speed between the discharge port and the feed hopper, and thus improves the working efficiency of the entire mixer truck loading process.
- voice navigation prompts can also be issued according to the image information around the discharge port, so that the driver can adjust the position of the mixer truck according to the voice prompts without referring to the image.
- the auxiliary identification information includes the position of the unloading port to be aligned, the position of the feed hopper of the mixer truck, and path identification information.
- control method of the mixer truck further includes: when the centering completion instruction is obtained, generating a centering completion prompt and/or sending a request unloading instruction to the mixing station.
- the mixer truck after the mixer truck receives the information that the mixer truck has been accurately centered, that is, after obtaining the centering completion command, it can selectively generate prompt information to remind the driver that the centering has been completed at this time, or automatically Send a command to request unloading to the mixing station, or both can be executed at the same time.
- the method for controlling the mixer truck further includes: generating a command to stop unloading according to user input information and sending it to the mixer station.
- control method of the mixer truck further includes: receiving and displaying dispatch information, where the dispatch information includes at least one of concrete type, weight, and destination.
- the mixer truck can also receive the dispatch information sent by the dispatching device to remind the driver of the cargo information he is transporting and the destination to which he is going, thus realizing the automatic dispatch of the mixer truck, mixing The car can directly obtain the destination it is going to, without additional information confirmation or complicated verification and confirmation, which improves work efficiency.
- the dispatch information may specifically include information such as concrete type, weight, and destination.
- the second aspect of the present application provides a control method for a mixing station, including: establishing a communication connection with the mixer truck; receiving the mixer truck serial number information of the mixer truck, determining the target discharge channel according to the mixer truck serial number information; The image information in the mixer truck is sent to the mixer truck; according to the image information in the target unloading channel, it is judged whether the feeding hopper of the mixer truck and the discharge port to be aligned have been aligned; After the centering of the port is completed, a centering completion command is generated and sent to the mixer truck, and the centered discharge port is opened to control automatic discharge.
- the control method of the mixing station provided by the technical solution of the present application, by first establishing a communication connection with the mixing truck, the information transmission between the mixing station and the mixing truck is realized, and then the mixing truck serial number information of the mixing truck is obtained, and the mixer Check the number information of the truck, and after checking, determine the discharge port to be aligned corresponding to the serial number information of the mixer truck, so as to realize the matching between the mixer truck and the corresponding discharge port, and transfer the image information in the target discharge channel Send it to the mixer truck, and then judge the position of the discharge port and the feeding hopper displayed on the image information in the target discharge channel according to the image recognition algorithm, and judge the feeding hopper of the mixer truck and the discharge port to be aligned Whether the alignment has been completed, further judge whether the mixer truck is aligned, and make double guarantees for the alignment of the discharge port and the feeding hopper. If it is determined that the alignment has been completed, the alignment completion command will be sent to the mixer truck. And open the unloading port that has been centered, and automatically
- control method of the mixing station further includes: after obtaining a stop unloading command sent by any mixer truck, controlling the discharge port corresponding to the mixer truck to stop unloading.
- the third aspect of the present application provides a mixer truck, including: a vehicle-mounted display screen for displaying information; a voice prompt device for voice prompts; a vehicle-mounted communication module for communication; a human-computer interaction unit for Receive user instruction information; the mixer truck control device includes a memory and a processor, the memory stores a computer program, and the processor is configured to implement the steps of the mixer truck control method in any of the above technical solutions when executing the computer program.
- the mixer truck includes a vehicle-mounted display screen, a voice prompt device, a vehicle-mounted communication module, a human-computer interaction unit, and a mixer truck control device.
- the on-board display screen is used for the image information and various signs sent by the mixing station, as well as for issuing voice prompts to give driver information reference.
- the vehicle-mounted communication module is used to establish a communication connection between the mixing plant and the mixer truck.
- the vehicle-mounted communication module can use at least one of WIFI module, Bluetooth module, mobile communication module, UWB (ultra-wideband), V2X (vehicle wireless communication technology) .
- the human-computer interaction unit is used to receive driver control instructions.
- the mixer truck control device is used for storing the computer program and implementing the mixer truck control method provided in the first aspect of the present application when the computer program is executed.
- the processor since it includes a memory and a processor, the processor is configured to implement the steps of the mixer truck control method provided in the first aspect of the application when executing the computer program, so the mixer The truck has all the technical effects of the control method of the mixer truck, so it will not be repeated here.
- vehicle communication module is always on.
- the fourth aspect of the present application provides a mixing station, including: a mixing station communication module, used to communicate with the vehicle-mounted communication module of the mixer truck; an acquisition device, installed corresponding to the discharge port, for collecting images around the discharge port
- the mixing station control device includes a memory and a processor, and a computer program is stored on the memory, and the processor is configured to implement the steps of the mixing station control method in any of the above technical solutions when executing the computer program.
- the acquisition device can acquire images of the entire discharge channel where the corresponding discharge port is located.
- the mixing station includes a mixing station communication module, a collection device, and a mixing station control device.
- the mixing station communication module is used to establish a communication connection with the mixing truck communication module for information transmission between the mixing station and the mixing truck.
- the mixing station communication module can use WIFI module, Bluetooth module, mobile communication module, UWB (ultra-wideband), V2X ( at least one of vehicle wireless communication technologies).
- the acquisition device is used to collect images around the discharge port that are installed corresponding to the discharge port.
- the image field of view collected by the collection device includes the entire discharge channel. When the length of the discharge channel is short, a single acquisition device can make the The entire discharge channel is included in the field of view of the collection device.
- multiple collection devices can be configured so that the entire discharge channel is included in the field of view of the collection device, so that the mixer only needs to enter the discharge channel It can appear in the field of view of the collection device when the time comes, and the driver can judge the position of the mixer truck according to the images collected by the collection device.
- the mixing station control device is used to store the computer program and implement the control method of the mixing station provided in the second aspect of the application when the computer program is executed.
- the mixing station since it includes a memory and a processor, the processor is configured to implement the steps of the control method for the mixing station provided in the second aspect of the application when the processor is configured to execute the computer program, so the mixing The station has all the technical effects of the control method of the mixing station, so it will not be repeated here.
- the communication module of the mixing station is always on.
- the fifth aspect of the present application provides a centering control system, including a vehicle-mounted control terminal, including a vehicle-mounted memory and a vehicle-mounted processor, a computer program is stored in the vehicle-mounted memory, and the vehicle-mounted processor is configured to implement any of the above-mentioned technologies when executing the computer program
- the control terminal of the mixing station includes the storage of the mixing station and the processor of the mixing station, the computer program is stored on the storage of the mixing station, and the processor of the mixing station is configured to implement any of the above-mentioned technologies when executing the computer program
- the steps of the control method of the mixing station in the scheme is configured to implement any of the above-mentioned technologies when executing the computer program.
- the centering control system since it includes a vehicle-mounted memory and a vehicle-mounted processor, a mixing station memory and a mixing station processor, the computer program is stored on the vehicle-mounted memory, and the vehicle-mounted processor is configured to execute the computer program.
- a computer program is stored on the storage of the mixing station, and the processor of the mixing station is configured to execute the computer program to realize the steps of the control method of the mixing station in any of the above technical solutions, Therefore, the centering control system has all the technical effects of the control method of the mixer truck and the control method of the mixing station, and will not be repeated here. Additional aspects and advantages of the application will become apparent in the description which follows, or may be learned by practice of the application.
- Fig. 1 shows the schematic flow chart of the control method of the mixer truck of an embodiment of the present application
- FIG. 2 shows a schematic diagram of specific steps of S102 in FIG. 1;
- FIG. 3 shows a schematic diagram of specific steps of S106 in FIG. 1;
- FIG. 4 shows a schematic flow chart of a control method for a mixing station provided in another embodiment of the present application
- Fig. 5 shows the block diagram of a kind of mixer truck of the present application
- Fig. 6 shows the block diagram of the mixing station of the present application
- Fig. 7 shows the block diagram of the centering control system of the present application
- Fig. 8 shows the schematic diagram of the overall layout of the mixing truck and the mixing station hardware of the present application
- Fig. 9 shows a schematic flowchart of a control method of a mixer truck according to another embodiment of the present application.
- 1 Mixer truck 102 Vehicle-mounted display screen, 104 Voice prompt device, 106 Vehicle-mounted communication module, 108 Human-computer interaction unit, 110 Mixer truck control device, 1102 Processor, 1104 Memory, 2 Mixing station, 202 Mixing station communication module, 204 Acquisition Device, 206 mixing station control device, 2062 processor, 2064 memory, 3 feed hopper, 4 discharge port, 5 discharge channel, 6 centering control system, 62 vehicle control terminal, 622 vehicle memory, 624 vehicle processor, 64 mixing station control terminal, 642 mixing station memory, 644 mixing station processor.
- the mixer truck and its control method, the mixing station and its control method in some embodiments of the present application are described below with reference to FIG. 1 to FIG. 9 .
- the embodiment of the first aspect of the present application provides a method for controlling a mixer truck, as shown in FIG. 1 , the method includes:
- S106 perform driving operation prompts according to the image information in the target unloading channel, or control the mixer truck for automatic driving according to the image information in the target unloading channel;
- this embodiment in this control method, when the mixer truck arrives at the mixer station, a communication connection is automatically established with the mixer station, which ensures the information transmission between the mixer truck and the mixer station. After the communication connection between the mixer truck and the mixing station is established, and after the mixer truck receives the image information in the target unloading channel, if the mixer truck does not have the automatic driving function, it will issue a driving operation to the driver according to the information Tips, to assist the driver to adjust the position of the mixer truck, and then realize the centering of the discharge port and the feeding hopper. The mutual cooperation between the manual and the machine improves the centering speed.
- the mixer truck has an automatic driving function, it can According to the image information in the target discharge channel, the automatic driving of the mixer truck is controlled to adjust the position of the mixer truck to achieve the centering of the discharge port and the feed hopper. After the mixer truck receives the information that the mixer truck has been accurately centered, it confirms that the mixer truck has been centered. mixing station.
- the control method of the mixer truck in this application by establishing a communication connection between the mixing station and the mixer truck, the video images around the discharge port in the discharge channel are sent to the mixer truck in the distance and displayed, so that the mixer truck can move from a far distance The distance between itself and the mixing station can be known.
- the image information sent can be used to know the unloading channel to go to, and after entering the unloading channel, it will You can observe your own specific position when entering the unloading channel and within the field of view of the image through the image, and then adjust the position of the mixer truck according to the image and prompt information. Even if the position deviation is large, the driver can also make adjustments according to the prompt or image information. Correct operation instructions are issued, that is, the application can realize long-distance centering, which overcomes the defect that the prior art can only judge the centering state at the discharge port at close range.
- the control method of the mixer truck in this application can also assist the driver to adjust the position of the mixer truck, that is, when the driver adjusts the position of the mixer truck, it will give the driver a prompt.
- this application only needs to use video images to adjust the position of the mixer truck
- the centering status can be checked, which not only improves the loading efficiency of the mixer truck, but also ensures the personal safety of the staff.
- unloading it is necessary to receive accurate alignment information and send a request for unloading command, and then start unloading. This is a double guarantee, which greatly reduces the possibility of overflow and leakage.
- This intelligent centering method of the mixer truck realizes the intelligent centering of the discharge port and the feed hopper, and greatly improves the efficiency and safety of the mixer truck loading.
- FIG. 2 shows a schematic diagram of the specific steps of S102 in FIG. 1, that is, the steps of establishing a communication connection with the mixing station specifically include:
- the vehicle-mounted communication module Before the communication connection between the mixing station and the mixer truck is established, it is first judged whether the vehicle-mounted communication module is in the open state. If the module is not opened, it will be opened immediately. After scanning other communication modules to be communicated, a matching verification is performed, and if the verification passes, the two communication modules establish a communication connection. In this way, the automatic networking between the mixer truck and the mixing station is realized, and the network connection is established through automatic scanning, which does not require manual operation, saves time and effort, and improves the efficiency of the entire mixer truck loading process.
- vehicle communication module is always on.
- the image information in the target discharge channel includes video information and/or picture information representing the relative positions of the discharge port and the hopper.
- the image information in the target discharge channel includes at least one of video information and picture information of the relative positions of the discharge port and the feed hopper. In this way, the position between the discharge port and the feeding hopper can be judged through the video information or picture information around the discharge port, so as to facilitate the subsequent adjustment of the position of the mixer truck.
- control method of the mixer truck further includes, after establishing a communication connection with the mixer station, sending the mixer truck serial number information of the mixer truck to the mixer station.
- the mixer truck serial number information of the mixer truck is sent to the mixer truck, so that the mixer truck can check the mixer truck serial number information and issue the corresponding unloading information.
- the image information around the material opening realizes the automatic acquisition of the monitoring video or picture of the discharge opening of the discharge channel, without manual selection, which improves the automation of the mixing station.
- the control method of the mixer truck further includes, after receiving the image information in the target unloading channel, analyzing the verification information in the image information in the target unloading channel, and judging according to the verification information Whether the image information in the target unloading channel matches the number information of the mixer truck, and when it is judged that the image information in the target unloading channel matches the mixer truck number information of the mixer truck, execute according to the image information in the target unloading channel information to generate driving operation prompts, or to control the steps of automatic driving of the mixer truck according to the image information in the target unloading channel.
- the received information in addition to the image information in the target discharge channel, the received information also includes verification information in the image information in the target discharge channel, and the verification information includes the information of the discharge port 4 and Mixer truck number information, compare the mixer truck number information in the verification information with the mixer truck number information of the mixer truck itself, to confirm whether the information is correct, and avoid the mixer truck going to the wrong unloading channel due to incorrect information transmission.
- a driving operation prompt is generated according to the received image information in the target unloading channel to remind the driver
- the operator sends a control command to the mixer truck to adjust the position of the mixer truck, assists the driver to adjust the position of the mixer truck, and cooperates with the machine to increase the centering speed. If the mixer truck has an automatic driving function, it will unload according to the target The image information in the channel automatically controls the position of the mixer truck.
- FIG. 3 shows a schematic diagram of specific steps for prompting driving operations based on image information in the target unloading channel in S106 in FIG. 1, that is, the steps for prompting driving operations based on image information in the target unloading channel include:
- S1064 according to the image information in the target unloading channel, generate and display auxiliary identification information and/or perform voice navigation prompts;
- the auxiliary identification information includes the position of the unloading port to be aligned, the position of the feed hopper of the mixer truck, and path identification information.
- the received image data around the discharge port is analyzed, and the analyzed image is displayed, and then the assistant driver's position of the mixer truck is generated according to the position of the discharge port in the displayed image.
- the identified identification information is displayed on the displayed image together with the generated auxiliary identification information.
- the correct control command assists in the adjustment of the position of the mixer truck, improves the centering speed between the discharge port and the feed hopper, and thus improves the working efficiency of the entire mixer truck loading process.
- voice navigation prompts can also be issued according to the image information around the discharge port, so that the driver can adjust the position of the mixer truck according to the voice prompts without referring to the image.
- the auxiliary identification information includes the position of the unloading port to be aligned, the position of the feed hopper of the mixer truck, and path identification information.
- control method of the mixer truck further includes: when the centering completion instruction is obtained, generating a centering completion prompt and/or sending a request unloading instruction to the mixing station.
- the mixer truck after the mixer truck receives the information that the mixer truck has been accurately centered, that is, after obtaining the centering completion command, it can selectively generate prompt information to remind the driver that the centering has been completed at this time, or automatically Send a command to request unloading to the mixing station, or both can be executed at the same time.
- control method of the mixer truck further includes generating a command to stop unloading according to user input information and sending it to the mixer station.
- the driver can observe whether there is any overflow or leakage according to the displayed image information, when the overflow occurs, the driver can send a timely notification to the mixing station. Stop the unloading command, and take timely countermeasures to prevent safety accidents and avoid waste of resources.
- control method of the mixer truck further includes: receiving and displaying dispatch information, where the dispatch information includes at least one of concrete type, weight, and destination.
- the mixer truck can also receive the dispatch information sent by the dispatching device to remind the driver of the cargo information he transported and the destination to which he is going, thus realizing the automatic dispatch of the mixer truck, mixing The car can directly obtain the destination it is going to, without additional information confirmation or complicated verification and confirmation, which improves work efficiency.
- the dispatch information may specifically include information such as concrete type, weight, and destination.
- the embodiment of the second aspect of the present application provides a method for controlling a mixing station, as shown in FIG. 4 , the method includes:
- this control method by first establishing a communication connection with the mixer truck, the information transmission between the mixer station and the mixer truck is realized, and then the mixer truck number information of the mixer truck is obtained, and the number information of the mixer truck is Check, after checking, determine the discharge port to be aligned corresponding to the number information of the mixer truck, so as to realize the matching between the mixer truck and the corresponding discharge port, and send the image information in the target discharge channel to the mixer Car, and then according to the image recognition algorithm to judge the position of the discharge port and the feeding hopper displayed on the image information in the target discharge channel, and judge whether the feeding hopper of the mixer truck and the discharge port to be aligned have been completed Centering, further judge whether the mixer truck is centered, and make double guarantees for the centering of the discharge port and the hopper. If it is determined that the centering has been completed, the centering completion command will be sent to the mixer truck, and the opened The completed discharge port is centered, and the discharge is automatically controlled, so as to realize the automation of discharge.
- control method of the mixing station further includes: after obtaining a stop unloading instruction sent by any mixer truck, controlling the discharge port corresponding to the mixer truck to stop unloading.
- the embodiment of the third aspect of the present application provides a mixer truck 1.
- the mixer truck 1 includes: a vehicle-mounted display screen 102 for displaying information;
- the communication module 106 is used for communication;
- the human-computer interaction unit 108 is used for receiving user instruction information;
- the mixer truck control device 110 includes a memory 1104 and a processor 1102, a computer program is stored on the memory 1104, and the processor 1102 is configured to execute The computer program realizes the steps of the control method of the mixer truck 1 in any of the above-mentioned embodiments.
- the mixer truck 1 includes a vehicle-mounted display screen 102 , a voice prompt device 104 , a vehicle-mounted communication module 106 , a human-computer interaction unit 108 and a mixer truck control device 110 .
- the on-board display screen 102 is used for image information and various signs sent from the mixing plant 2, and for issuing voice prompts to give driver information reference.
- the vehicle-mounted communication module 106 is used to establish a communication connection between the mixing station 2 and the mixer truck 1.
- the vehicle-mounted communication module 106 can use a WIFI module, a Bluetooth module, a mobile communication module, UWB (ultra-wideband), V2X (vehicle wireless communication technology) at least one of the
- the human-computer interaction unit 108 is used for receiving driver control instructions.
- the mixer truck control device 110 is configured to store a computer program and implement the mixer truck control method provided in the embodiment of the first aspect of the present application when the computer program is executed.
- the above-mentioned devices can be integrated with a central control screen.
- the processor 1102 is configured to execute a computer program to implement the control method of the mixer truck provided in the embodiment of the first aspect of the application Steps, so the mixer truck 1 has all the technical effects of the mixer truck control method, which will not be repeated here.
- vehicle communication module 106 is always on.
- the embodiment of the fourth aspect of the present application provides a mixing station 2.
- the mixing station control device 206 includes a memory 2064 and a processor 2062, a computer program is stored on the memory 2064, and when the processor 2062 is configured to execute the computer program The steps of the method for controlling the mixing station in any of the above-mentioned embodiments are realized.
- the mixing station 2 includes a mixing station communication module 202 , a collection device 204 , and a mixing station control device 206 .
- the mixing station communication module 202 is used to establish a communication connection with the mixing truck communication module so that the information transmission between the mixing station 2 and the mixing truck 1, the mixing station communication module 202 can adopt WIFI module, bluetooth module, mobile communication module, UWB (Ultra Wide Band ), V2X (vehicle wireless communication technology) at least one.
- the collection device 204 is used to collect images around the discharge port 4 that are installed corresponding to the discharge port 4.
- the image field of view collected by the collection device 204 includes the entire discharge channel 5.
- the mixer truck 1 can appear in the field of view of the acquisition device 204 as long as it enters the discharge channel 5, and the driver judges the position of the mixer truck 1 according to the images collected by the acquisition device 204.
- the mixing station control device 206 is used to store the computer program and implement the control method of the mixing station provided in the embodiment of the second aspect of the present application when the computer program is executed.
- the mixing plant 2 since it includes a memory 2064 and a processor 2062, the processor 2062 is configured to execute a computer program to realize the control method of the mixing plant provided by the second aspect embodiment of the present application steps, so the mixing station 2 has all the technical effects of the control method of the mixing station, which will not be repeated here.
- the mixing station communication module 202 is always on.
- the embodiment of the fifth aspect of the present application provides a centering control system 6, as shown in Figure 7, comprising a vehicle control terminal 62, comprising a vehicle storage 622 and a vehicle processor 624, computer programs are stored on the vehicle storage 622,
- the vehicle-mounted processor 624 is configured to implement the steps of the control method of the mixer truck in any of the above-mentioned technical solutions when the computer program is executed;
- the mixing station control terminal 64 includes a mixing station memory 642 and a mixing station processor 644, and the mixing station memory 642 stores There is a computer program, and the mixing station processor 644 is configured to implement the steps of the mixing station control method in any of the above technical solutions when executing the computer program.
- the centering control system since it includes a vehicle-mounted memory 622 and a vehicle-mounted processor 624, a mixing station memory 642 and a mixing station processor 644, the vehicle-mounted memory 622 stores computer programs, and the vehicle-mounted processor 624 configures In order to realize the steps of the control method of the mixer truck in any of the above-mentioned technical solutions when executing the computer program, a computer program is stored on the mixing station memory 642, and the mixing station processor 644 is configured to realize any of the above-mentioned technical solutions when executing the computer program.
- the steps of the control method of the mixing plant, so the centering control system has all the technical effects of the control method of the mixer truck and the control method of the mixing plant, and will not be repeated here.
- Another embodiment of the present application provides a method for controlling a mixer truck, as shown in Figures 8 and 9, the method includes:
- S318 a step of generating and displaying auxiliary identification information according to the image information in the target unloading channel and/or giving a voice navigation prompt, or controlling the mixer truck to perform automatic driving according to the image information in the target unloading channel;
- the vehicle-mounted communication module 106 before the communication connection between the mixing station 2 and the mixer truck 1 is established, it is first judged whether the vehicle-mounted communication module 106 is in the open state, if the module is not open, then open immediately, if the module is already open, then Automatically scan other communication modules around, and perform matching verification after scanning other communication modules to be communicated, and establish a communication connection between the two communication modules if the verification passes.
- the automatic networking between the mixer truck 1 and the mixing station 2 is realized, and the network connection is established through automatic scanning, which does not require manual operation, saves time and effort, and improves the efficiency of the entire mixer truck 1 loading process.
- the received information in addition to the image information in the target discharge channel 5, it also includes the verification information in the image information in the target discharge channel 5, and the verification information includes the information of the discharge port 4 and the number information of the mixer truck , compare the number information of the mixer truck in the verification information with the number information of the mixer truck 1 itself to confirm whether the information is correct, and avoid the mixer truck going to the wrong unloading channel 5 due to incorrect information transmission.
- a driving operation prompt will be generated according to the received image information in the target discharge channel 5 to prompt
- the driver sends a control command to the mixer truck 1 to adjust the position of the mixer truck 1, and assists the driver to adjust the position of the mixer truck.
- the manual and machine cooperate to improve the centering speed. If the mixer truck 1 has an automatic driving function, then The position of the mixer truck 1 is automatically controlled according to the image information in the target discharge channel 5 .
- the identification information will be displayed on the displayed image together with the generated auxiliary identification information.
- the driver can provide a reference for the driver so that the driver can issue correct control according to the identification on the video image. command, assisting in the adjustment of the position of the mixer truck 1, improving the centering speed between the discharge port 4 and the feed hopper 3, thereby improving the working efficiency of the entire mixer truck 1 loading process.
- a voice navigation prompt can also be issued according to the image information around the discharge port 4, so that the driver can adjust the position of the mixer truck 1 according to the voice prompt without referring to the image.
- the driver can issue a stop unloading command to the mixing station 2 in time, To take countermeasures in time to prevent safety accidents and avoid waste of resources.
- the mixer truck 1 can also receive the order information sent by the dispatching device to remind the driver of the cargo information he transported and the destination to which he is going, so as to realize the automatic dispatch of the mixer truck 1, and the mixer truck 1 can directly After obtaining the destination you want to go to, there is no need for additional information confirmation or complicated check and confirmation, which improves work efficiency.
- the dispatch information may specifically include information such as concrete type, weight, and destination.
- the method in this application is not limited to mixer trucks and mixing stations.
- the control method of mixing stations can also be used in material stations such as asphalt stations and oil tank stations, and the control method of mixer trucks can also be used in Vehicles such as asphalt transport trucks and oil tank trucks can be used in other similar occasions, and are not limited to the mixer truck and mixing station in the embodiment.
- connection refers to two or more, unless otherwise clearly defined.
- connection can be fixed connection, detachable connection, or integral connection; “connection” can be directly or indirectly through an intermediary.
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Abstract
一种搅拌车及控制方法、搅拌站及控制方法和对中控制系统，其中，搅拌车的控制方法包括：与搅拌站建立通信连接（S102）；在与搅拌站建立通信连接后，接收目标卸料通道内的图像信息，目标卸料通道内的图像信息包括待对中卸料口的位置信息（S104）；根据目标卸料通道内的图像信息进行驾驶操作提示，或根据目标卸料通道内的图像信息控制搅拌车进行自动驾驶（S106）；在获取到对中完成指令时，确认对中完成（S108）。该方法通过网络将卸料口周围的视频图像发送给搅拌车并显示，使搅拌车从较远距离就可以得知自身与卸料口之间的位置关系，进而根据图像或提示信息进行搅拌车位置的调整，实现了远距离的对中，克服了现有技术只能近距离的判断卸料口处的对中状态的缺陷。
Description
本申请要求于2021年07月30日提交中国国家知识产权局、申请号为“202110876014.X”、申请名称为“搅拌车及控制方法、搅拌站及控制方法和对中控制系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本申请涉及搅拌车控制领域，具体而言，涉及一种搅拌车及控制方法、搅拌站及控制方法和对中控制系统。
搅拌车是一种用于运输混凝土等物料的专用工程搅拌车。搅拌车驶入搅拌站内装料时，需要将搅拌车停泊到搅拌站内的一个卸料通道，并且让搅拌车的进料斗对准搅拌站的卸料口，但搅拌站内通道狭窄盲区大，泊车难度高，通常需要站内人员指挥或者驾驶员反复下车查看才能完成进料斗与卸料口对中操作，并不能在驾驶员调整搅拌车位置时发出提示信息，只能依靠驾驶员自身经验或他人提示来进行搅拌车位置的调整。并且在现有技术中，卸料口和进料斗的对中是需要人工对搅拌车位置进行大致判断，依靠驾驶员自身经验对搅拌车的停驻位置进行调整，在调整完毕后再通过机器进行对中结果的识别，即现有技术只能对人工进行对齐的卸料口与进料斗图像是否已经精准对齐进行判定，如果没有对齐也还是需要驾驶员自行进行搅拌车位置的调整，对中过程工作效率低下，并且现有技术中的方法只能近距离的判断卸料口和进料斗是否对中，而当搅拌车距离搅拌站较远或倒车位置距离卸料口偏差较大时，现有技术中的对中判断方法只能判断出没有对中，却无法给出驾驶员提示，因此驾驶员只能盲目的对搅拌车位置进行调整。
因此，如何提出一种可以辅助驾驶员实现搅拌站卸料口与搅拌车进料斗的准确对中的方案成为目前亟待解决的问题。
发明内容
为解决上述技术问题，本申请的第一方面提出了一种搅拌车的控制方法。
本申请的第二方面还提出了一种搅拌站的控制方法。
本申请的第三方面还提出了一种搅拌车。
本申请的第四方面还提出了一种搅拌站。
本申请的第五方面还提供了一种对中控制系统。
有鉴于此，本申请第一方面提出了一种搅拌车的控制方法，搅拌车的控制方法包括：与搅拌站建立通信连接；在与搅拌站建立通信连接后，接收目标卸料通道内的图像信息，所述目标卸料通道内的图像信息包括待对中卸料口的位置信息；根据目标卸料通道内的图像信息进行驾驶操作提示，或根据目标卸料通道内的图像信息控制搅拌车进行自动驾驶；在获取到对中完成指令时，确认对中完成。
根据本申请提供的搅拌车的控制方法，当搅拌车到达搅拌站时，自动与搅拌站建立起通信连接，保证了搅拌车和搅拌站之间的信息传输。在搅拌车与搅拌站之间的通信连接建立完成后，以及搅拌车在接收到目标卸料通道内的图像信息后，若搅拌车不具有自动驾驶功能，则根据该信息对驾驶员发出驾驶操作提示，以辅助驾驶员对搅拌车的位置进行调整，进而实现卸料口和进料斗的对中，人工与机器之间相互配合，提高了对中速率，若搅拌车具有自动驾驶功能，可以根据目标卸料通道内的图像信息控制搅拌车自动驾驶，以调整搅拌车位置从而实现卸料口和进料斗的对中。搅拌车在接收到搅拌车已经准确对中的信息后，确认搅拌车对中完成。本申请中搅拌车的控制方法通过建立搅拌站与搅拌车之间的通信连接，将卸料通道内卸料口周围的视频图像发送给远处的搅拌车并进行显示，使搅拌车从较远距离就可以得知自身与搅拌站之间的位置关系，例如，在搅拌车刚刚抵达搅拌站时，可以通过发送来的图像信息得知要前往的卸料通道，而在进入卸料通道后就可以通过图像观察到自身在进入卸料通道的图像视野范围内时的具体位置，进而根据图像以及提示信息进行搅拌车位置的调整， 就算位置偏差较大驾驶员也可以根据提示或图像信息做出正确的操作指令，即本申请可以实现远距离的对中，克服了现有技术只能近距离的判断卸料口处的对中状态的缺陷。并且本申请中搅拌车的控制方法还可以辅助驾驶员调整搅拌车位置，即在驾驶员进行搅拌车位置调整时，给出驾驶员提示，本申请是人工与机器相互配合的，而在现有技术中，并不能在驾驶员调整搅拌车位置时发出提示信息，只能依靠驾驶员自身经验或者他人提示来进行搅拌车位置的调整，因此，本申请在对中过程中只需要通过视频图像就可以查看对中状态，在提升了搅拌车装料效率的同时，还保证了工作人员的人身安全。并且在卸料之前需要接收到准确对中的信息，并发送请求卸料指令，进而才能开始卸料，是一个双重保证，大大减少了溢料漏料的可能性。该种搅拌车智能对中方法，实现了卸料口和进料斗对中的智能化，大大提升了搅拌车装料的效率与安全性。
另外，本申请提供的上述技术方案中的搅拌车的控制方法还可以具有如下附加技术特征：
在上述技术方案中，优选地，与搅拌站建立通信连接的步骤具体包括：判断搅拌车的车载通信模块是否处于开启状态，在车载通信模块未处于开启状态时，开启车载通信模块；在车载通信模块处于开启状态时，搜索搅拌车周围的待通信模块，与搜索出的待通信模块进行匹配验证，并在验证通过后，与验证通过的待通信模块建立通信连接。
在该技术方案中，在搅拌站与搅拌车的通信连接建立之前，先对车载通信模块是否处于开启状态进行判断，若该模块未开启，则立即打开，若该模块已经开启，则自动对周围的其他通信模块进行扫描，在扫描到其他待通信的通信模块后，进行匹配验证，验证通过则两个通信模块建立起通信连接。以此实现了搅拌车与搅拌站之间的自动联网，通过自动扫描建立起网络连接，不需要人工手动进行操作，省时省力，提升了整个搅拌车装料过程的效率。
进一步地，车载通信模块始终处于开启状态。
在上述技术方案中，优选地，目标卸料通道内的图像信息包括表示卸料口和进料斗的相对位置的视频信息和/或图片信息。
在该技术方案中，目标卸料通道内的图像信息包括卸料口和进料斗的相对位置的视频信息、图片信息中的至少一种。以此可以通过卸料口周围的视频信息或图片信息对卸料口和进料斗之间的位置进行判断，以便于后续对搅拌车位置进行调整。
在上述技术方案中，优选地，搅拌车的控制方法还包括，在与搅拌站建立通信连接后，将搅拌车的搅拌车编号信息发送给搅拌站。
在该技术方案中，在搅拌车与搅拌站之间的通信连接建立完成后，向搅拌站发送搅拌车的搅拌车编号信息，以便搅拌站对搅拌车编号信息进行核对，并下发对应的卸料口周围的图像信息，以此实现了自动获取卸料通道的卸料口的监控视频或图片，不需要人工进行选择，提升了搅拌站的自动化程度。
在上述任一技术方案中，优选地，在接收到目标卸料通道内的图像信息后，解析目标卸料通道内的图像信息中的验证信息，根据验证信息判断目标卸料通道内的图像信息与搅拌车的搅拌车编号信息是否匹配，在判断出目标卸料通道内的图像信息与搅拌车的搅拌车编号信息匹配时，执行根据目标卸料通道内的图像信息生成驾驶操作提示，或根据目标卸料通道内的图像信息控制搅拌车进行自动驾驶的步骤。
在该技术方案中，所接收到的信息中，除了目标卸料通道内的图像信息，还包括目标卸料通道内的图像信息中的验证信息，该验证信息中包括卸料口的信息和搅拌车编号信息，将验证信息中的搅拌车编号信息与搅拌车自身的搅拌车编号信息进行对比，以确认信息是否无误，避免了因信息发送错误而造成搅拌车前往错误的卸料通道，在验证信息中的搅拌车编号信息与搅拌车自身的搅拌车编号信息相匹配时，若搅拌车不具有自动驾驶功能，根据接收到的目标卸料通道内的图像信息生成驾驶操作提示，以提示驾驶员对搅拌车发出控制指令对搅拌车的位置进行调整，辅助驾驶员调整搅拌车位置，人工与机器之间相互配合，提高了对中速率，若搅拌车具有自动驾驶功能，则根据目标卸料通道内的图像信息自动对搅拌车的位置进行控制。
在上述任一技术方案中，优选地，根据目标卸料通道内的图像信息进 行驾驶操作提示的步骤包括：对目标卸料通道内的图像信息进行解析并进行显示；根据目标卸料通道内的图像信息，生成辅助标识信息并进行显示和/或进行语音导航提示；辅助标识信息包括待对中卸料口的位置、搅拌车进料斗的位置以及路径标识信息。
在该技术方案中，对接收到的卸料口周围的图像数据进行解析，并将解析出的图像显示出来，进而根据所显示的图像中的卸料口的位置生成辅助驾驶员对搅拌车位置进行判断的标识信息，并在所显示的图像上将生成的辅助标识信息一同进行显示，在驾驶员发出控制指令之前，可以给驾驶员提供一个参考，以便驾驶员可以根据视频图像上的标识发出正确的控制指令，辅助完成搅拌车的位置调整，提高了卸料口与进料斗的对中速率，进而提高了整个搅拌车装料进程的工作效率。此外，还可以根据卸料口周围的图像信息发出语音导航提示，以便驾驶员可以不用参考图像，根据语音提示也可以对搅拌车的搅拌车位置进行调整。
其中，辅助标识信息包括待对中卸料口的位置、搅拌车进料斗的位置以及路径标识信息。
在上述任一技术方案中，搅拌车的控制方法还包括：在获取到对中完成指令时，生成对中完成提示和/或向搅拌站发送请求卸料指令。
在该技术方案中，搅拌车在接收到搅拌车已经准确对中的信息后，即获取到对中完成指令后，可以有选择的生成提示信息以提示驾驶员此时已经完成对中，或者自动向搅拌站发送请求卸料指令，也可以二者同时执行。
在上述任一技术方案中，搅拌车的控制方法还包括：根据用户的输入信息生成停止卸料指令并发送给搅拌站。
在该技术方案中，在卸料过程中，当驾驶员根据显示的图像信息可以观察到是否有溢料漏料的现象发生，当发生溢料漏料时，驾驶员就可以及时向搅拌站发出停止卸料指令，以及时采取应对措施，防止发生安全事故以及避免造成资源的浪费。
在上述任一技术方案中，优选地，搅拌车的控制方法还包括：接收派单信息并进行显示，派单信息包括混凝土型号、重量、目的地中的至少一种。
在该技术方案中，搅拌车还可以接收调度装置发出的派单信息，以提示驾驶员自己所运输的货物信息，以及要去往的目的地，以此实现了搅拌车的自动化派单，搅拌车可以直接获取到自己要去往的目的地，不需要再进行额外的信息确认或繁杂的核对确认，提高了工作效率。派单信息具体可以包括混凝土型号、重量、目的地等信息。
本申请的第二方面提供了一种搅拌站的控制方法，包括：与搅拌车建立通信连接；接收搅拌车的搅拌车编号信息，根据搅拌车编号信息确定目标卸料通道；将目标卸料通道内的图像信息发送给搅拌车；根据目标卸料通道内的图像信息判断搅拌车的进料斗与待对中卸料口是否完成对中；在搅拌车的进料斗与待对中卸料口完成对中后，生成并向搅拌车发送对中完成指令，并打开已对中的卸料口，控制自动卸料。
根据本申请的技术方案提供的搅拌站的控制方法，通过先与搅拌车建立通信连接，实现搅拌站与搅拌车之间的信息传输，进而获取到搅拌车的搅拌车编号信息，并对该搅拌车编号信息进行核对，核对后确定出与该搅拌车编号信息对应的待对中卸料口，以此实现搅拌车与对应卸料口间的匹配，并将该目标卸料通道内的图像信息发送给搅拌车，进而根据图像识别算法对目标卸料通道内的图像信息上所显示的卸料口和进料斗的位置进行判断，判断出搅拌车的进料斗与待对中卸料口是否已经完成对中，进一步对搅拌车是否对中进行判断，对卸料口和进料斗的对中做出双重保障，如确定已经对中完成，则将对中完成指令发送给搅拌车，并打开已经对中完成的卸料口，自动的控制卸料，以此实现了卸料的自动化。
在上述任一技术方案中，优选地，搅拌站的控制方法还包括：获取到任一搅拌车发送的停止卸料指令后，控制与搅拌车对应的卸料口停止卸料。
在该技术方案中，只要接收到停止卸料指令，就立即停止卸料，及时的采取应对措施，防止发生安全事故以及避免造成资源的浪费。
本申请的第三方面提供了一种搅拌车，包括：车载显示屏，用于显示信息；语音提示装置，用于进行语音提示；车载通信模块，用于进行通信；人机交互单元，用于接收用户指令信息；搅拌车控制装置，包括存储器和处理器，存储器上存储有计算机程序，处理器配置为执行计算机程序时实 现上述任一技术方案中的搅拌车的控制方法的步骤。
在该技术方案中，搅拌车包括车载显示屏、语音提示装置、车载通信模块、人机交互单元以及搅拌车控制装置。车载显示屏用于搅拌站发来的图像信息以及各种标识，以及用于发出语音提示，以给出驾驶员信息参考。车载通信模块用于建立搅拌站与搅拌车之间的通信连接，车载通信模块可以采用WIFI模块，蓝牙模块、移动通信模块、UWB(超宽带)、V2X(车用无线通信技术)中的至少一个。人机交互单元用于接收驾驶员控制指令。搅拌车控制装置，用于存储计算机程序以及执行计算机程序时实现本申请第一方面提供的搅拌车的控制方法。同时，根据本申请的技术方案提供的搅拌车，由于其包括存储器和处理器，处理器被配置为执行计算机程序时实现本申请的第一方面提供的搅拌车的控制方法的步骤，因而该搅拌车具备该搅拌车的控制方法的全部技术效果，在此不再赘述。
进一步地，车载通信模块始终处于开启状态。
本申请的第四方面提供了一种搅拌站，包括：搅拌站通信模块，用于与搅拌车的车载通信模块进行通信；采集装置，对应卸料口安装，用于采集卸料口周围的图像；搅拌站控制装置，包括存储器和处理器，存储器上存储有计算机程序，处理器配置为执行计算机程序时实现上述任一技术方案中的搅拌站的控制方法的步骤。进一步地，采集装置能够采集其对应卸料口所在的整个卸料通道的图像。
在该技术方案中，搅拌站包括搅拌站通信模块，采集装置，搅拌站的控制装置。搅拌站通信模块用于与搅拌车通信模块建立通信连接以便搅拌站与搅拌车之间的信息传输，搅拌站通信模块可以采用WIFI模块，蓝牙模块、移动通信模块、UWB(超宽带)、V2X(车用无线通信技术)中的至少一个。采集装置用于采集与卸料口对应安装的用于采集卸料口周围图像，采集装置所采集的图像视野包含整个卸料通道，当卸料通道长度较短时，采用一个采集装置就可以使整个卸料通道都包含在采集装置的视野内，当卸料通道较长时，可以配置多个采集装置使整个卸料通道都包含在采集装置的视野内，以使搅拌车只要进入卸料通道时就可以出现在采集装置的视野中，驾驶员根据采集装置所采集的图像，对搅拌车的位置进行判断。搅 拌站控制装置，用于存储计算机程序以及执行计算机程序时实现本申请第二方面提供的搅拌站的控制方法。同时，根据本申请的技术方案提供的搅拌站，由于其包括存储器和处理器，处理器被配置为执行计算机程序时实现本申请的第二方面提供的搅拌站的控制方法的步骤，因而该搅拌站具备该搅拌站的控制方法的全部技术效果，在此不再赘述。
进一步地，搅拌站通信模块始终处于开启状态。
本申请的第五方面提供了一种对中控制系统，包括车载控制端，包括车载存储器和车载处理器，车载存储器上存储有计算机程序，车载处理器配置为执行计算机程序时实现上述任一技术方案中的搅拌车的控制方法的步骤；搅拌站控制端，包括搅拌站存储器和搅拌站处理器，搅拌站存储器上存储有计算机程序，搅拌站处理器配置为执行计算机程序时实现上述任一技术方案中的搅拌站的控制方法的步骤。
根据本申请的技术方案提供的对中控制系统，由于其包括车载存储器和车载处理器、搅拌站存储器和搅拌站处理器，车载存储器上存储有计算机程序，车载处理器配置为执行计算机程序时实现上述任一技术方案中的搅拌车的控制方法的步骤，搅拌站存储器上存储有计算机程序，搅拌站处理器配置为执行计算机程序时实现上述任一技术方案中的搅拌站的控制方法的步骤，因而该对中控制系统具备搅拌车的控制方法以及搅拌站的控制方法的全部技术效果，在此不再赘述。本申请的附加方面和优点将在下面的描述部分中变得明显，或通过本申请的实践了解到。
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1示出了本申请的一个实施例的搅拌车的控制方法的流程示意图；
图2示出了图1中S102的具体步骤示意图；
图3示出了图1中S106的具体步骤示意图；
图4示出了本申请的另一个实施例提供的搅拌站的控制方法的流程示意图；
图5示出了本申请的一种搅拌车的方框图；
图6示出了本申请搅拌站的方框图；
图7示出了本申请对中控制系统的方框图；
图8示出了本申请搅拌车与搅拌站硬件总体布局的示意图；
图9示出了本申请又一实施例的搅拌车的控制方法的流程示意图。
其中，图5至图8中附图标记与部件名称之间的对应关系为：
1搅拌车，102车载显示屏，104语音提示装置，106车载通信模块，108人机交互单元，110搅拌车控制装置，1102处理器，1104存储器，2搅拌站，202搅拌站通信模块，204采集装置，206搅拌站控制装置，2062处理器，2064存储器，3进料斗，4卸料口，5卸料通道，6对中控制系统，62车载控制端，622车载存储器，624车载处理器，64搅拌站控制端，642搅拌站存储器，644搅拌站处理器。
为了能够更清楚地理解本申请的上述目的、特征和优点，下面结合附图和具体实施方式对本申请进行进一步的详细描述。需要说明的是，在不冲突的情况下，本申请的实施例及实施例中的特征可以相互组合。
在下面的描述中阐述了很多具体细节以便于充分理解本申请，但是，本申请还可以采用其他不同于在此描述的其他方式来实施，因此，本申请的保护范围并不受下面公开的具体实施例的限制。
下面参照图1至图9描述本申请一些实施例中的搅拌车及其控制方法、搅拌站及其控制方法。
实施例1
本申请第一方面的实施例，提供了一种搅拌车的控制方法，如图1所述，该方法包括：
S102，与搅拌站建立通信连接；
S104，在与搅拌站建立通信连接后，接收目标卸料通道内的图像信息，目标卸料通道内的图像信息包括待对中卸料口的位置信息；
S106，根据目标卸料通道内的图像信息进行驾驶操作提示，或根据目 标卸料通道内的图像信息控制搅拌车进行自动驾驶；
S108，在获取到对中完成指令时，确认对中完成。
在该实施例中，该种控制方法，当搅拌车到达搅拌站时，自动与搅拌站建立起通信连接，保证了搅拌车和搅拌站之间的信息传输。在搅拌车与搅拌站之间的通信连接建立完成后，以及搅拌车在接收到目标卸料通道内的图像信息后，若搅拌车不具有自动驾驶功能，则根据该信息对驾驶员发出驾驶操作提示，以辅助驾驶员对搅拌车的位置进行调整，进而实现卸料口和进料斗的对中，人工与机器之间相互配合，提高了对中速率，若搅拌车具有自动驾驶功能，可以根据目标卸料通道内的图像信息控制搅拌车自动驾驶，以调整搅拌车位置从而实现卸料口和进料斗的对中。搅拌车在接收到搅拌车已经准确对中的信息后，确认搅拌车对中完成。搅拌站。本申请中搅拌车的控制方法通过建立搅拌站与搅拌车之间的通信连接，将卸料通道内卸料口周围的视频图像发送给远处的搅拌车并进行显示，使搅拌车从较远距离就可以得知自身与搅拌站之间的位置关系，例如，在搅拌车刚刚抵达搅拌站时，可以通过发送来的图像信息得知要前往的卸料通道，而在进入卸料通道后就可以通过图像观察到自身在进入卸料通道并进入图像视野范围内时的具体位置，进而根据图像以及提示信息进行搅拌车位置的调整，就算位置偏差较大驾驶员也可以根据提示或图像信息做出正确的操作指令，即本申请可以实现远距离的对中，克服了现有技术只能近距离的判断卸料口处的对中状态的缺陷。并且本申请中搅拌车的控制方法还可以辅助驾驶员调整搅拌车位置，即在驾驶员进行搅拌车位置调整时，给出驾驶员提示，本申请是人工与机器相互配合的，而在现有技术中，并不能在驾驶员调整搅拌车位置时发出提示信息，只能依靠驾驶员自身经验或者他人提示来进行搅拌车位置的调整，因此，本申请在对中过程中只需要通过视频图像就可以查看对中状态，在提升了搅拌车装料效率的同时，还保证了工作人员的人身安全。并且在卸料之前需要接收到准确对中的信息，并发送请求卸料指令，进而才能开始卸料，是一个双重保证，大大减少了溢料漏料的可能性。该种搅拌车智能对中方法，实现了卸料口和进料斗对中的智能化，大大提升了搅拌车装料的效率与安全性。
进一步地，图2示出了图1中S102的具体步骤示意图，即与搅拌站建立通信连接的步骤具体包括：
S1022，判断搅拌车的车载通信模块是否处于开启状态，在车载通信模块未处于开启状态时，开启车载通信模块；
S1024，在车载通信模块处于开启状态时，搜索搅拌车周围的待通信模块，与搜索出的待通信模块进行匹配验证，并在验证通过后，与验证通过的待通信模块建立通信连接。
在该实施例中，在搅拌站与搅拌车的通信连接建立之前，先对车载通信模块是否处于开启状态进行判断，若该模块未开启，则立即打开，若该模块已经开启，则自动对周围的其他通信模块进行扫描，在扫描到其他待通信的通信模块后，进行匹配验证，验证通过则两个通信模块建立起通信连接。以此实现了搅拌车与搅拌站之间的自动联网，通过自动扫描建立起网络连接，不需要人工手动进行操作，省时省力，提升了整个搅拌车装料过程的效率。
进一步地，车载通信模块始终处于开启状态。
在上述任一实施例中，优选地，还包括，目标卸料通道内的图像信息包括表示卸料口和进料斗的相对位置的视频信息和/或图片信息。
在该实施例中，目标卸料通道内的图像信息包括卸料口和进料斗的相对位置的视频信息、图片信息中的至少一种。以此可以通过卸料口周围的视频信息或图片信息对卸料口和进料斗之间的位置进行判断，以便于后续对搅拌车位置进行调整。
在上述任一实施例中，优选地，搅拌车的控制方法还包括，在与搅拌站建立通信连接后，将搅拌车的搅拌车编号信息发送给搅拌站。
在该实施例中，在搅拌车与搅拌站之间的通信连接建立完成后，向搅拌站发送搅拌车的搅拌车编号信息，以便搅拌站对搅拌车编号信息进行核对，并下发对应的卸料口周围的图像信息，以此实现了自动获取卸料通道的卸料口的监控视频或图片，不需要人工进行选择，提升了搅拌站的自动化程度。
在上述任一实施例中，优选地，搅拌车的控制方法还包括，在接收到 目标卸料通道内的图像信息后，解析目标卸料通道内的图像信息中的验证信息，根据验证信息判断目标卸料通道内的图像信息与搅拌车的搅拌车编号信息是否匹配，在判断出目标卸料通道内的图像信息与搅拌车的搅拌车编号信息匹配时，执行根据目标卸料通道内的图像信息生成驾驶操作提示，或根据目标卸料通道内的图像信息控制搅拌车进行自动驾驶的步骤。
在该实施例中，所接收到的信息中，除了目标卸料通道内的图像信息，还包括目标卸料通道内的图像信息中的验证信息，该验证信息中包括卸料口4的信息和搅拌车编号信息，将验证信息中的搅拌车编号信息与搅拌车自身的搅拌车编号信息进行对比，以确认信息是否无误，避免了因信息发送错误而造成搅拌车前往错误的卸料通道，在验证信息中的搅拌车编号信息与搅拌车自身的搅拌车编号信息相匹配时，若搅拌车不具有自动驾驶功能，根据接收到的目标卸料通道内的图像信息生成驾驶操作提示，以提示驾驶员对搅拌车发出控制指令对搅拌车的位置进行调整，辅助驾驶员调整搅拌车位置，人工与机器之间相互配合，提高了对中速率，若搅拌车具有自动驾驶功能，则根据目标卸料通道内的图像信息自动对搅拌车的位置进行控制。
进一步地，图3示出了图1中S106中根据目标卸料通道内的图像信息进行驾驶操作提示的具体步骤示意图，即根据目标卸料通道内的图像信息进行驾驶操作提示的步骤包括：
S1062，对目标卸料通道内的图像信息进行解析并进行显示；
S1064，根据目标卸料通道内的图像信息，生成辅助标识信息并进行显示和/或进行语音导航提示；
S1066，辅助标识信息包括待对中卸料口的位置、搅拌车进料斗的位置以及路径标识信息。
在该实施例中，对接收到的卸料口周围的图像数据进行解析，并将解析出的图像显示出来，进而根据所显示的图像中的卸料口的位置生成辅助驾驶员对搅拌车位置进行判断的标识信息，并在所显示的图像上将生成的辅助标识信息一同进行显示，在驾驶员发出控制指令之前，可以给驾驶员提供一个参考，以便驾驶员可以根据视频图像上的标识发出正确的控制指 令，辅助完成搅拌车的位置调整，提高了卸料口与进料斗的对中速率，进而提高了整个搅拌车装料进程的工作效率。此外，还可以根据卸料口周围的图像信息发出语音导航提示，以便驾驶员可以不用参考图像，根据语音提示也可以对搅拌车的搅拌车位置进行调整。
其中，辅助标识信息包括待对中卸料口的位置、搅拌车进料斗的位置以及路径标识信息。
在上述任一技术方案中，搅拌车的控制方法还包括：在获取到对中完成指令时，生成对中完成提示和/或向搅拌站发送请求卸料指令。
在该技术方案中，搅拌车在接收到搅拌车已经准确对中的信息后，即获取到对中完成指令后，可以有选择的生成提示信息以提示驾驶员此时已经完成对中，或者自动向搅拌站发送请求卸料指令，也可以二者同时执行。
在上述任一实施例中，优选地，搅拌车的控制方法还包括，根据用户的输入信息生成停止卸料指令并发送给搅拌站。
在该实施例中，在卸料过程中，当驾驶员根据显示的图像信息可以观察到是否有溢料漏料的现象发生，当发生溢料漏料时，驾驶员就可以及时向搅拌站发出停止卸料指令，以及时采取应对措施，防止发生安全事故以及避免造成资源的浪费。
在上述任一实施例中，优选地，搅拌车的控制方法还包括：接收派单信息并进行显示，派单信息包括混凝土型号、重量、目的地中的至少一种。
在该实施例中，搅拌车还可以接收调度装置发出的派单信息，以提示驾驶员自己所运输的货物信息，以及要去往的目的地，以此实现了搅拌车的自动化派单，搅拌车可以直接获取到自己要去往的目的地，不需要再进行额外的信息确认或繁杂的核对确认，提高了工作效率。派单信息具体可以包括混凝土型号、重量、目的地等信息。
本申请的第二方面实施例提供了一种搅拌站的控制方法，如图4所示，该方法包括：
S202，与搅拌车建立通信连接；
S204，接收搅拌车的搅拌车编号信息，根据搅拌车编号信息确定目标卸料通道；
S206，将目标卸料通道内的图像信息发送给搅拌车；
S208，根据目标卸料通道内的图像信息判断搅拌车的进料斗与待对中卸料口是否完成对中；
S210，在搅拌车的进料斗与待对中卸料口完成对中后，生成并向搅拌车发送对中完成指令，并打开已对中的卸料口，控制自动卸料。
在该实施例中，该种控制方法，通过先与搅拌车建立通信连接，实现搅拌站与搅拌车之间的信息传输，进而获取到搅拌车的搅拌车编号信息，并对该搅拌车编号信息进行核对，核对后确定出与该搅拌车编号信息对应的待对中卸料口，以此实现搅拌车与对应卸料口间的匹配，并将该目标卸料通道内的图像信息发送给搅拌车，进而根据图像识别算法对目标卸料通道内的图像信息上所显示的卸料口和进料斗的位置进行判断，判断出搅拌车的进料斗与待对中卸料口是否已经完成对中，进一步对搅拌车是否对中进行判断，对卸料口和进料斗的对中做出双重保障，如确定已经对中完成，则将对中完成指令发送给搅拌车，并打开已经对中完成的卸料口，自动的控制卸料，以此实现了卸料的自动化。
在上述任一实施例中，优选地，搅拌站的控制方法还包括：获取到任一搅拌车发送的停止卸料指令后，控制与搅拌车对应的卸料口停止卸料。
在该实施例中，只要接收到停止卸料指令，就立即停止卸料，及时的采取应对措施，防止发生安全事故以及避免造成资源的浪费。
本申请的第三方面的实施例提供了一种搅拌车1，如图5所示，搅拌车1包括：车载显示屏102，用于显示信息；语音提示装置104，用于进行语音提示；车载通信模块106，用于进行通信；人机交互单元108，用于接收用户指令信息；搅拌车控制装置110，包括存储器1104和处理器1102，存储器1104上存储有计算机程序，处理器1102配置为执行计算机程序时实现上述任一实施例中的搅拌车1的控制方法的步骤。
在该实施例中，搅拌车1包括车载显示屏102、语音提示装置104、车载通信模块106、人机交互单元108以及搅拌车控制装置110。车载显示屏102用于搅拌站2发来的图像信息以及各种标识，以及用于发出语音提示，以给出驾驶员信息参考。车载通信模块106用于建立搅拌站2与搅拌车1 之间的通信连接，车载通信模块106可以采用WIFI模块，蓝牙模块、移动通信模块、UWB(超宽带)、V2X(车用无线通信技术)中的至少一个。人机交互单元108用于接收驾驶员控制指令。搅拌车控制装置110，用于存储计算机程序以及执行计算机程序时实现本申请第一方面实施例提供的搅拌车的控制方法。上述装置可集成与一块中控屏上。同时，根据本申请的实施例提供的搅拌车1，由于其包括存储器1104和处理器1102，处理器1102被配置为执行计算机程序时实现本申请的第一方面实施例提供的搅拌车的控制方法的步骤，因而该搅拌车1具备该搅拌车的控制方法的全部技术效果，在此不再赘述。
进一步地，车载通信模块106始终处于开启状态。
本申请的第四方面实施例提供了一种搅拌站2，如图6所示，搅拌站2包括：搅拌站通信模块202，用于与搅拌车1的车载通信模块106进行通信；采集装置204，对应卸料口4安装，用于采集卸料口4周围的图像；搅拌站控制装置206，包括存储器2064和处理器2062，存储器2064上存储有计算机程序，处理器2062配置为执行计算机程序时实现上述任一实施例中的搅拌站的控制方法的步骤。
在该实施例中，搅拌站2包括搅拌站通信模块202，采集装置204，搅拌站控制装置206。搅拌站通信模块202用于与搅拌车通信模块建立通信连接以便搅拌站2与搅拌车1之间的信息传输，搅拌站通信模块202可以采用WIFI模块，蓝牙模块、移动通信模块、UWB(超宽带)、V2X(车用无线通信技术)中的至少一个。采集装置204用于采集与卸料口4对应安装的用于采集卸料口4周围图像，采集装置204所采集的图像视野包含整个卸料通道5，当卸料通道5长度较短时，采用一个采集装置204就可以使整个卸料通道5都包含在采集装置204的视野内，当卸料通道5较长时，可以配置多个采集装置204使整个卸料通道5都包含在采集装置204的视野内，以使搅拌车1只要进入卸料通道5时就可以出现在采集装置204的视野中，驾驶员根据采集装置204所采集的图像，对搅拌车1的位置进行判断。搅拌站控制装置206，用于存储计算机程序以及执行计算机程序时实现本申请第二方面实施例提供的搅拌站的控制方法。同时，根据本申 请的实施例提供的搅拌站2，由于其包括存储器2064和处理器2062，处理器2062被配置为执行计算机程序时实现本申请的第二方面实施例提供的搅拌站的控制方法的步骤，因而该搅拌站2具备该搅拌站的控制方法的全部技术效果，在此不再赘述。
进一步地，搅拌站通信模块202始终处于开启状态。
本申请的第五方面的实施例提供了一种对中控制系统6，如图7所示，包括车载控制端62，包括车载存储器622和车载处理器624，车载存储器622上存储有计算机程序，车载处理器624配置为执行计算机程序时实现上述任一技术方案中的搅拌车的控制方法的步骤；搅拌站控制端64，包括搅拌站存储器642和搅拌站处理器644，搅拌站存储器642上存储有计算机程序，搅拌站处理器644配置为执行计算机程序时实现上述任一技术方案中的搅拌站的控制方法的步骤。
根据本申请的技术方案提供的对中控制系统，由于其包括车载存储器622和车载处理器624、搅拌站存储器642和搅拌站处理器644，车载存储器622上存储有计算机程序，车载处理器624配置为执行计算机程序时实现上述任一技术方案中的搅拌车的控制方法的步骤，搅拌站存储器642上存储有计算机程序，搅拌站处理器644配置为执行计算机程序时实现上述任一技术方案中的搅拌站的控制方法的步骤，因而该对中控制系统具备搅拌车的控制方法以及搅拌站的控制方法的全部技术效果，在此不再赘述。
实施例2
本申请另一方面的实施例，提供了一种搅拌车的控制方法，如图8和图9所示，该方法包括：
S302，判断搅拌车的车载通信模块是否处于开启状态，
S304，在车载通信模块未处于开启状态时，开启车载通信模块；
S306，在车载通信模块处于开启状态时，搜索搅拌车周围的待通信模块，与搜索出的待通信模块进行匹配验证，并在验证通过后，与验证通过的待通信模块建立通信连接；
S308，在与搅拌站建立通信连接后，将搅拌车的搅拌车编号信息发送给搅拌站；
S310，接收目标卸料通道内的图像信息，目标卸料通道内的图像信息包括待对中卸料口的位置信息；
S312，在接收到目标卸料通道内的图像信息后，解析目标卸料通道内的图像信息中的验证信息；
S314，根据验证信息判断目标卸料通道内的图像信息与搅拌车的搅拌车编号信息是否匹配，若否，向搅拌站反馈，并返回S310，若是，执行S316；
S316，对目标卸料通道内的图像信息进行解析并进行显示；
S318，根据目标卸料通道内的图像信息，生成辅助标识信息并进行显示和/或进行语音导航提示，或根据目标卸料通道内的图像信息控制搅拌车进行自动驾驶的步骤；
S320，获取对中完成指令，生成对中完成提示，并向搅拌站发送请求卸料指令；
S322，发生溢料漏料，根据用户的输入信息生成停止卸料指令发送给搅拌站，并返回S318，若否，装料完成。
在该实施例中，在搅拌站2与搅拌车1的通信连接建立之前，先对车载通信模块106是否处于开启状态进行判断，若该模块未开启，则立即打开，若该模块已经开启，则自动对周围的其他通信模块进行扫描，在扫描到其他待通信的通信模块后，进行匹配验证，验证通过则两个通信模块建立起通信连接。以此实现了搅拌车1与搅拌站2之间的自动联网，通过自动扫描建立起网络连接，不需要人工手动进行操作，省时省力，提升了整个搅拌车1装料过程的效率。所接收到的信息中，除了目标卸料通道5内的图像信息，还包括目标卸料通道5内的图像信息中的验证信息，该验证信息中包括卸料口4的信息和搅拌车编号信息，将验证信息中的搅拌车编号信息与搅拌车1自身的搅拌车编号信息进行对比，以确认信息是否无误，避免了因信息发送错误而造成搅拌车前往错误的卸料通道5，在验证信息中的搅拌车编号信息与搅拌车1自身的搅拌车编号信息相匹配时，若搅拌车1不具有自动驾驶功能，根据接收到的目标卸料通道5内的图像信息生成驾驶操作提示，以提示驾驶员对搅拌车1发出控制指令对搅拌车1的位置进行调整，辅助驾驶员调整搅拌车位置，人工与机器之间相互配合，提 高了对中速率，若搅拌车1具有自动驾驶功能，则根据目标卸料通道5内的图像信息自动对搅拌车1的位置进行控制。对接收到的卸料口4周围的图像数据进行解析，并将解析出的图像显示出来，进而根据所显示的图像中的卸料口4的位置生成辅助驾驶员对搅拌车1位置进行判断的标识信息，并在所显示的图像上将生成的辅助标识信息一同进行显示，在驾驶员发出控制指令之前，可以给驾驶员提供一个参考，以便驾驶员可以根据视频图像上的标识发出正确的控制指令，辅助完成搅拌车1的位置调整，提高了卸料口4与进料斗3的对中速率，进而提高了整个搅拌车1装料进程的工作效率。此外，还可以根据卸料口4周围的图像信息发出语音导航提示，以便驾驶员可以不用参考图像，根据语音提示也可以对搅拌车1的搅拌车位置进行调整。在卸料过程中，当驾驶员根据显示的图像信息可以观察到是否有溢料漏料的现象发生，当发生溢料漏料时，驾驶员就可以及时向搅拌站2发出停止卸料指令，以及时采取应对措施，防止发生安全事故以及避免造成资源的浪费。搅拌车1还可以接收调度装置发出的派单信息，以提示驾驶员自己所运输的货物信息，以及要去往的目的地，以此实现了搅拌车1的自动化派单，搅拌车1可以直接获取到自己要去往的目的地，不需要再进行额外的信息确认或繁杂的核对确认，提高了工作效率。派单信息具体可以包括混凝土型号、重量、目的地等信息。
在此需要强调的一点是，本申请中的方法并不局限于搅拌车和搅拌站，搅拌站的控制方法也可以用于沥青站、油罐站等物料站，搅拌车的控制方法也可用于沥青运输车、油罐车等车辆，可以用于其他类似的场合，并不局限于实施例中的搅拌车和搅拌站。
在本说明书中，术语“多个”则指两个或两个以上，除非另有明确的限定。术语“安装”、“相连”、“连接”、“固定”等术语均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；“相连”可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本说明书的描述中，术语“一个实施例”、“一些实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本申请 的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。
Claims (13)
- 一种搅拌车的控制方法，其中，所述搅拌车的控制方法包括：与搅拌站建立通信连接；在与搅拌站建立通信连接后，接收目标卸料通道内的图像信息，所述目标卸料通道内的图像信息包括待对中卸料口的位置信息；根据所述目标卸料通道内的图像信息进行驾驶操作提示，或根据所述目标卸料通道内的图像信息控制所述搅拌车进行自动驾驶；在获取到对中完成指令时，确认对中完成。
- 根据权利要求1所述的搅拌车的控制方法，其中，所述与搅拌站建立通信连接的步骤具体包括：判断搅拌车的车载通信模块是否处于开启状态，在所述车载通信模块未处于开启状态时，开启所述车载通信模块；在所述车载通信模块处于开启状态时，搜索搅拌车周围的待通信模块，与搜索出的待通信模块进行匹配验证，并在验证通过后，与验证通过的待通信模块建立通信连接。
- 根据权利要求1所述的搅拌车的控制方法，其中，所述目标卸料通道内的图像信息包括表示卸料口和进料斗的相对位置的视频信息和/或图片信息。
- 根据权利要求1所述的搅拌车的控制方法，其中，还包括：在与搅拌站建立通信连接后，将搅拌车的搅拌车编号信息发送给搅拌站；和/或在接收到所述目标卸料通道内的图像信息后，解析所述目标卸料通道内的图像信息中的验证信息，根据所述验证信息判断所述目标卸料通道内的图像信息与搅拌车的搅拌车编号信息是否匹配，在判断出所述目标卸料通道内的图像信息与搅拌车的搅拌车编号信息匹配时，执行所述根据所述目标卸料通道内的图像信息生成驾驶操作提示，或根据所述目标卸料通道内的图像信息控制所述搅拌车进行自动驾驶的步骤。
- 根据权利要求1所述的搅拌车的控制方法，其中，所述根据所述目标卸料通道内的图像信息进行驾驶操作提示的步骤包括：对所述目标卸料通道内的图像信息进行解析并进行显示；根据所述目标卸料通道内的图像信息，生成辅助标识信息并进行显示和/或进行语音导航提示；所述辅助标识信息包括待对中卸料口的位置、搅拌车进料斗的位置以及路径标识信息。
- 根据权利要求1所述的搅拌车的控制方法，其中，还包括：在获取到对中完成指令时，生成对中完成提示和/或向搅拌站发送请求卸料指令。
- 根据权利要求6所述的搅拌车的控制方法，其中，还包括：根据用户的输入信息生成停止卸料指令并发送给搅拌站。
- 根据权利要求1所述的搅拌车的控制方法，其中，还包括：接收派单信息并进行显示，所述派单信息包括混凝土型号、重量、目的地中的至少一种。
- 一种搅拌站的控制方法，其中，包括：与搅拌车建立通信连接；接收搅拌车的搅拌车编号信息，根据所述搅拌车编号信息确定目标卸料通道；将所述目标卸料通道内的图像信息发送给所述搅拌车；根据所述目标卸料通道内的图像信息判断搅拌车的进料斗与待对中卸料口是否完成对中；在搅拌车的进料斗与所述待对中卸料口完成对中后，生成并向所述搅拌车发送对中完成指令，并打开已对中的卸料口，控制自动卸料。
- 根据权利要求9所述的搅拌站的控制方法，其中，还包括：获取到任一搅拌车发送的停止卸料指令后，控制与所述搅拌车对应的卸料口停止卸料。
- 一种搅拌车，其中，包括：车载显示屏，用于显示信息；语音提示装置，用于进行语音提示；车载通信模块，用于进行通信；人机交互单元，用于接收用户指令信息；搅拌车控制装置，包括存储器和处理器，所述存储器上存储有计算机程序，所述处理器配置为执行所述计算机程序时实现如权利要求1至8中任一项所述的搅拌车的控制方法的步骤。
- 一种搅拌站，其中，包括：搅拌站通信模块，用于与搅拌车的车载通信模块进行通信；采集装置，对应卸料口安装，用于采集卸料口周围的图像；搅拌站控制装置，包括存储器和处理器，所述存储器上存储有计算机程序，所述处理器配置为执行所述计算机程序时实现如权利要求9或10所述的搅拌站的控制方法的步骤。
- 一种对中控制系统，其中，包括：车载控制端，包括车载存储器和车载处理器，所述车载存储器上存储有计算机程序，所述车载处理器配置为执行所述计算机程序时实现如权利要求1至8中任一项所述的搅拌车的控制方法的步骤；搅拌站控制端，包括搅拌站存储器和搅拌站处理器，所述搅拌站存储器上存储有计算机程序，所述搅拌站处理器配置为执行所述计算机程序时实现如权利要求9或10所述的搅拌站的控制方法的步骤。
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