Mining dump truck control method and device, mining dump truck and storage medium

Abstract

The invention discloses a mining dump truck control method and device, a mining dump truck and a storage medium. The control method for the mining dump truck comprises the steps that vehicle operation information of the mining dump truck is obtained in the normal operation process of the mining dump truck, and an emergency flameout instruction of the mining dump truck is generated based on the vehicle operation information; controlling a power distribution system of the mining dump truck to be powered off based on the emergency flameout instruction, and obtaining the current vehicle speed of the mining dump truck after the emergency flameout instruction is received; according to the current vehicle speed, an emergency braking system of the mining dump truck is controlled to be started or an emergency steering module of the mining dump truck is controlled not to be started, and a whole machine power source is cut off, so that the mining dump truck is controlled to stop stably. Emergency flameout control of the mining dump truck is achieved, and safe running of the mining dump truck is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of mining dump trucks, and in particular to a mining dump truck control method and device, a mining dump truck and a storage medium. Background Art

[0002] Mining dump trucks are dump trucks used to transport coal, sand and gravel in off-road field sites, such as large open-pit mines and water conservancy projects. Mining dump trucks often work in conjunction with excavators, loaders, belt conveyors and other engineering machinery to form a loading, transporting and unloading production line, thereby carrying out loading, unloading and transportation of earth, sand and gravel and bulk materials.

[0003] Mining dump trucks travel on unpaved roads in mining areas. The unpaved roads in mining areas have uneven pavement and potholes. Therefore, the failure rate of mining dump trucks on unpaved roads in mining areas is relatively high. When a mining dump truck encounters a major failure, such as spontaneous combustion of the vehicle, failure of the main braking system, damage and disconnection of the drive shaft, etc., the driver of the mining dump truck is currently required to manually open the emergency steering and auxiliary braking devices, park the mining dump truck at the side of the road, and then turn off the engine. The response speed is slow, and the scope of the failure is easily expanded when the power system is running. Summary of the invention

[0004] The present invention provides a control method and device for a mining dump truck, a mining dump truck and a storage medium to solve the problems that the current mining dump truck has a slow response speed when encountering a major fault and the fault range is easily expanded when the power system is running.

[0005] According to one aspect of the present invention, a method for controlling a mining dump truck is provided, the method comprising:

[0006] Acquiring vehicle operation information of the mining dump truck during normal operation of the mining dump truck, and generating an emergency shutdown instruction of the mining dump truck based on the vehicle operation information;

[0007] Controlling the power distribution system of the mining dump truck to cut off power based on the emergency shutdown command, and acquiring the current speed of the mining dump truck after receiving the emergency shutdown command;

[0008] According to the current vehicle speed, the emergency braking system of the mining dump truck is controlled to be enabled or the emergency steering module is controlled to be disabled and the power supply of the whole machine is disconnected, so as to control the mining dump truck to stop stably.

[0009] Optionally, the vehicle operation information includes engine compartment ambient temperature, brake air pressure, brake pedal opening, engine speed and wheel speed;

[0010] Generating an emergency shutdown instruction of the mining dump truck based on the vehicle operation information includes:

[0011] An emergency shutdown instruction of the mining dump truck is generated according to the engine compartment ambient temperature, the brake air pressure, the brake pedal opening, the engine speed or the wheel speed.

[0012] Optionally, generating an emergency shutdown instruction of the mining dump truck according to the engine compartment ambient temperature, the brake air pressure, the brake pedal opening, the engine speed or the wheel speed includes:

[0013] If the ambient temperature of the engine compartment exceeds a first set ambient temperature alarm value within a set detection time length, an emergency shutdown instruction of the mining dump truck is generated; or,

[0014] If the brake air pressure is within the set pressure range and the brake pedal opening exceeds the set opening threshold, an emergency shutdown instruction of the mining dump truck is generated; or,

[0015] If the ratio of the engine speed to the wheel speed is not equal to the set alarm value, an emergency shutdown instruction of the mining dump truck is generated.

[0016] Optionally, the mining dump truck control method further includes:

[0017] If the ambient temperature of the engine compartment exceeds a second set ambient temperature alarm value, an alarm is sounded through the instrument panel of the mining dump truck;

[0018] Wherein, the first set ambient temperature alarm value is greater than the second set ambient temperature alarm value.

[0019] Optionally, controlling the emergency braking system of the mining dump truck to be enabled or the emergency steering module to be disabled and the whole machine power supply to be disconnected according to the current vehicle speed includes:

[0020] If the current vehicle speed is greater than a set vehicle speed threshold, the emergency braking system of the mining dump truck is controlled to be activated;

[0021] If the current vehicle speed is 0, the emergency steering module of the mining dump truck is controlled not to be enabled and the power supply of the whole machine is disconnected.

[0022] Optionally, after the emergency braking system of the mining dump truck is activated, the method further includes:

[0023] The mining dump truck is controlled to decelerate at a set deceleration value until the mining dump truck stops stably.

[0024] Optionally, the mining dump truck control method further includes:

[0025] If the current vehicle speed is not 0, the emergency steering module of the mining dump truck is controlled to be enabled to control the mining dump truck to stop stably.

[0026] According to another aspect of the present invention, a control device for a mining dump truck is provided, the control device for a mining dump truck comprising:

[0027] An emergency shutdown instruction generating module is used to obtain vehicle operation information of the mining dump truck during normal operation of the mining dump truck, and generate an emergency shutdown instruction of the mining dump truck based on the vehicle operation information;

[0028] A vehicle speed acquisition module, used to control the power distribution system of the mining dump truck to be powered off based on the emergency shutdown instruction, and to acquire the current vehicle speed of the mining dump truck after receiving the emergency shutdown instruction;

[0029] The mining dump truck control module is used to control the emergency braking system of the mining dump truck to be enabled or the emergency steering module to be disabled and the whole machine power supply to be disconnected according to the current vehicle speed, so as to control the mining dump truck to stop stably.

[0030] According to another aspect of the present invention, there is provided a mining dump truck, the mining dump truck comprising an emergency braking system, an emergency steering system, an alarm system, a power distribution system and an emergency control system, the emergency control system being electrically connected to the power distribution system, and the power distribution system being electrically connected to the emergency braking system, the emergency steering system and the alarm system respectively;

[0031] The emergency control system comprises:

[0032] at least one processor; and,

[0033] a memory communicatively connected to the at least one processor; wherein,

[0034] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the mining dump truck control method described in any embodiment of the present invention.

[0035] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the mining dump truck control method described in any embodiment of the present invention when executed.

[0036] The technical solution of the embodiment of the present invention is to obtain the vehicle operation information of the mining dump truck during the normal operation of the mining dump truck, and generate an emergency shutdown command of the mining dump truck based on the vehicle operation information; control the power distribution system of the mining dump truck to be powered off based on the emergency shutdown command, and obtain the current speed of the mining dump truck after receiving the emergency shutdown command; control the emergency braking system of the mining dump truck to be enabled or the emergency steering module to be disabled and the power supply of the whole machine to be disconnected according to the current speed, so as to control the mining dump truck to stop stably. The present invention solves the problem that the current mining dump truck has a slow response speed when encountering a major fault, and the fault range is easily expanded when the power system is running, and realizes the emergency shutdown control of the mining dump truck to ensure the safe driving of the mining dump truck.

[0037] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 is a flow chart of a method for controlling a mining dump truck provided according to Embodiment 1 of the present invention;

[0040] Figure 2 is a flow chart of a method for controlling a mining dump truck provided according to Embodiment 2 of the present invention;

[0041] Figure 3 is a structural schematic diagram of a mining dump truck control device provided according to Embodiment 3 of the present invention;

[0042] Figure 4 It is a structural schematic diagram of a mining dump truck that implements the mining dump truck control method of an embodiment of the present invention;

[0043] Figure 5 It is a structural schematic diagram of an emergency control system for implementing a mining dump truck control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0046] Embodiment 1

[0047] Figure 1 A flowchart of a method for controlling a mining dump truck is provided for the first embodiment of the present invention. This embodiment is applicable to the case of emergency shutdown of a mining dump truck. The method for controlling a mining dump truck can be executed by a control device for a mining dump truck. The control device for a mining dump truck can be implemented in the form of hardware and / or software. The control device for a mining dump truck can be configured in a mining dump truck. Figure 1 As shown, the control method of the mining dump truck includes:

[0048] S110. Acquire vehicle operation information of the mining dump truck during normal operation of the mining dump truck, and generate an emergency shutdown instruction of the mining dump truck based on the vehicle operation information.

[0049] Among them, the vehicle operation information may include the engine compartment ambient temperature, brake air pressure, brake pedal opening, engine speed and wheel speed. The engine compartment ambient temperature, brake air pressure, brake pedal opening, engine speed and wheel speed can be obtained through existing data collection methods, and this embodiment does not impose any restrictions on this.

[0050] In this embodiment, during the normal operation of the mining dump truck, one or more combinations of the collected engine compartment ambient temperature, brake air pressure, brake pedal opening, engine speed and wheel speed are used to determine whether an emergency shutdown command for the mining dump truck is generated by the emergency control system of the mining dump truck.

[0051] Specifically, if the ambient temperature of the engine compartment exceeds the first set ambient temperature alarm value within the set detection time length, an emergency shutdown command of the mining dump truck is generated; or, if the brake air pressure is within the set pressure range and the brake pedal opening exceeds the set opening threshold, an emergency shutdown command of the mining dump truck is generated; or, if the ratio of the engine speed to the wheel speed is not equal to the set alarm value, an emergency shutdown command of the mining dump truck is generated.

[0052] On the basis of the above, if the vehicle operation information of the mining dump truck obtained during the normal operation of the mining dump truck is the engine compartment ambient temperature, when the engine compartment ambient temperature exceeds the second set ambient temperature alarm value, an alarm is issued through the dashboard of the mining dump truck; wherein the first set ambient temperature alarm value is greater than the second set ambient temperature alarm value.

[0053] S120, controlling the power distribution system of the mining dump truck to cut off power based on the emergency shutdown command, and obtaining the current speed of the mining dump truck after receiving the emergency shutdown command.

[0054] On the above basis, after the emergency shutdown command of the mining dump truck is generated by the emergency control system of the mining dump truck, the power distribution system of the mining dump truck is powered off after the emergency control system triggers the emergency shutdown command, that is, the emergency shutdown command is used to control the power distribution system of the mining dump truck to power off.

[0055] It is understandable that in order to ensure the emergency shutdown and stable parking of the mining dump truck at this time, the power distribution system must retain the power supply to the emergency braking system, emergency steering system, and alarm system, while all other power distribution of the entire machine is cut off to avoid further accidents of mining dump trucks due to circuit failures, which would cause the engine to lose power and shut down.

[0056] The current vehicle speed is the speed of the mining dump truck detected in real time after receiving the emergency shutdown command. The specific method for obtaining the current vehicle speed can be implemented according to the function of the mining dump truck itself, and this embodiment does not impose any limitation on this.

[0057] S130, according to the current vehicle speed, controlling the emergency braking system of the mining dump truck to be enabled or the emergency steering module to be disabled and the whole machine power supply to be disconnected, so as to control the mining dump truck to stop stably.

[0058] Specifically, if the current vehicle speed is greater than the set vehicle speed threshold, the emergency control system of the mining dump truck automatically controls the emergency braking system of the mining dump truck to be enabled, so as to control the mining dump truck to stop stably.

[0059] Among them, setting the vehicle speed threshold is used to determine whether the mining dump truck can automatically trigger the emergency braking system at this time. The vehicle speed threshold can be set by referring to the speed limit value of the mining dump truck automatically triggering the emergency braking system obtained in the experiment. This embodiment does not impose any restriction on the specific value of the speed threshold.

[0060] Optionally, the vehicle speed threshold may be set to 5 km / h. When the vehicle speed is greater than or equal to 5 km / h, the emergency braking system of the mining dump truck is automatically activated through the emergency control system of the mining dump truck to control the mining dump truck to stop stably.

[0061] On the above basis, after the emergency braking system of the mining dump truck is activated, the mining dump truck is controlled to decelerate at a set deceleration value until the mining dump truck stops quickly and stably.

[0062] Among them, the set deceleration value is used to determine whether the mining dump truck can stop quickly and stably at this time. The set deceleration value can be selected and set by referring to the deceleration limit value for the rapid and stable parking of the mining dump truck obtained from the experiment. This embodiment does not impose any restrictions on the specific numerical value of the set deceleration value.

[0063] Furthermore, if the current vehicle speed is 0, the emergency control system of the mining dump truck controls the emergency steering module of the mining dump truck to be disabled and the power supply of the entire machine is disconnected to ensure the safety of the mining dump truck.

[0064] If the current vehicle speed is not 0, the emergency steering module of the mining dump truck is activated, the emergency steering motor is started, the emergency steering pump is turned on, and the emergency steering system starts working to ensure that the vehicle still has the ability to steer after losing power. The driver can move the vehicle to the roadside or a safe area, thereby achieving stable parking of the mining dump truck.

[0065] On the basis of the above embodiment, after the emergency shutdown command is triggered, the alarm system of the mining dump truck can trigger the working warning light and the four-flash alarm light to flash, thereby reminding other vehicles to avoid the current mining dump truck.

[0066] It should also be noted that after the fault of the mining dump truck is eliminated, the emergency shutdown switch can be reset, and the emergency control system of the mining dump truck can control the power distribution module to distribute power normally, thereby eliminating the alarm of the alarm system and allowing the mining dump truck to return to normal working state.

[0067] The technical solution of the embodiment of the present invention obtains the vehicle operation information of the mining dump truck during the normal operation of the mining dump truck, and generates an emergency shutdown command of the mining dump truck based on the vehicle operation information; controls the power distribution system of the mining dump truck to be powered off based on the emergency shutdown command, and obtains the current speed of the mining dump truck after receiving the emergency shutdown command; controls the emergency braking system of the mining dump truck to be enabled or the emergency steering module to be disabled and the power supply of the whole machine to be disconnected according to the current speed, so as to control the mining dump truck to stop stably. The present invention solves the problem that the current mining dump truck has a slow response speed when encountering a major fault, and the fault range is easily expanded when the power system is running, realizes the emergency shutdown control of the mining dump truck, and ensures the safe driving of the mining dump truck.

[0068] Embodiment 2

[0069] Figure 2 This is a flowchart of a method for controlling a mining dump truck provided in the second embodiment of the present invention. Based on the above embodiment, this embodiment generates an emergency shutdown command for a mining dump truck based on different vehicle operation information, providing an optional implementation method. Figure 2 As shown, the control method of the mining dump truck includes:

[0070] S210, normal operation process of a mining dump truck.

[0071] S220: Acquire vehicle operation information of the mining dump truck as an engine compartment ambient temperature.

[0072] S221. Determine whether the ambient temperature of the engine compartment exceeds a second set ambient temperature alarm value. If so, execute step S222; if not, execute step S220.

[0073] Among them, the second set ambient temperature alarm value is used to determine whether the engine compartment of the mining dump truck is in a high temperature state at this time. The second set ambient temperature alarm value can be selected and set with reference to the temperature limit value of the mining dump truck in a high temperature state obtained from the experiment. This embodiment does not impose any restriction on the specific numerical value of the second set ambient temperature alarm value.

[0074] In this embodiment, if the ambient temperature of the engine compartment does not exceed the second set ambient temperature alarm value, the vehicle operation information of the mining dump truck continues to be obtained.

[0075] S222. Alarm through the dashboard of the mining dump truck.

[0076] Specifically, when the ambient temperature of the engine compartment exceeds the second set ambient temperature alarm value, the emergency control system of the mining dump truck communicates with the instrument panel, and then alarms through the instrument panel of the mining dump truck that the engine compartment is in a high temperature state, so that the user of the mining dump truck or relevant technical personnel can take corresponding measures in time.

[0077] It can be known that the alarm mode of the instrument panel can be implemented according to the instrument panel function of the mining dump truck itself, and this embodiment does not impose any limitation on this.

[0078] S223, determine whether the ambient temperature of the engine compartment exceeds the first set ambient temperature alarm value within the set detection time length, if so, execute step S224, if not, execute step S220.

[0079] Among them, the first set ambient temperature alarm value is used to determine whether the mining dump truck will spontaneously combust at this time. The first set ambient temperature alarm value can be selected and set with reference to the temperature limit value for spontaneous combustion of the mining dump truck obtained from the experiment. This embodiment does not impose any restriction on the specific numerical value of the first set ambient temperature alarm value.

[0080] Similarly, the detection time length may be set by referring to the detection time length limit of spontaneous combustion of a mining dump truck obtained from an experiment. This embodiment does not impose any restriction on the specific value of the detection time length.

[0081] Specifically, if the ambient temperature of the engine compartment does not exceed the first set ambient temperature alarm value within the set detection time length, the vehicle operation information of the mining dump truck continues to be obtained.

[0082] S224, generate an emergency shutdown instruction for the mining dump truck, and execute step S250.

[0083] Specifically, if the ambient temperature of the engine compartment exceeds a first set ambient temperature alarm value within a set detection time, it is determined that the vehicle may spontaneously combust, and an emergency shutdown command for the mining dump truck is generated through the emergency control system of the mining dump truck.

[0084] S230: Acquire vehicle operation information of the mining dump truck, which includes brake air pressure and brake pedal opening.

[0085] S231. Determine whether the brake air pressure is within the set pressure range and whether the brake pedal opening exceeds the set opening threshold. If so, execute step S232; if not, execute step S230.

[0086] Among them, the set pressure range and the set opening threshold are used to determine whether the main brake system of the mining dump truck will fail at this time. The set pressure range can be selected and set by referring to the set pressure range of failure of the main brake system of the mining dump truck obtained from the test. This embodiment does not impose any restriction on the specific value of the set pressure range.

[0087] Similarly, the opening threshold is set to determine whether the main brake system of the mining dump truck will fail at this time. The opening threshold can be set by referring to the set opening limit of the failure of the main brake system of the mining dump truck obtained from the experiment. This embodiment does not impose any restriction on the specific value of the set opening threshold.

[0088] Specifically, if the brake air pressure is not within the set pressure range, or the brake pedal opening does not exceed the set opening threshold, the vehicle operation information of the mining dump truck continues to be obtained.

[0089] S232, generate an emergency shutdown instruction for the mining dump truck, and execute step S250.

[0090] Specifically, if the brake air pressure is within the set pressure range and the brake pedal opening exceeds the set opening threshold, it is determined that the main braking system of the entire machine has failed, and an emergency shutdown command for the mining dump truck is generated through the emergency control system of the mining dump truck.

[0091] It should be noted that before executing step S232, it is also necessary to determine that the deceleration of the mining dump truck at this time is greater than the set deceleration threshold. The deceleration threshold can be selected and set by referring to the set opening limit of the failure of the main braking system of the mining dump truck obtained from the experiment. This embodiment does not impose any restrictions on the specific value of the set deceleration threshold.

[0092] S240: Obtain vehicle operation information of the mining dump truck, which includes engine speed and wheel speed.

[0093] S241. Determine whether the ratio of the engine speed to the wheel speed is not equal to the set alarm value. If so, execute step S242; if not, execute step S240.

[0094] Among them, the set alarm value is used to determine whether the transmission shaft of the entire transmission system of the mining dump truck will be damaged at this time. The set alarm value can be selected and set by referring to the alarm value limit of the transmission shaft damage of the entire transmission system of the mining dump truck obtained from the experiment. This embodiment does not impose any restrictions on the specific numerical value of the set alarm value.

[0095] Specifically, if the ratio of the engine speed to the wheel speed is equal to the set alarm value, the vehicle operation information of the mining dump truck continues to be obtained.

[0096] S242, generate an emergency shutdown instruction for the mining dump truck, and execute step S250.

[0097] Specifically, if the ratio of the engine speed to the wheel speed is not equal to the set alarm value, it is considered that the drive shaft of the entire machine transmission system is damaged, and an emergency shutdown command of the mining dump truck is generated through the emergency control system of the mining dump truck.

[0098] S250, controlling the power distribution system of the mining dump truck to cut off power based on the emergency shutdown command, and obtaining the current speed of the mining dump truck after receiving the emergency shutdown command.

[0099] S260, according to the current vehicle speed, the emergency braking system of the mining dump truck is controlled to be enabled or the emergency steering module is controlled to be disabled and the power supply of the whole machine is disconnected, so as to control the mining dump truck to stop stably.

[0100] Specifically, if the current vehicle speed is greater than a set vehicle speed threshold, the emergency braking system of the mining dump truck is controlled to be enabled; further, the mining dump truck is controlled to decelerate at a set deceleration value until the mining dump truck stops stably.

[0101] If the current vehicle speed is 0, the emergency steering module of the mining dump truck is controlled not to be enabled and the power supply of the whole machine is disconnected.

[0102] If the current vehicle speed is not 0, the emergency steering module of the mining dump truck is controlled to be enabled to control the mining dump truck to stop stably.

[0103] The technical solution of the embodiment of the present invention can cut off the power supply and power source of the mining dump truck in the shortest time when a serious fault occurs in the mining dump truck, thereby reducing the loss of the mining dump truck to a minimum, effectively protecting the mining dump truck, and improving the driving safety of the mining dump truck.

[0104] Embodiment 3

[0105] Figure 3 This is a schematic diagram of the structure of a mining dump truck control device provided by the third embodiment of the present invention. Figure 3 As shown, the control device for the mining dump truck includes:

[0106] The emergency shutdown instruction generating module 310 is used to obtain the vehicle operation information of the mining dump truck during the normal operation of the mining dump truck, and generate the emergency shutdown instruction of the mining dump truck based on the vehicle operation information;

[0107] The vehicle speed acquisition module 320 is used to execute the power supply control of the power distribution system of the mining dump truck based on the emergency shutdown command, and to acquire the current vehicle speed of the mining dump truck after receiving the emergency shutdown command;

[0108] The mining dump truck control module 330 is used to execute the control of the mining dump truck's emergency braking system to be enabled or the emergency steering module to be disabled and the whole machine power supply to be disconnected according to the current vehicle speed, so as to control the mining dump truck to stop stably.

[0109] Optionally, the vehicle operation information includes engine compartment ambient temperature, brake air pressure, brake pedal opening, engine speed and wheel speed;

[0110] Generate emergency shutdown instructions for mining dump trucks based on vehicle operation information, specifically for:

[0111] Generate an emergency shutdown command for a mining dump truck based on the engine compartment ambient temperature, brake air pressure, brake pedal opening, engine speed or wheel speed.

[0112] Optionally, an emergency shutdown command of a mining dump truck is generated according to the engine compartment ambient temperature, brake air pressure, brake pedal opening, engine speed or wheel speed, specifically for:

[0113] If the ambient temperature of the engine compartment exceeds the first set ambient temperature alarm value within the set detection time length, an emergency shutdown instruction of the mining dump truck is generated; or,

[0114] If the brake air pressure is within the set pressure range and the brake pedal opening exceeds the set opening threshold, an emergency shutdown command for the mining dump truck is generated; or,

[0115] If the ratio of the engine speed to the wheel speed is not equal to the set alarm value, an emergency shutdown command for the mining dump truck is generated.

[0116] Optionally, the mining dump truck control device also includes:

[0117] The instrument panel alarm module is used to execute an alarm through the instrument panel of the mining dump truck if the ambient temperature of the engine compartment exceeds a second set ambient temperature alarm value;

[0118] Among them, the first set ambient temperature alarm value is greater than the second set ambient temperature alarm value.

[0119] Optionally, the emergency braking system of the mining dump truck is activated or the emergency steering module is not activated and the power supply of the whole machine is disconnected according to the current vehicle speed, which is specifically used for:

[0120] If the current vehicle speed is greater than the set vehicle speed threshold, the emergency braking system of the mining dump truck is activated;

[0121] If the current vehicle speed is 0, the emergency steering module controlling the mining dump truck is not enabled and the power supply of the whole machine is disconnected.

[0122] Optionally, the mining dump truck control device also includes:

[0123] The deceleration control module is used to control the mining dump truck to decelerate at a set deceleration value until the mining dump truck stops stably.

[0124] Optionally, the mining dump truck control device also includes:

[0125] The emergency steering module activation module is used to execute activation. If the current vehicle speed is not 0, the emergency steering module of the mining dump truck is controlled to be activated to control the mining dump truck to stop stably.

[0126] The mining dump truck control device provided in the embodiment of the present invention can execute the mining dump truck control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the mining dump truck control method.

[0127] Embodiment 4

[0128] Figure 4 FIG. 4 shows a schematic diagram of a structure of a mining dump truck 410 that can be used to implement an embodiment of the present invention. Figure 4 As shown, the mining dump truck 410 includes an emergency braking system 411, an emergency steering system 412, an alarm system 413, a power distribution system 414 and an emergency control system 415. The emergency control system 415 is electrically connected to the power distribution system 414, and the power distribution system 414 is electrically connected to the emergency braking system 411, the emergency steering system 412 and the alarm system 413 respectively.

[0129] Figure 5 A schematic diagram of an emergency control system 415 that can be used to implement an embodiment of the present invention is shown. A mining dump truck is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. A mining dump truck can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0130] like Figure 5 As shown, the emergency control system 415 includes at least one processor 511, and a memory connected to the at least one processor 511, such as a read-only memory (ROM 512), a random access memory (RAM 513), etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 511 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM 512) or the computer program loaded from the storage unit 518 to the random access memory (RAM 513). In RAM 513, various programs and data required for the operation of the emergency control system 415 can also be stored. The processor 511, ROM 512 and RAM 513 are connected to each other via a bus 514. An I / O (input / output) interface 515 is also connected to the bus 514.

[0131] Multiple components in the emergency control system 415 are connected to the I / O interface 515, including: an input unit 516, such as a keyboard, a mouse, etc.; an output unit 517, such as various types of displays, speakers, etc.; a storage unit 518, such as a disk, an optical disk, etc.; and a communication unit 519, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 519 allows the emergency control system 415 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0132] The processor 511 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 511 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 511 executes the various methods and processes described above, such as a mining dump truck control method.

[0133] In some embodiments, the mining dump truck control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 518. In some embodiments, part or all of the computer program may be loaded and / or installed on the emergency control system 415 via the ROM 512 and / or the communication unit 519. When the computer program is loaded into the RAM 513 and executed by the processor 511, one or more steps of the mining dump truck control method described above may be performed. Alternatively, in other embodiments, the processor 511 may be configured to execute the mining dump truck control method in any other suitable manner (e.g., by means of firmware).

[0134] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0135] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0136] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0137] To provide interaction with a user, the systems and techniques described herein may be implemented on a mining dump truck having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the mining dump truck. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0138] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0139] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0140] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0141] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling a mining dump truck, characterized in that: include: Acquiring vehicle operation information of the mining dump truck during normal operation of the mining dump truck, and generating an emergency shutdown instruction of the mining dump truck based on the vehicle operation information; Controlling the power distribution system of the mining dump truck to cut off power based on the emergency shutdown command, and acquiring the current speed of the mining dump truck after receiving the emergency shutdown command; According to the current vehicle speed, the emergency braking system of the mining dump truck is controlled to be enabled or the emergency steering module is controlled to be disabled and the power supply of the whole machine is disconnected, so as to control the mining dump truck to stop stably.

2. The method for controlling a mining dump truck according to claim 1, characterized in that: The vehicle operation information includes engine compartment ambient temperature, brake air pressure, brake pedal opening, engine speed and wheel speed; Generating an emergency shutdown instruction of the mining dump truck based on the vehicle operation information includes: An emergency shutdown instruction of the mining dump truck is generated according to the engine compartment ambient temperature, the brake air pressure, the brake pedal opening, the engine speed or the wheel speed.

3. The method for controlling a mining dump truck according to claim 2, characterized in that: Generating an emergency shutdown instruction of the mining dump truck according to the engine compartment ambient temperature, the brake air pressure, the brake pedal opening, the engine speed or the wheel speed includes: If the ambient temperature of the engine compartment exceeds a first set ambient temperature alarm value within a set detection time length, an emergency shutdown instruction of the mining dump truck is generated; or, If the brake air pressure is within the set pressure range and the brake pedal opening exceeds the set opening threshold, an emergency shutdown instruction of the mining dump truck is generated; or, If the ratio of the engine speed to the wheel speed is not equal to the set alarm value, an emergency shutdown instruction of the mining dump truck is generated.

4. The method for controlling a mining dump truck according to claim 3, characterized in that: The mining dump truck control method further comprises: If the ambient temperature of the engine compartment exceeds a second set ambient temperature alarm value, an alarm is sounded through the instrument panel of the mining dump truck; Wherein, the first set ambient temperature alarm value is greater than the second set ambient temperature alarm value.

5. The method for controlling a mining dump truck according to claim 1, characterized in that: According to the current vehicle speed, the emergency braking system of the mining dump truck is controlled to be enabled or the emergency steering module is controlled to be disabled and the power supply of the whole machine is disconnected, including: If the current vehicle speed is greater than a set vehicle speed threshold, the emergency braking system of the mining dump truck is controlled to be activated; If the current vehicle speed is 0, the emergency steering module of the mining dump truck is controlled not to be enabled and the power supply of the whole machine is disconnected.

6. The method for controlling a mining dump truck according to claim 5, characterized in that: After the emergency brake system of the mining dump truck is activated, the method further comprises: The mining dump truck is controlled to decelerate at a set deceleration value until the mining dump truck stops stably.

7. The method for controlling a mining dump truck according to claim 1, characterized in that: The mining dump truck control method further comprises: If the current vehicle speed is not 0, the emergency steering module of the mining dump truck is controlled to be enabled to control the mining dump truck to stop stably.

8. A control device for a mining dump truck, characterized in that: include: An emergency shutdown instruction generating module is used to obtain vehicle operation information of the mining dump truck during normal operation of the mining dump truck, and generate an emergency shutdown instruction of the mining dump truck based on the vehicle operation information; A vehicle speed acquisition module, used to control the power distribution system of the mining dump truck to be powered off based on the emergency shutdown instruction, and to acquire the current vehicle speed of the mining dump truck after receiving the emergency shutdown instruction; The mining dump truck control module is used to control the emergency braking system of the mining dump truck to be enabled or the emergency steering module to be disabled and the whole machine power supply to be disconnected according to the current vehicle speed, so as to control the mining dump truck to stop stably.

9. A mining dump truck, characterized in that: The mining dump truck comprises an emergency braking system, an emergency steering system, an alarm system, a power distribution system and an emergency control system, wherein the emergency control system is electrically connected to the power distribution system, and the power distribution system is electrically connected to the emergency braking system, the emergency steering system and the alarm system respectively; The emergency control system comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the mining dump truck control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the mining dump truck control method according to any one of claims 1 to 7 when executed.

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