A braking control system and braking control method for an unmanned mining truck

Abstract

The present application discloses a braking control system and braking control method for an unmanned mining truck. The system includes a front axle pressure sensor, a rear axle pressure sensor, a first programmable logic controller (PLC), a second programmable logic controller (PLC), an electric drive control module, and a decision controller. The first PLC is signal-connected to the front axle pressure sensor, the rear axle pressure sensor, the unmanned mining truck's ECU, the decision controller, the electric drive control module, and the second PLC, respectively. The second PLC is also connected to the electric drive controller. The first PLC is used to obtain an engine speed signal, a decision control command gear position feedback signal, and a vehicle speed feedback signal, and based on the above signals, outputs a parking brake control signal and / or a loading brake control signal to the electric drive control module. The electric drive control module controls the unmanned mining truck to brake according to the parking brake control signal or the loading brake control signal. In this way, the unmanned mining truck can achieve effective braking according to the specific operating environment under the control of the braking control system, ensuring its safe operation.

Description

Technical Field

[0001] The present application relates to the technical field of mining equipment, and more specifically, to a braking control system and a braking control method for an unmanned mining truck. Background Art

[0002] In existing open-pit mining operations, transport vehicles are typically manned, which is dangerous and labor-intensive. Furthermore, the open-air mining area is subject to high dust pollution, posing a significant risk to drivers. Unmanned mining trucks, on the other hand, are autonomous. Their underlying control system operates by executing the upper-level control system. To ensure safe operation, they must be able to effectively brake according to the specific operating environment. Summary of the Invention

[0003] In view of this, the present application provides a braking control system and a braking control method for an unmanned mining truck, which are used to ensure that the unmanned mining truck can achieve effective braking according to the specific operating environment.

[0004] In order to achieve the above objectives, the following solutions are proposed:

[0005] A braking control system for an unmanned mining truck includes a front axle pressure sensor, a rear axle pressure sensor, a first PLC, a second PLC, an electric drive control module, and a decision controller, wherein:

[0006] The front axle pressure sensor is used to collect the front axle pressure signal of the front axle of the unmanned mining truck, and sends the front axle pressure signal to the first PLC;

[0007] The rear axle pressure sensor is used to collect the rear axle pressure signal of the rear axle of the unmanned mining truck, and sends the rear axle pressure signal to the first PLC;

[0008] The first PLC is used to obtain an engine speed signal from the ECU of the unmanned mining truck, receive braking percentage data from the decision controller, receive a gear feedback signal and a vehicle speed feedback signal output by the electric drive control module, and output a parking brake control signal and / or a loading brake control signal to the electric drive control module. The electric drive control module controls the unmanned mining truck to perform parking braking according to the parking brake control signal, or controls the unmanned mining truck to perform loading braking according to the loading brake control signal.

[0009] The second PLC is used to output a gear signal to the electric drive control module, receive a parking brake feedback signal and / or a loading brake feedback signal output by the electric drive control module, and send the parking brake feedback signal and / or the loading brake feedback signal to the first PLC.

[0010] Optionally, it further includes a front axle pressure proportional valve, a rear axle pressure proportional valve, a front axle pressure switching valve, and a rear axle pressure switching valve, wherein:

[0011] The front axle pressure proportional valve is connected to the first PLC signal and is used to receive the front axle pressure proportional control signal sent by the first PLC;

[0012] The rear axle pressure proportional valve is connected to the first PLC signal and is used to receive the rear axle pressure proportional control signal sent by the first PLC;

[0013] The front axle pressure switch valve is connected to the first PLC signal and is used to receive the front axle pressure switch control signal sent by the first PLC;

[0014] The rear axle pressure switch valve is connected to the first PLC signal and is used to receive the front axle pressure switch control signal sent by the first PLC.

[0015] Optionally, the first PLC is also used to send the vehicle operation status to the decision controller.

[0016] A braking control method is applied to the braking control system as described above, and the braking control method comprises the steps of:

[0017] receiving given braking percentage data sent by a decision controller of the braking control system;

[0018] determining whether the communication connection with the decision controller is disconnected, and if so, implementing emergency braking;

[0019] If the communication connection is not disconnected, braking control is performed according to a braking percentage error between the given braking percentage data and the actual braking percentage data.

[0020] Optionally, implementing the braking control according to the braking percentage error between the given braking percentage data and the actual braking percentage data comprises the steps of:

[0021] If the braking percentage error is less than a preset error threshold, adjusting the PID parameters of the decision controller;

[0022] If the braking percentage error is greater than the preset error threshold, further determining whether the vehicle speed or rotation speed decreases;

[0023] If the vehicle speed or the rotational speed decreases, stable braking control is implemented;

[0024] If the vehicle speed or the rotational speed does not decrease, the PID parameters are adjusted.

[0025] Optionally, the PID parameters include part or all of a proportional coefficient, an integral coefficient, and a differential coefficient.

[0026] Optionally, the preset error threshold is 1%.

[0027] As can be seen from the above technical solution, this application discloses a brake control system and brake control method for an unmanned mining truck. The system includes a front axle pressure sensor, a rear axle pressure sensor, a first programmable logic controller (PLC), a second programmable logic controller (PLC), an electric drive control module, and a decision controller. The first PLC is signal-connected to the front axle pressure sensor, the rear axle pressure sensor, the unmanned mining truck's ECU, the decision controller, the electric drive control module, and the second PLC, respectively. The second PLC is also connected to the electric drive controller. The first PLC is configured to obtain an engine speed signal, a decision control command gear position feedback signal, and a vehicle speed feedback signal, and based on these signals, outputs a parking brake control signal and / or a loading brake control signal to the electric drive control module. The electric drive control module controls the unmanned mining truck to apply brakes based on the parking brake control signal or the loading brake control signal. In this way, the unmanned mining truck can effectively brake according to the specific operating environment under the control of the brake control system, ensuring its safe operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0029] Figure 1 This is a block diagram of a braking control system for an unmanned mining truck according to an embodiment of the present application;

[0030] Figure 2 This is a block diagram of another brake control system for an unmanned mining truck according to an embodiment of the present application;

[0031] Figure 3 This is a flowchart of a braking control method according to an embodiment of the present application. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0033] Example 1

[0034] Figure 1 This is a block diagram of a braking control system for an unmanned mining truck according to an embodiment of the present application.

[0035] like Figure 1 As shown, the braking control system provided in this embodiment is applied to an unmanned mining truck for implementing braking control on the unmanned mining truck. The braking control system specifically includes a front axle pressure sensor 11, a rear axle pressure sensor 12, a first PLC 20, a second PLC 30, an electric drive control module 40 and a decision controller 50.

[0036] The front axle pressure sensor is arranged on the front axle of the unmanned mining truck, and is used to collect the front axle pressure signal of the front axle and send the front axle pressure signal to the first PLC; the rear axle pressure sensor is arranged on the rear axle of the unmanned mining truck, and is used to collect the rear axle pressure signal of the rear axle and send the rear axle pressure signal to the first PLC.

[0037] The first PLC also obtains the engine speed signal from the ECU of the unmanned mining truck, receives the braking percentage data from the decision controller, and also feeds back the vehicle operation status to the decision controller. It also receives the gear feedback signal and vehicle speed feedback signal output by the electric drive control module. The first PLC also outputs a parking brake control signal or a loading brake control signal to the electric drive control module, or outputs both signals simultaneously. The electric drive control module controls the unmanned mining truck to implement parking brake according to the parking brake control signal, or controls the unmanned mining truck to implement loading brake according to the loading brake control signal.

[0038] The second PLC is used to output a gear signal to the electric drive control module, receive a parking brake feedback signal and / or a loading brake feedback signal output by the electric drive control module, and send the parking brake feedback signal and / or the loading brake feedback signal to the first PLC.

[0039] As can be seen from the above technical solution, this embodiment provides a braking control system for an unmanned mining truck, comprising a front axle pressure sensor, a rear axle pressure sensor, a first programmable logic controller (PLC), a second programmable logic controller (PLC), an electric drive control module, and a decision controller. The first PLC is signal-connected to the front axle pressure sensor, the rear axle pressure sensor, the unmanned mining truck's ECU, the decision controller, the electric drive control module, and the second PLC, respectively. The second PLC is also connected to the electric drive controller. The first PLC is configured to obtain an engine speed signal, a decision control command gear position feedback signal, and a vehicle speed feedback signal, and based on these signals, outputs a parking brake control signal and / or a loading brake control signal to the electric drive control module. The electric drive control module then controls the unmanned mining truck to apply brakes based on the parking brake control signal or the loading brake control signal. In this way, the unmanned mining truck can effectively brake according to the specific operating environment under the control of this braking control system, ensuring its safe operation.

[0040] In addition, in a specific embodiment of the present application, the brake control system further includes a front axle pressure proportional valve 13, a rear axle pressure proportional valve 14, a front axle pressure switching valve 15 and a rear axle pressure switching valve 16. Figure 2 shown.

[0041] The front axle pressure proportional valve is connected to the first PLC signal for receiving the front axle pressure proportional control signal sent by the first PLC; the rear axle pressure proportional valve is connected to the first PLC signal for receiving the rear axle pressure proportional control signal sent by the first PLC; the front axle pressure switch valve is connected to the first PLC signal for receiving the front axle pressure switch control signal sent by the first PLC; the rear axle pressure switch valve is connected to the first PLC signal for receiving the front axle pressure switch control signal sent by the first PLC.

[0042] When the braking control system of the present application is actually running, the first PLC receives the percentage of the service brake control signal from the decision controller, controls the front and rear axle hydraulic control switch valves and the front and rear axle hydraulic control proportional valves through the PID control algorithm, and collects the front and rear axle pressure sensor signals to read the front and rear axle pressure signals and the vehicle speed signals in real time to form a closed-loop system.

[0043] The first PLC receives the percentage of the electric brake control signal from the decision controller, controls the output signal through the PID control algorithm, and samples the vehicle speed signal to form a closed-loop system.

[0044] The first PLC receives the parking brake control signal and the loading brake control signal from the decision controller, and simultaneously determines the current gear position and the parking brake control signal and the loading brake control information, and directly controls the corresponding instructions.

[0045] The first PLC monitors the life cycle signals of the decision controller and the second PLC in real time. When it detects that the life signal is lost, the first PLC1 will automatically implement emergency braking, distributed control of electric braking, service braking, and parking braking to stop the vehicle safely, and implement a fault-oriented safety control strategy.

[0046] This brake control system, designed for unmanned mining trucks, enables braking control within mining areas. It utilizes a CAN bus network and bidirectional communication based on the CAN protocol to ensure highly reliable data transmission, ensuring real-time signal acquisition and reliable data transmission, reducing safety hazards. It also simplifies wiring, reduces hard-wired connections, and facilitates timely troubleshooting. When communication is normal, it executes all braking commands from the decision controller and automatically implements emergency braking control if communication is lost.

[0047] In hydraulic and electric brake control, a PID closed-loop control algorithm is used to automatically adjust the Kp, Ki, and Kd parameters based on the given braking percentage, the actual braking percentage, and the real-time vehicle speed ratio, thereby achieving a steady-state error of 1%. A 32-bit CPU processor is used to achieve a braking control response cycle of less than 2ms. Each braking control adopts a modular design to improve program readability and system reliability. The bidirectional redundancy design of PLC1 and PLC2 can achieve system redundancy in the event of equipment failure, further ensuring the safety and reliability of unmanned driving.

[0048] Example 2

[0049] Figure 3 This is a flowchart of a braking control method according to an embodiment of the present application.

[0050] like Figure 3 As shown, the braking control method provided in this embodiment is applied to the braking control system of the previous embodiment, specifically to the first PLC in the braking control system. The braking control method specifically includes the following steps:

[0051] S1. Receive given braking percentage data.

[0052] Specifically, the decision controller in the braking control system receives the specified braking percentage data. This specified braking percentage data is the raw data used by the unmanned mining truck to apply braking. The unmanned mining truck can control the braking system based on this specified braking percentage data.

[0053] S2. Determine whether the communication with the decision controller is disconnected.

[0054] Here, whether the communication with the decision controller is disconnected refers to whether the communication between the first PLC and the decision controller is disconnected, or in other words, the first PLC is unable to receive the given braking percentage data output by the decision controller within a certain period of time.

[0055] If disconnected, emergency braking is implemented. The so-called emergency braking here means that no matter what state the unmanned mining truck is in, in order to ensure its absolute safety, the controller braking device will unconditionally implement braking.

[0056] S3. Implement braking control according to the percentage error.

[0057] That is, if the communication connection is not disconnected, braking control is implemented based on the braking percentage error between the given braking percentage data and the actual braking percentage data. Specifically, if the braking percentage error is less than the preset error threshold, the PID parameters of the decision controller are adjusted;

[0058] If the braking percentage error is greater than a preset error threshold, the system further determines whether the vehicle speed or rotational speed has decreased. If so, stable braking control is implemented. If not, the system adjusts PID parameters, including some or all of the proportional coefficient, integral coefficient, and differential coefficient. The preset error threshold is preferably 1%.

[0059] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0060] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, devices, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0061] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0062] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0063] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0064] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0065] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0066] The above is a detailed introduction to the technical solution provided by the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, according to the ideas of the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A braking control system for an unmanned mining truck, characterized in that: It includes a front axle pressure sensor, a rear axle pressure sensor, a first PLC, a second PLC, an electric drive control module and a decision controller, wherein: The front axle pressure sensor is used to collect the front axle pressure signal of the front axle of the unmanned mining truck, and sends the front axle pressure signal to the first PLC; The rear axle pressure sensor is used to collect the rear axle pressure signal of the rear axle of the unmanned mining truck, and sends the rear axle pressure signal to the first PLC; The first PLC is used to obtain an engine speed signal from the ECU of the unmanned mining truck, receive braking percentage data from the decision controller, receive a gear feedback signal and a vehicle speed feedback signal output by the electric drive control module, and output a parking brake control signal and / or a loading brake control signal to the electric drive control module. The electric drive control module controls the unmanned mining truck to perform parking braking according to the parking brake control signal, or controls the unmanned mining truck to perform loading braking according to the loading brake control signal. The first PLC obtains the parking brake control signal and / or the loading brake control signal based on the front axle pressure signal, the rear axle pressure signal, the engine speed signal, the gear feedback signal, and the vehicle speed feedback signal. The second PLC is used to output a gear signal to the electric drive control module, receive a parking brake feedback signal and / or a loading brake feedback signal output by the electric drive control module, and send the parking brake feedback signal and / or the loading brake feedback signal to the first PLC.

2. The brake control system according to claim 1, wherein: It also includes a front axle pressure proportional valve, a rear axle pressure proportional valve, a front axle pressure switching valve and a rear axle pressure switching valve, wherein: The front axle pressure proportional valve is connected to the first PLC signal and is used to receive the front axle pressure proportional control signal sent by the first PLC; The rear axle pressure proportional valve is connected to the first PLC signal and is used to receive the rear axle pressure proportional control signal sent by the first PLC; The front axle pressure switch valve is connected to the first PLC signal and is used to receive the front axle pressure switch control signal sent by the first PLC; The rear axle pressure switching valve is connected to the first PLC signal and is used to receive the front axle pressure switch control signal sent by the first PLC, wherein the first PLC receives the percentage of the service brake control signal from the decision controller and controls the front axle pressure proportional valve, the rear axle pressure proportional valve, the front axle pressure switching valve and the rear axle pressure switching valve through the PID control algorithm.

3. The brake control system according to claim 1, wherein: The first PLC is also used to send the vehicle operation status to the decision controller.

4. A braking control method, applied to the first PLC in the braking control system according to claim 2, characterized in that: The braking control method comprises the steps of: receiving given braking percentage data sent by a decision controller of the braking control system; determining whether the communication connection with the decision controller is disconnected, and if so, implementing emergency braking; If the communication connection is not disconnected, braking control is performed according to a braking percentage error between the given braking percentage data and the actual braking percentage data.

5. The brake control method according to claim 4, wherein: The implementing of the braking control according to the braking percentage error between the given braking percentage data and the actual braking percentage data comprises the steps of: If the braking percentage error is less than a preset error threshold, adjusting the PID parameters of the decision controller; If the braking percentage error is greater than the preset error threshold, further determining whether the vehicle speed or rotation speed decreases; If the vehicle speed or the rotational speed decreases, stable braking control is implemented; If the vehicle speed or the rotational speed does not decrease, the PID parameters are adjusted.

6. The brake control method according to claim 5, wherein: The PID parameters include part or all of a proportional coefficient, an integral coefficient, and a differential coefficient.

7. The brake control method according to claim 6, wherein: The preset error threshold is 1%.

Images