Charging control method, device, electronic equipment and medium for electric mining truck

Abstract

The present application provides a charging control method, device, electronic device and medium for an electric mining truck. The charging control method includes: if a charging instruction sent by a charging pile is received, the maximum amount of electricity recovered by the electric mining truck after the current driving is obtained; judging whether a transition signal sent by a cloud platform is received to obtain a transition signal reception result; based on the maximum amount of electricity recovered after the current driving and the transition signal reception result, determining the target cutoff electricity after the current driving is completed; if it is determined that the charging amount of the electric mining truck by the charging pile reaches the target cutoff electricity, controlling the charging pile to stop charging the electric mining truck. The method of the present application is conducive to preventing the power supply battery of the electric mining truck from being overcharged, thereby improving safety.

Description

Technical Field

[0001] The present application relates to electric mining truck technology, and more particularly to a charging control method, device, electronic device and computer-readable storage medium for an electric mining truck. Background Art

[0002] With the development of electric mining truck technology, in order to enable the electric mining truck to intelligently stop charging when the charging power reaches the cut-off power when charging with a charging pile, a cut-off power estimation method for the electric mining truck has emerged.

[0003] At present, there are two main ways to control the charging pile to stop charging the electric mining truck: manually stop charging and stop charging through the cloud platform. In the manual stop charging mode, when the electric mining truck reaches the preset cut-off power, press the stop button on the operation interface of the charging pile to stop charging the electric mining truck. In the cloud platform control stop charging mode, the cut-off power is pre-stored. During the charging process, the current charging power of the electric mining truck reported in real time by the electric mining truck is obtained. When it is determined that the current charging power reaches the preset cut-off power, a stop charging instruction is sent to the charging pile. After receiving the stop charging instruction, the charging pile stops charging the electric mining truck.

[0004] However, in both manual charging stop and cloud platform controlled charging stop modes, the cut-off power is pre-set. When encountering a downhill section, the power supply battery of the electric mining truck will recycle power. Therefore, during the entire driving process, if there are many downhill sections, only stopping charging based on the pre-set cut-off power control may cause the power supply battery to overcharge, posing a safety hazard. Summary of the invention

[0005] The present application provides a charging control method, device, electronic device and computer-readable storage medium for an electric mining truck, which are used to solve the problem that the power supply battery may be overcharged and there is a safety hazard.

[0006] In a first aspect, the present application provides a charging control method for an electric mining truck, which is applied to a BMS system of the electric mining truck, comprising:

[0007] If a charging instruction is received from the charging pile, the maximum amount of electricity that can be recovered by the electric mining truck after the current driving is completed is obtained;

[0008] Determine whether the transition signal sent by the cloud platform is received to obtain the transition signal reception result;

[0009] Determine a target cut-off power after the end of the current driving based on the maximum recovered power after the end of the current driving and the result of receiving the transition signal;

[0010] If it is determined that the charging power of the electric mining truck by the charging pile reaches the target cut-off power, the charging pile is controlled to stop charging the electric mining truck.

[0011] In a second aspect, the present application provides a charging control method for an electric mining truck, which is applied to a cloud platform, and the method includes:

[0012] Obtain the real-time location information of the electric mining truck during this driving process;

[0013] Determine a current driving trajectory based on the real-time location information;

[0014] If it is determined that the electric mining truck has changed its field based on the current driving trajectory, a changeover signal is sent to the BMS system of the electric mining truck. The changeover signal is used to instruct the BMS system to determine the target cutoff power after the end of this driving based on the maximum recovered power after the end of this driving and the result of receiving the changeover signal.

[0015] In a third aspect, the present application provides a charging control device for an electric mining truck, comprising:

[0016] The recovered power acquisition module is used to obtain the maximum recovered power of the electric mining truck after the current driving if a charging instruction sent by the charging pile is received;

[0017] The signal acquisition module is used to determine whether the transition signal sent by the cloud platform is received to obtain the transition signal reception result;

[0018] A cut-off power determination module, used to determine a target cut-off power after the end of the current driving based on the maximum recovered power after the end of the current driving and the result of receiving the transition signal;

[0019] The charging stop module is used to control the charging pile to stop charging the electric mining truck if it is determined that the charging power of the electric mining truck by the charging pile reaches the target cut-off power.

[0020] In a fourth aspect, the present application provides a charging control device for an electric mining truck, comprising:

[0021] A position information acquisition module is used to obtain the real-time position information of the electric mining truck during this driving process;

[0022] A driving trajectory acquisition module, used to determine the current driving trajectory based on the real-time position information;

[0023] A transition signal sending module is used to send a transition signal to the BMS system if it is determined that the electric mining truck has transitioned based on the current driving trajectory. The transition signal is used to instruct the BMS system of the electric mining truck to determine the target cutoff power after the end of this driving based on the maximum recovered power after the end of this driving and the transition signal reception result.

[0024] In a fifth aspect, the present application provides a BMS system for an electric mining truck, comprising: a processor, and a memory and a transceiver communicatively connected to the processor; the memory stores computer-executable instructions; the transceiver is used to send and receive data; the processor executes the computer-executable instructions stored in the memory to implement the method described in the first aspect.

[0025] In the sixth aspect, the present application provides a cloud platform, comprising: a processor, and a memory and a transceiver communicatively connected to the processor; the memory stores computer execution instructions; the transceiver is used to send and receive data; the processor executes the computer execution instructions stored in the memory to implement the method described in the second aspect.

[0026] In a seventh aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method described in the first aspect or the second aspect.

[0027] The charging control method, device, electronic device and medium of the electric mining truck provided by the present application, if the BMS system receives the charging instruction sent by the charging pile, the maximum recovered power of the electric mining truck after the end of this driving is obtained; it is determined whether the transition signal sent by the cloud platform is received to obtain the result of the transition signal reception; based on the maximum recovered power after the end of this driving and the result of the transition signal reception, the target cut-off power after the end of this driving is determined; if it is determined that the charging power of the electric mining truck by the charging pile reaches the target cut-off power, the charging pile is controlled to stop charging the electric mining truck. Since the target cut-off power after the end of this driving is determined based on the maximum recovered power after the end of this driving and the result of the transition signal reception. Therefore, it is considered that the recharging of the power supply battery without changing the mine during this driving process is also considered. The impact of the change of the mine during this driving process on the recharging of the power supply battery is also considered. Therefore, in the case of changing or not changing the mine during this driving process, after the end of this driving, the maximum recovered power after the end of this driving can be obtained, which will not cause the target cut-off power of the power supply battery to be overcharged. Based on this, the present application is conducive to preventing the overcharging of the power supply battery of the electric mining truck, thereby improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0029] Figure 1 This is an application scenario diagram that can implement the charging control method of the electric mining truck of the embodiment of the present application;

[0030] Figure 2 This is a flow chart of a charging control method for an electric mining truck according to an embodiment of the present application applied to a BMS system side;

[0031] Figure 3 This is a flow chart of a charging control method for an electric mining truck according to another embodiment of the present application applied to a BMS system side;

[0032] Figure 4 This is a flow chart of a charging control method for an electric mining truck according to another embodiment of the present application applied to a cloud platform side;

[0033] Figure 5 A multi-terminal interaction schematic diagram of a charging control method for an electric mining truck according to an embodiment of the present application;

[0034] Figure 6 It is a structural schematic diagram of a charging control device for an electric mining truck according to an embodiment of the present application;

[0035] Figure 7 is a structural schematic diagram of a charging control device for an electric mining truck according to another embodiment of the present application;

[0036] Figure 8 is a block diagram of a BMS system for an electric mining truck according to an exemplary embodiment;

[0037] Fig. 9 The invention is a block diagram of a cloud platform according to an exemplary embodiment.

[0038] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0039] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0040] First, the terms involved in this application are explained:

[0041] Electric mining truck: refers to a heavy-duty dump truck used in open-pit mines to complete rock and earth stripping and ore transportation tasks.

[0042] BMS system: BMS battery management system. It is installed in the electric mining truck. As the control system of the electric mining truck, it can intelligently manage and maintain each battery unit, prevent the battery from overcharging and overdischarging, and extend the battery life.

[0043] In order to clearly understand the technical solution of the present application, the solution of the prior art is first introduced in detail.

[0044] In the prior art, the methods of controlling the charging pile to stop charging the electric mining truck mainly include manual charging stop and charging stop through the cloud platform control. In the manual charging stop mode, when the electric mining truck reaches the preset cut-off power, the stop button is pressed on the operation interface of the charging pile to stop charging the electric mining truck. In the cloud platform control charging stop mode, the cut-off power is pre-stored. During the charging process, the current charging power of the electric mining truck reported by the electric mining truck in real time is obtained. When it is determined that the current charging power reaches the preset cut-off power, a stop charging instruction is sent to the charging pile. After receiving the stop charging instruction, the charging pile stops charging the electric mining truck. In the manual charging stop and cloud platform control charging stop modes, the cut-off power is pre-set, and the situation that the power supply battery of the electric mining truck will recycle power during the driving process of the electric mining truck, such as when encountering a downhill section, is not considered. If the sum of the recharged power obtained by the electric mining truck at a certain moment during the driving process and the corresponding remaining cut-off power is greater than the full power, the power supply battery will be overcharged. It can be seen that there are safety hazards when only controlling the charging stop based on the pre-set cut-off power.

[0045] Therefore, in the face of the technical problems of the prior art, the inventor found through creative research that in order to prevent the overcharging of the power supply battery of the electric mining truck and improve the safety of the power supply battery. When receiving the charging instruction of the charging pile, the target cut-off power is determined based on the maximum recovered power after the end of this driving and the result of receiving the transition signal. And when the charging power reaches the target cut-off power, the charging pile is controlled to stop charging the electric mining truck, so that the final charging power of the electric mining truck is the target cut-off power. This determination process not only takes into account the recharging of the power supply battery without changing the mine during this driving process, but also takes into account the impact of the change of the mine during this driving process on the recharging of the power supply battery. Therefore, when the mine is changed or not during this driving process, after the end of this driving, the target cut-off power can be obtained based on the maximum recovered power after the end of this driving, which will not cause the power supply battery to be overcharged. Therefore, it is conducive to preventing the overcharging of the power supply battery of the electric mining truck, thereby improving safety.

[0046] Therefore, based on the above creative findings, the inventors have proposed a technical solution of the embodiment of the present invention. The network architecture and application scenarios of the charging control method for an electric mining truck provided by the embodiment of the present invention are introduced below.

[0047] like Figure 1 As shown, the application scenario of the charging control method for an electric mining truck provided in an embodiment of the present application includes a charging pile 10, a BMS system 20 of the electric mining truck and a cloud platform 30 in the network architecture corresponding to the application scenario, and the BMS system 20 is respectively connected to the cloud platform 30 and the charging pile 10 for communication. When the charging pile 10 starts to charge the electric mining truck, the charging pile 10 immediately sends a charging instruction to the BMS system 20. When the BMS system 20 obtains the charging instruction, it obtains the maximum recovered power of the electric mining truck after the end of this driving, and determines the target cut-off power after the end of this driving based on the maximum recovered power and the obtained transfer signal reception result. If the BMS system 20 determines that the charging power of the electric mining truck by the charging pile 10 reaches the target cut-off power, it sends a stop charging instruction to the charging pile 10 to control the charging pile 10 to stop charging the electric mining truck.

[0048] Specific application scenarios of this application: When an electric mining truck is driving, for example, when encountering a downhill section, the power supply battery may be overcharged. In order to prevent the power supply battery of the electric mining truck from being overcharged, the safety of the power supply battery is improved. If the BMS system receives a charging instruction sent by the charging pile, it obtains the maximum recovered power of the electric mining truck after the end of this driving; determines whether the transition signal sent by the cloud platform is received to obtain the result of the transition signal reception; based on the maximum recovered power after the end of this driving and the result of the transition signal reception, determines the target cutoff power after the end of this driving; if it is determined that the charging power of the electric mining truck by the charging pile reaches the target cutoff power, the charging pile is controlled to stop charging the electric mining truck.

[0049] The data transmission method provided in this application is intended to solve the above technical problems in the prior art.

[0050] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0051] Figure 2 A charging control method for an electric mining truck provided in an embodiment of the present application is as follows: Figure 2 As shown, the execution subject of the charging control method of the electric mining truck provided in this embodiment is the BMS system of the electric mining truck. Then the charging control method of the electric mining truck provided in this embodiment includes the following steps:

[0052] Step 101, if a charging instruction sent by a charging pile is received, the maximum amount of electricity recovered by the electric mining truck after the current driving is completed is obtained.

[0053] Among them, the charging instruction is the instruction generated by the charging pile when it detects that the electric mining truck is connected to the charging pile. The recovered power refers to the amount of power added by the recharging of the power supply battery of the electric mining truck. The maximum recovered power refers to the maximum recovered power determined by the electric mining truck based on the current driving process after the current driving is completed. The maximum recovered power can reflect the maximum amount of power added by the recharging of the power supply battery during this driving process. The charging pile sends the charging instruction to the BMS system to inform the BMS system to start charging the electric mining truck. When the BMS system receives the charging instruction, it obtains the maximum recovered power of the electric mining truck after the current driving is completed.

[0054] Step 102, determining whether a transition signal sent by the cloud platform is received to obtain a transition signal reception result.

[0055] The field transition signal is a signal used to indicate that the electric mining truck has changed the mine field. The field transition signal is determined by the cloud platform analysis. The field transition signal reception result is generated based on whether the field transition signal is received, thereby reflecting whether the electric mining truck has changed fields.

[0056] The driving process of an electric mining truck from the end of one charge to the next charge is regarded as a complete driving process. In a complete driving process, if the electric mining truck changes the mine, in addition to considering the maximum amount of recovered electricity after the end of this driving, the recharge of the power supply battery by the mine after the change should also be considered. Therefore, in addition to obtaining the maximum amount of recovered electricity after the end of this driving, the BMS system further determines whether the transition signal sent by the cloud platform is received to obtain the transition signal reception result.

[0057] Step 103, based on the maximum regenerated power after the current driving and the result of receiving the transition signal, determine the target cut-off power after the current driving.

[0058] The target cut-off power is the charging power determined based on the current driving condition of the electric mining truck to ensure that the power supply battery will not be overcharged during the next driving process. The current driving condition includes the maximum recovered power and the transfer signal reception result.

[0059] Step 104: If it is determined that the charging power of the electric mining truck by the charging pile reaches the target cut-off power, the charging pile is controlled to stop charging the electric mining truck.

[0060] Specifically, in the traditional method, determining whether the charging power reaches the target cut-off power and controlling the charging to stop when the target cut-off power is reached are performed on the cloud platform, and the control of stopping charging is easily affected by network signals.

[0061] In this embodiment, the electric mining truck uses a BMS system. When charging through a charging pile, the BMS system monitors in real time whether the charging power reaches the target cut-off power. When the target cut-off power is reached, the BMS system sends a stop charging instruction to the charging pile to control the charging pile to stop charging the electric mining truck. Since the determination of whether the charging power reaches the target cut-off power and the control of stopping charging when the target cut-off power is reached are based on the local BMS system, and the BMS system and the charging pile communicate through a wired connection, the control of stopping charging can be unaffected by the network signal. Among them, the wired connection method can be a TAP connection.

[0062] The charging control method for electric mining trucks provided in this embodiment, if the BMS system receives the charging instruction sent by the charging pile, then the maximum recovered power of the electric mining truck after the end of this driving is obtained; it is determined whether the transition signal sent by the cloud platform is received to obtain the result of the transition signal reception; based on the maximum recovered power after the end of this driving and the result of the transition signal reception, the target cut-off power after the end of this driving is determined; if it is determined that the charging power of the electric mining truck by the charging pile reaches the target cut-off power, the charging pile is controlled to stop charging the electric mining truck. Since the target cut-off power after the end of this driving is determined based on the maximum recovered power after the end of this driving and the result of the transition signal reception. Therefore, it is considered that the recharging of the power supply battery without changing the mine during this driving process, and the impact of the change of the mine during this driving process on the recharging of the power supply battery is also considered. Therefore, in the case of changing or not changing the mine during this driving process, after the end of this driving, the target cut-off power can be obtained based on the maximum recovered power after the end of this driving, which will not cause the power supply battery to be overcharged. Based on this, the present application is conducive to preventing the overcharging of the power supply battery of the electric mining truck, thereby improving safety.

[0063] In addition, electric mining trucks can use mechanical braking or motor-assisted braking when going downhill. Motor-assisted braking relies on the power supply battery to receive feedback current (generated by the reverse rotation of the electric mining truck's travel motor) to generate braking force. If the power supply battery is overcharged, it will no longer receive feedback current, thereby losing the ability of motor-assisted braking. Therefore, preventing the power supply battery from overcharging can also ensure the normal operation of the motor-assisted braking function and minimize mechanical braking to extend the service life of the electric mining truck.

[0064] As an optional implementation, Figure 3 As shown, in this embodiment, step 101 includes the following steps:

[0065] Step 201, obtaining the cut-off power of the electric mining truck at each sampling time during the current driving process.

[0066] Among them, after the electric mining truck is started, the BMS system can collect the cut-off power at each sampling time during the driving process in real time. The cut-off power at the sampling time refers to the power of the power supply battery at the sampling time.

[0067] Step 202, performing difference calculations on the cut-off power at each sampling moment and the initial cut-off power to obtain each difference power; the initial cut-off power is the charging power after the last driving.

[0068] The initial cut-off capacity is the charging capacity after the last driving. The cut-off capacity at each sampling moment is subtracted from the initial cut-off capacity to obtain each difference capacity.

[0069] Step 203, determining the maximum value of each difference power as the maximum recovered power after the current driving is completed.

[0070] Among them, electric mining trucks usually drive to the loading area to load cargo after being fully charged at the charging piles in the mine, then drive to the unloading area to unload cargo, and drive back and forth between the loading area and the unloading area until returning to the charging piles for the next charge.

[0071] Specifically, the road sections of this driving process are divided into uphill sections, flat sections and downhill sections. In the uphill sections and flat sections, the power supply battery is in a power consumption state, and the cut-off power at the sampling time is reduced relative to the initial cut-off power. In the downhill section, the power supply battery is in a recharging state, and the cut-off power at the sampling time is increased relative to the initial cut-off power. Based on the difference power, the maximum value is taken to determine the maximum recovered power after the end of this driving.

[0072] Exemplarily, the initial cut-off power is 80 mAh, the cut-off power at sampling time t1 is 70 mAh, the cut-off power at sampling time t2 is 75, and the cut-off power at sampling time t3 is 60. Then, the difference power corresponding to t2 is determined to be the maximum recovery power after the end of this driving.

[0073] The charging control method for an electric mining truck provided in this embodiment obtains the cut-off power of the electric mining truck at each sampling moment during the current driving process; performs difference calculations on the cut-off power at each sampling moment and the initial cut-off power to obtain each difference power; the initial cut-off power is the charging power after the last driving; and the maximum value of each difference power is determined as the maximum recovery power after the current driving. Since the maximum recovery power after the current driving is determined based on the cut-off power at each sampling moment and the initial cut-off power during the current driving process, the accuracy of the maximum recovery power can be improved.

[0074] As an optional implementation, in this embodiment, step 103 includes the following steps:

[0075] Step 301 : compare the maximum amount of recovered electricity after the current driving with the stored historical maximum amount of recovered electricity.

[0076] The historical maximum recovered electricity is the maximum recovered electricity stored by the BMS system before the end of this trip. Even in the same mine, due to the influence of the load of the electric mining truck and the weather, the difference in electricity calculated at different times on the same road section may be different. Therefore, even in the same mine, the maximum recovered electricity obtained after different trips may be different.

[0077] In order to distinguish the names of different mines before and after the transfer, the mine before the transfer will be referred to as the current mine, and the mine after the transfer will be referred to as the new mine.

[0078] When determining the target cut-off power after the end of this trip, regardless of whether a transfer occurs this time, the target cut-off power after the end of this trip can only be accurately determined based on the latest historical maximum recovered power of this mine.

[0079] When the maximum recovered electricity after this driving is obtained, in order to determine whether it can be used as the target maximum recovered electricity, the BMS system compares the maximum recovered electricity after this driving with the historical maximum recovered electricity, thereby determining whether the maximum recovered electricity after this driving can replace the historical maximum recovered electricity, become the latest historical maximum recovered electricity and serve as the target maximum recovered electricity.

[0080] Step 302: If the maximum recovered power after the current driving is greater than or equal to the historical maximum recovered power, the historical maximum recovered power is updated, and the maximum recovered power after the current driving is determined as the target maximum recovered power.

[0081] Among them, if the maximum recovered electricity after this drive is greater than or equal to the historical maximum recovered electricity, it indicates that the historical maximum recovered electricity can no longer be used as the latest historical maximum recovered electricity for this mine. The historical maximum recovered electricity is updated to the maximum recovered electricity after the end of this drive and stored, and the maximum recovered electricity after the end of this drive is determined as the target maximum recovered electricity.

[0082] Step 303: If the maximum recovered power after the current driving is less than the historical maximum recovered power, the historical maximum recovered power is determined as the target maximum recovered power.

[0083] Among them, if the maximum recovered electricity after this driving is less than the historical maximum recovered electricity, it means that the historical maximum recovered electricity can still be used as the latest historical maximum recovered electricity of this mine, then the historical maximum recovered electricity will be determined as the target maximum recovered electricity.

[0084] Step 304, determining the target cut-off power after the end of this driving according to the target maximum recovery power and the result of receiving the transition signal.

[0085] Furthermore, the target cut-off power after the end of this driving is determined based on the aforementioned determined target maximum recovered power and the result of receiving the transition signal.

[0086] The charging control method for electric mining trucks provided in this embodiment compares the maximum recovered electricity after the current driving with the stored historical maximum recovered electricity; if the maximum recovered electricity after the current driving is greater than or equal to the historical maximum recovered electricity, the historical maximum recovered electricity is updated, and the maximum recovered electricity after the current driving is determined as the target maximum recovered electricity; if the maximum recovered electricity after the current driving is less than the historical maximum recovered electricity, the historical maximum recovered electricity is determined as the target maximum recovered electricity; according to the target maximum recovered electricity and the result of receiving the transfer signal, the target cutoff electricity after the current driving is determined. Since the target maximum recovered electricity is based on the comparison and analysis of the maximum recovered electricity after the current driving and the historical maximum recovered electricity, any one of the two that can be used as the latest historical maximum value is determined as the target cutoff electricity, thereby further improving the accuracy of the target cutoff electricity.

[0087] As an optional implementation, in this embodiment, step 304 includes the following steps:

[0088] Step 401: If it is determined that the transition signal reception result is that no transition signal is received, a target cut-off power after the end of this driving is determined according to the target maximum recovery power.

[0089] Among them, the transition signal reception result includes receiving the transition signal and not receiving the transition signal. If it is determined according to the transition signal reception result that the transition signal is not received, it indicates that the electric mining truck did not transition during this driving process. A transition may or may not occur in the next driving process. If this driving is completed and no transition occurs in the next driving process, then the target cutoff power after the end of this driving only needs to consider the target maximum recovery power, and the target cutoff power after the end of this driving is determined according to the target maximum recovery power. For the situation where a transition occurs in the next driving process after the end of this driving, it is also applicable to determine the target cutoff power after the end of this driving according to the target maximum recovery power.

[0090] In one embodiment, step 401 specifically includes: performing a difference calculation between the full power and the target maximum recovery power to determine the target cut-off power after the current driving is completed. The full power is the power corresponding to when the power supply battery is fully charged.

[0091] Step 402: If it is determined that the transition signal reception result is that the transition signal is received, the target cutoff power after the end of this driving is determined according to the target maximum recovery power and the preset error power.

[0092] Among them, if the result of receiving the transition signal is that the transition signal is received, it indicates that the electric mining truck did not transition during this driving process. A transition may or may not occur in the next driving process. If this driving is completed and a transition occurs in the next driving process, the target cutoff power after the end of this driving needs to consider the target maximum recovery power, and a preset error power is added on this basis. The purpose of adding a preset error power is to prevent the maximum recovery power of the new mine from being greater than the target maximum recovery power, so that the target maximum recovery power determined based on this driving process is no longer applicable, resulting in overcharging of the power supply battery. The target cutoff power after the end of this driving is determined based on the target maximum recovery power and the preset error value. For the situation where there is no transition in the next driving process after the end of this driving, it is also applicable to determine the target cutoff power after the end of this driving based on the target maximum recovery power.

[0093] In one embodiment, step 402 includes: performing a sum operation on the target maximum rechargeable power and the preset error power to obtain a corrected power; performing a difference operation on the full power and the corrected power to determine the target cut-off power after the current driving is completed. The corrected power refers to the sum of the target maximum rechargeable power and the preset error power.

[0094] The charging control method for an electric mining truck provided in this embodiment determines the target cut-off power after the current driving according to the target maximum recovery power if the result of receiving the transition signal is that the transition signal is not received; and determines the target cut-off power after the current driving according to the target maximum recovery power and the preset error power if the result of receiving the transition signal is that the transition signal is received. Since the target cut-off power after the current driving is determined according to whether the transition occurs during the current driving process, the influence of the transition on the target cut-off power is further considered, which is conducive to improving the accuracy of the target cut-off power.

[0095] As an optional implementation, in this embodiment, the charging control method of the electric mining truck further includes:

[0096] Step 501, determining the driving position farthest from the charging pile in the mine.

[0097] The driving position refers to the position that the electric mining truck passes during driving. The farthest driving position is the position farthest from the charging pile. In order to ensure that the electric mining truck can smoothly return to the charging pile for charging before the power is completely exhausted, the driving position farthest from the charging pile in the mine is determined, so as to ensure that the electric mining truck can smoothly return to the charging pile for charging.

[0098] Step 502, determining a remaining power threshold value of the electric mining truck that needs to be charged based on the distance between the farthest driving position and the charging pile.

[0099] Among them, based on the distance between the farthest driving position and the charging pile, the BMS system can determine how much power the electric mining truck needs to have remaining before it can return to the charging pile. The remaining power threshold refers to the corresponding remaining power required when the electric mining truck returns to the charging pile from the farthest driving position.

[0100] Step 503: When the remaining power of the electric mining truck reaches a remaining power threshold, the user is prompted to charge.

[0101] During driving, when the remaining power of the electric mining truck reaches the remaining power threshold, the BMS system prompts the user to charge. The user can stop the operation of the electric mining truck in time according to the prompt and drive the electric mining truck back to the charging pile for charging.

[0102] The charging control method for an electric mining truck provided in this embodiment determines the driving position farthest from the charging pile in the mine; determines the remaining power threshold of the electric mining truck that needs to be charged according to the distance between the farthest driving position and the charging pile; and prompts the user to charge when the remaining power of the electric mining truck reaches the remaining power threshold. Since the remaining power is determined based on the farthest driving position, when the remaining power of the electric mining truck reaches the remaining power threshold, the user is prompted to charge, thereby ensuring that the electric mining truck can smoothly return to the charging pile for charging at any position in the mine.

[0103] Figure 4 Another embodiment of the present application provides a charging control method for an electric mining truck. Figure 4 As shown, the execution subject of the charging control method for the electric mining truck provided in this embodiment is the cloud platform. Then the charging control method for the electric mining truck provided in this embodiment includes the following steps:

[0104] Step 601, obtaining the real-time position information of the electric mining truck during the current driving process.

[0105] Among them, the real-time location information is the information of each location that the electric mining truck passes during driving. The real-time location information can be the longitude / latitude of each location that the electric mining truck passes during driving. The BMS system of the electric mining truck is provided with TBOX, which is a wireless gateway. It provides a remote communication interface for the whole vehicle through functions such as 4G remote wireless communication, GPS satellite positioning, acceleration sensing and CAN communication. When the electric mining truck is started, the BMS system is powered, and at this time TBOX can collect the location information of the electric mining truck. During this driving process of the electric mining truck, TBOX collects the location information of the electric mining truck in real time, obtains each real-time location information, and uploads each real-time location information to the cloud platform until the electric mining truck stops working and the BMS system is powered off. Here, only TBOX is taken as an example, and it can also be other data transmission ports that can obtain location information.

[0106] Step 602, determining the current driving trajectory based on the real-time location information.

[0107] The current driving trajectory is determined based on the currently obtained real-time position information.

[0108] Step 603, if it is determined based on the current driving trajectory that the electric mining truck has changed its field, a changeover signal is sent to the BMS system of the electric mining truck. The changeover signal is used to instruct the BMS system to determine the target cutoff power after the end of this driving based on the maximum recovered power after the end of this driving and the result of receiving the changeover signal.

[0109] Among them, if it is determined based on the current driving trajectory that the electric mining truck has changed sites, a transition signal is sent to the BMS system of the electric mining truck. The transition signal is a signal used to indicate that the electric mining truck has changed mines. The transition signal reception result is generated by the BMS system based on whether the transition signal sent by the cloud platform is received, so as to reflect whether the electric mining truck has changed sites. The target cutoff power is the charging power determined by the BMS system based on the maximum recovery power of the electric mining truck at the end of this driving and the transition signal reception result to ensure that the power supply battery will not be overcharged during the next driving process.

[0110] The charging control method for an electric mining truck provided in this embodiment obtains the real-time position information of the electric mining truck during this driving process; determines the current driving trajectory based on the real-time position information; if it is determined based on the current driving trajectory that the electric mining truck has changed fields, a field change signal is sent to the BMS system of the electric mining truck, and the field change signal is used to instruct the BMS system to determine the target cutoff power after the end of this driving based on the maximum recovered power after the end of this driving and the result of receiving the field change signal. Since the cloud platform is determined based on the current driving trajectory of the electric mining truck, and the current driving trajectory is determined based on the real-time position information during this driving process. Therefore, it can be ensured that the field change signal will not be sent by mistake.

[0111] As an optional implementation, in this embodiment, step 603 includes: comparing the current driving trajectory with the initial driving trajectory; if the deviation between the current driving trajectory and the initial driving trajectory exceeds a threshold and reaches a preset deviation time, it is determined that the electric mining truck has transitioned, and a transition signal is sent to the BMS system.

[0112] Among them, before the electric mining truck drives in a mine for the first time, the cloud platform first obtains the initial coordinate data of the mine reported by the monitoring terminal. The initial coordinate data includes the coordinate data of the charging piles, loading area and unloading area in the mine. Afterwards, when the monitoring terminal determines that the electric mining truck has been transferred, the initial coordinate data of the new mine will be actively reported to the cloud platform. The initial driving trajectory refers to the driving trajectory formed after the electric mining truck has driven for the first time in the mine. Here, it is not limited to the first time, but can also be the driving trajectory obtained by comprehensive analysis after the previous preset number of driving when it is confirmed that the electric mining truck has not been transferred. By comparing the current driving trajectory with the initial driving trajectory, it can be determined whether the current driving trajectory has deviated, and whether the electric mining truck has been transferred is determined based on the degree of deviation.

[0113] If the deviation between the current driving trajectory and the initial driving trajectory does not exceed the threshold, it indicates that the deviation between the current driving trajectory and the initial driving trajectory is small, and the possibility of a transfer is small. If the deviation between the current driving trajectory and the initial driving trajectory exceeds the threshold, it indicates that the deviation between the current driving trajectory and the initial driving trajectory is large, and the possibility of a transfer is large. Specifically, determining the deviation between the current driving trajectory and the initial driving trajectory includes: obtaining a section of the initial driving trajectory corresponding to the current driving trajectory as a comparison driving trajectory; performing a difference operation on each position information in the current driving trajectory and each position information corresponding to the comparison driving trajectory to obtain the minimum position difference; if the minimum position difference exceeds the threshold, and if the electric mining truck stays at the position corresponding to the minimum position difference for a preset deviation time, it indicates that the position may be a new loading area or unloading area, and it can be determined that the electric mining truck has transferred. The preset deviation time can be set to 3 minutes, without specific limitation.

[0114] While determining whether the deviation between the current driving trajectory and the initial driving trajectory exceeds the threshold, the cloud platform also determines whether the duration of the deviation reaches the preset deviation duration. If it is determined that the preset deviation duration is reached, the possibility of the electric mining truck switching is further enhanced. At this time, the cloud platform can determine that the electric mining truck has switched. When it is determined that the electric mining truck has switched, the cloud platform can send a switching signal to the BMS system of the electric mining truck.

[0115] For example, the preset deviation time is 5 minutes, the current running track is S1', and the comparison running track is S1. When confirming whether a transfer occurs, first compare the position information corresponding to S1' and S1. If the minimum position difference exceeds the threshold, then determine the stay time of the position corresponding to the minimum position difference in S1'. If the stay time is greater than 4 minutes, it is determined that the electric mining truck has transferred, and send a transfer signal to the BMS system.

[0116] The charging control method for an electric mining truck provided in this embodiment compares the current driving trajectory with the initial driving trajectory; if the deviation between the current driving trajectory and the initial driving trajectory exceeds a threshold value and reaches a preset deviation duration, it is determined that the electric mining truck has shifted, and a shift signal is sent to the BMS system. Since the determination of whether a shift occurs is based on the comparison between the current driving trajectory and the initial driving trajectory, the judgment of whether a shift occurs is more objective and accurate.

[0117] In one embodiment, a multi-terminal interaction diagram of a charging control method for an electric mining truck is shown as follows: Figure 5 As shown, the charging control method for an electric mining truck provided in this embodiment includes the following steps:

[0118] Step 701, the monitoring terminal uploads the initial coordinate data of the mine to the cloud platform.

[0119] Step 702: When the BMS system detects that the electric mining truck is started, it uploads the real-time location information of the electric mining truck.

[0120] Step 703, determining the current driving trajectory based on the real-time location information.

[0121] Step 704: If it is determined based on the current driving trajectory that the electric mining truck has changed location, a changeover signal is sent to the BMS system of the electric mining truck.

[0122] Step 705: After the current driving is completed, if the BMS system receives a charging instruction sent by the charging pile, it obtains the maximum amount of recovered electricity of the electric mining truck after the current driving is completed.

[0123] Step 706: The BMS system determines whether the transition signal sent by the cloud platform is received to obtain a transition signal reception result.

[0124] Step 707 : The BMS system determines the target cut-off power after the end of this driving based on the maximum regenerated power after the end of this driving and the result of receiving the transition signal.

[0125] Step 708: If the BMS system determines that the charging power of the electric mining truck by the charging pile reaches the target cut-off power, the BMS system controls the charging pile to stop charging the electric mining truck.

[0126] Figure 6 FIG. 1 is a schematic diagram of a charging control device for an electric mining truck provided in an embodiment of the present application. Figure 6 As shown, the charging control device of the electric mining truck provided in this embodiment is located in the electric mining truck, and the charging control device 70 of the electric mining truck provided in this embodiment includes: a recovered power acquisition module 71, a signal acquisition module 72, a cut-off power determination module 73 and a charging stop module 74.

[0127] Among them, the recovered power acquisition module 71 is used to obtain the maximum recovered power of the electric mining truck after the end of this trip if a charging instruction sent by the charging pile is received. The signal acquisition module 72 is used to determine whether the transition signal sent by the cloud platform is received to obtain the transition signal reception result. The cut-off power determination module 73 is used to determine the target cut-off power after the end of this trip based on the maximum recovered power after the end of this trip and the transition signal reception result. The charging stop module 74 is used to control the charging pile to stop charging the electric mining truck if it is determined that the charging power of the electric mining truck by the charging pile has reached the target cut-off power.

[0128] Optionally, the recovered power acquisition module 71 is specifically used to obtain the cutoff power of the electric mining truck at each sampling moment during the current driving process; the cutoff power at each sampling moment is subtracted from the initial cutoff power to obtain each difference power; the initial cutoff power is the charging power after the last driving; the maximum value of each difference power is determined as the maximum recovered power after the current driving ends.

[0129] Optionally, the cut-off power determination module 73 is specifically used to compare the maximum recovered power after the current driving is completed with the stored historical maximum recovered power; if the maximum recovered power after the current driving is completed is greater than or equal to the historical maximum recovered power, the historical maximum recovered power is updated, and the maximum recovered power after the current driving is completed is determined as the target maximum recovered power; if the maximum recovered power after the current driving is completed is less than the historical maximum recovered power, the historical maximum recovered power is determined as the target maximum recovered power; and the target cut-off power after the current driving is determined according to the target maximum recovered power and the transition signal reception result.

[0130] Optionally, the cut-off power determination module 73 is specifically used to determine the target cut-off power after the end of this driving according to the target maximum recovery power if the transition signal reception result is that the transition signal is not received; if the transition signal reception result is that the transition signal is received, determine the target cut-off power after the end of this driving according to the target maximum recovery power and the preset error power.

[0131] Optionally, the cut-off power determination module 73 is specifically configured to perform a difference calculation between the full power and the target maximum recovery power to determine the target cut-off power after the current driving is completed.

[0132] Optionally, the cut-off power determination module 73 is specifically used to sum the target maximum recovery power and the preset error power to obtain the corrected power; and perform a difference calculation between the full power and the corrected power to determine the target cut-off power after the end of this driving.

[0133] Optionally, the charging control device 70 for the electric mining truck provided in this embodiment also includes a user prompt module, which is specifically used to determine the driving position in the mine that is farthest from the charging pile; determine the remaining power threshold that the electric mining truck needs to be charged based on the distance between the farthest driving position and the charging pile; when the remaining power of the electric mining truck reaches the remaining power threshold, prompt the user to charge.

[0134] Figure 7 FIG. 1 is a schematic diagram of a charging control device for an electric mining truck provided in an embodiment of the present application. Figure 7As shown, the charging control device for the electric mining truck provided in this embodiment is located in the electric mining truck, and the charging control device 80 for the electric mining truck provided in this embodiment includes: a position information acquisition module 81, a driving trajectory acquisition module 82 and a transition signal sending module 83.

[0135] Among them, the position information acquisition module 81 is used to obtain the real-time position information of the electric mining truck during this driving process. The driving trajectory acquisition module 82 is used to determine the current driving trajectory based on the real-time position information. The transition signal sending module 83 is used to send a transition signal to the BMS system if it is determined that the electric mining truck has transitioned based on the current driving trajectory. The transition signal is used to instruct the BMS system of the electric mining truck to determine the target cutoff power after the end of this driving based on the maximum recovered power after the end of this driving and the transition signal reception result.

[0136] Optionally, the transition signal sending module 83 is specifically used to compare the current driving trajectory with the initial driving trajectory; if the deviation between the current driving trajectory and the initial driving trajectory exceeds a threshold and reaches a preset deviation time, it is determined that the electric mining truck has transitioned, and a transition signal is sent to the BMS system.

[0137] Figure 8 : is a block diagram of a BMS system of an electric mining truck according to an exemplary embodiment. The BMS system of the electric mining truck may be as follows: Figure 8 As shown, the BMS system of the electric mining truck includes: a memory 91, a processor 92 and a transceiver 93; the memory 91 is used to store processor executable instructions; the processor 92 is used to run computer programs or instructions to implement Figure 2 , Figure 3 , Figure 5 and Figure 2 and Figure 3 A charging control method for an electric mining truck provided by any one of the embodiments.

[0138] The memory 91 is used to store programs. Specifically, the programs may include program codes, and the program codes include computer operation instructions. The memory 91 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0139] The processor 92 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure.

[0140] Among them, the transceiver 93 is used to send and receive data, including the transition signal sent by the cloud platform and the real-time location information uploaded to the cloud platform.

[0141] Optionally, in a specific implementation, if the memory 91, the processor 92 and the transceiver 93 are implemented independently, the memory 91, the processor 92 and the transceiver 93 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0142] Optionally, in a specific implementation, if the memory 91, the processor 92 and the transceiver 93 are integrated on a chip, the memory 91, the processor 92 and the transceiver 93 can communicate with each other through an internal interface.

[0143] Fig. 9 is a block diagram of a cloud platform according to an exemplary embodiment. Fig. 9 As shown, the cloud platform provided in the embodiment of the present application includes: a processor 1002, and a memory 1001 and a transceiver 1003 which are communicatively connected to the processor 1002; the memory 1001 stores computer-executable instructions; the transceiver 1003 is used to send and receive data; the processor 1002 executes the computer-executable instructions stored in the memory 1001 to implement Figure 4 , Figure 5 and Figure 4 and Figure 5 The method in any one of the embodiments.

[0144] Another embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the charging control method for an electric mining truck provided in any of the above embodiments.

[0145] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0146] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A charging control method for an electric mining truck, applied to a BMS system of an electric mining truck, characterized in that: The method comprises: If a charging instruction is received from the charging pile, the maximum amount of electricity that can be recovered by the electric mining truck after the current driving is completed is obtained; Determine whether the transition signal sent by the cloud platform is received to obtain the transition signal reception result; Determine a target cut-off power after the end of the current driving based on the maximum recovered power after the end of the current driving and the result of receiving the transition signal; If it is determined that the charging power of the electric mining truck by the charging pile reaches the target cut-off power, controlling the charging pile to stop charging the electric mining truck; Based on the maximum recovered power after the current driving and the result of receiving the transition signal, determining the target cut-off power after the current driving includes: Compare the maximum amount of recovered electricity after the current driving with the stored historical maximum amount of recovered electricity; If the maximum recovered power after the current driving is greater than or equal to the historical maximum recovered power, the historical maximum recovered power is updated, and the maximum recovered power after the current driving is determined as the target maximum recovered power; If the maximum recovered power after the current driving is less than the historical maximum recovered power, determining the historical maximum recovered power as the target maximum recovered power; The target cut-off power after the current driving is completed is determined according to the target maximum recovered power and the result of receiving the transition signal.

2. The method according to claim 1, characterized in that Get the maximum amount of electricity recovered by the electric mining truck after this trip, including: Obtain the cut-off power of the electric mining truck at each sampling time during this driving process; Performing difference calculation on the cut-off power at each sampling moment and the initial cut-off power to obtain each difference power; the initial cut-off power is the charging power after the last driving; The maximum value of the difference electric quantities is determined as the maximum recovered electric quantity after the current driving is completed.

3. The method according to claim 1, characterized in that Determining the target cut-off power after the current driving according to the target maximum recovered power and the result of receiving the transition signal includes: If it is determined that the transition signal reception result is that the transition signal is not received, determining the target cut-off power after the end of this driving according to the target maximum recovery power; If it is determined that the transition signal reception result is that the transition signal is received, the target cutoff power after the end of this driving is determined according to the target maximum recovery power and the preset error power.

4. The method according to claim 3, characterized in that The step of determining the target cut-off power after the current driving is completed according to the target maximum recovered power includes: The full power and the target maximum recovery power are calculated to determine the target cut-off power after the current driving is completed.

5. The method according to claim 3, characterized in that: The step of determining the target cut-off power after the current driving ends according to the target maximum recovered power and the preset error power includes: Performing a sum operation on the target maximum recovered power and the preset error power to obtain a corrected power; The full power and the corrected power are differentially calculated to determine the target cut-off power after the current driving is completed.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: Determine the driving position in the mine that is farthest from the charging pile; Determining a remaining power threshold of the electric mining truck that needs to be charged according to the distance between the farthest driving position and the charging pile; When the remaining power of the electric mining truck reaches the remaining power threshold, the user is prompted to charge.

7. A charging control method for an electric mining truck, applied to a cloud platform, characterized in that: The method comprises: Obtain the real-time location information of the electric mining truck during this driving process; Determine a current driving trajectory based on the real-time location information; If it is determined that the electric mining truck has changed its field based on the current driving trajectory, a changeover signal is sent to the BMS system of the electric mining truck. The changeover signal is used to instruct the BMS system to determine the target cutoff power after the end of this driving based on the maximum recovered power after the end of this driving and the result of receiving the changeover signal.

8. The method according to claim 7, characterized in that If it is determined based on the current driving trajectory that the electric mining truck has changed its location, a changeover signal is sent to the BMS system, including: comparing the current driving trajectory with the initial driving trajectory; If the deviation between the current driving trajectory and the initial driving trajectory exceeds a threshold value and reaches a preset deviation duration, it is determined that the electric mining truck has transitioned, and the transition signal is sent to the BMS system.

9. A charging control device for an electric mining truck, characterized in that: The device comprises: The recovered power acquisition module is used to obtain the maximum recovered power of the electric mining truck after the current driving if a charging instruction sent by the charging pile is received; The signal acquisition module is used to determine whether the transition signal sent by the cloud platform is received to obtain the transition signal reception result; A cut-off power determination module, used to determine a target cut-off power after the end of the current driving based on the maximum recovered power after the end of the current driving and the result of receiving the transition signal; A charging stop module, configured to control the charging pile to stop charging the electric mining truck if it is determined that the charging power of the electric mining truck by the charging pile reaches the target cut-off power; The cut-off power determination module is specifically used to compare the maximum regenerative power after the current driving ends with the stored historical maximum regenerative power; If the maximum recovered power after the current driving is greater than or equal to the historical maximum recovered power, the historical maximum recovered power is updated, and the maximum recovered power after the current driving is determined as the target maximum recovered power; If the maximum recovered power after the current driving is less than the historical maximum recovered power, determining the historical maximum recovered power as the target maximum recovered power; The target cut-off power after the current driving is completed is determined according to the target maximum recovered power and the result of receiving the transition signal.

10. A charging control device for an electric mining truck, characterized in that: The device comprises: A position information acquisition module is used to obtain the real-time position information of the electric mining truck during this driving process; A driving trajectory acquisition module, used to determine the current driving trajectory based on the real-time position information; A transition signal sending module is used to send a transition signal to the BMS system if it is determined that the electric mining truck has transitioned based on the current driving trajectory. The transition signal is used to instruct the BMS system of the electric mining truck to determine the target cutoff power after the end of this driving based on the maximum recovered power after the end of this driving and the transition signal reception result.

11. A BMS system for an electric mining truck, characterized in that: include: A processor, and a memory and a transceiver communicatively connected to the processor; The memory stores computer-executable instructions; the transceiver is used to send and receive data; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.

12. A cloud platform, characterized in that: include: A processor, and a memory and a transceiver communicatively connected to the processor; The memory stores computer-executable instructions; the transceiver is used to send and receive data; The processor executes the computer-executable instructions stored in the memory to implement the method according to claim 7 or 8.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 8 when executed by a processor.

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