Intelligent lifting method of cargo bucket of smart mining truck and intelligent unloading method of smart mining truck

Abstract

The present invention relates to the technical field of intelligent driving of trucks, and discloses a method for intelligent lifting of a cargo bucket of a smart mining truck, comprising the following steps: sampling during the lifting process of the cargo bucket, obtaining a lifting time sequence and a corresponding lifting angle sequence, fitting a time-target angle function, performing a force analysis on the cargo bucket, calculating the hydraulic cylinder pressure when the cargo bucket is lifted to the highest point, lifting the cargo bucket according to the calculated hydraulic cylinder pressure, and obtaining the real-time lifting angle of the cargo bucket, calculating the target lifting angle at that moment according to the time-target angle function, and compensating the hydraulic cylinder pressure according to the difference until the cargo bucket is lifted to the highest point and starts unloading. The present invention also discloses a method for unloading materials from a smart mining truck. The method for intelligent lifting of the cargo bucket of a smart mining truck and the method for unloading materials from a smart mining truck of the present invention can lift to the minimum angle for dumping under different loads, have high lifting efficiency, and control the dumping angle in a cubic polynomial manner to achieve smooth lifting.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent driving of trucks, and in particular to an intelligent lifting method for a cargo box of a smart mining truck and an intelligent unloading method for a smart mining truck. Background Art

[0002] Traditionally, the cargo box is lifted by the system responding to the bus power take-off request, and the controller executes the power take-off. The BCM (car body control module) performs lifting control, gives a fixed lifting time, ensures that the cargo box is lifted to the highest angle, and completes the dumping of the cargo.

[0003] However, there are the following problems: when the load is small, there is no need to lift the cargo box to the highest angle, and the oil pressure applied by the hydraulic cylinder to the pull rod is a fixed value, which can easily cause a sense of frustration. Summary of the invention

[0004] The purpose of the present invention is to address the deficiencies of the above-mentioned technologies and to provide a smart mining truck cargo box intelligent lifting method and a smart mining truck unloading method. The method can lift the cargo box to the minimum angle for dumping under different loads to improve the lifting efficiency. The dumping angle is controlled in a cubic polynomial manner to achieve smooth lifting.

[0005] To achieve the above purpose, the intelligent lifting method of the cargo bucket of a smart mining truck designed by the present invention comprises the following steps:

[0006] A) Sampling is performed during the lifting process of the cargo bucket to obtain a sequence of lifting moments t and a sequence of corresponding lifting angles θ;

[0007] B) setting a cubic function between the lifting angle θ and the lifting time t, and fitting to obtain a time-target angle function;

[0008] C) Analyze the force on the cargo bucket and calculate the hydraulic cylinder pressure P when the cargo bucket is lifted to the highest point;

[0009] D) Lift the cargo box according to the calculated hydraulic cylinder pressure P and obtain the real-time lifting angle θ of the cargo box s ;

[0010] E) Calculate the target lift angle θ at that moment based on the time-target angle function i , according to the real-time lifting angle θ s With the target lift angle θ i The difference is used to compensate the hydraulic cylinder pressure P until the cargo box is lifted to the highest point and unloading begins.

[0011] Preferably, in step A), the total mass m k The sampling is carried out during the lifting process of the cargo bucket. The lifting takes a total time kT, and the lifting time sequence t is recorded as t0, t1, t2, t3, t4, ..., t k, T is the time difference between two adjacent time points, and the corresponding lifting angle θ sequence is θ0, θ1, θ2, θ3, θ4, …, θ k .

[0012] Preferably, in step B), the cubic function between the cargo bucket lifting angle θ and the lifting time t is set as:

[0013] θ(t)=a0t+a1t 2 +a2t 3

[0014] θ(t)′=a0+2a1t+3a2t 2

[0015] θ(t)″=2a1+6a2t

[0016] Where a0, a1, a2 are the parameters of the cubic function. Given (t0,θ0), (t1,θ1), we get:

[0017] a0=θ0′

[0018]

[0019]

[0020] Where, h = θ1-θ0, T = t1-t0, and the time-target angle function is obtained by fitting.

[0021] Preferably, in step C), when the lifting rod lifts the cargo bucket to the lifting angle θ k When the load is 1000 kg, the load is subjected to stress analysis. The load is L, the load is hinged to the load frame, the bottom end of the lifting rod is hinged to the load frame, and its extension is controlled by the hydraulic cylinder. The top end of the lifting rod is movably connected to the load. The length from the load point of the lifting rod and the load to the hinge point of the load is l, and the angle between the load and the load frame is θ. k , the angle between the lifting rod and the cargo box frame is β, F P is the support force of the lifting rod on the cargo bucket under the action of the hydraulic cylinder. The angle between the direction of the support force of the lifting rod on the cargo bucket and the vertical direction of the cargo bucket is recorded as α. a is the angular acceleration of the cargo bucket. According to the moment balance, the equation can be obtained:

[0022]

[0023] in,

[0024]

[0025] a=θ(t k )″

[0026] I is the moment of inertia, we can get:

[0027]

[0028] Arranged available,

[0029]

[0030] Assuming the effective area of ​​the hydraulic cylinder piston is S, the hydraulic cylinder pressure P at this time is:

[0031]

[0032] That is, the hydraulic cylinder pressure when the cargo box is lifted to the highest point

[0033] Preferably, in step D), the cargo bucket is lifted according to the calculated hydraulic cylinder pressure P, and the time t is obtained. i The real-time lifting angle of the cargo box θ s In step E), the lifting time t is calculated according to the time-target angle function. i The target lift angle θ i , calculate the real-time lifting angle θ s and the target lift angle θ i The difference e i =θ i -θ s , compensate the hydraulic cylinder pressure P, and calculate the pressure difference △P=u(i),

[0034]

[0035]

[0036]

[0037] Among them, K P is the proportionality coefficient, T i is the integration time, T d is the differential time, then it is lifted to θ i The actual required hydraulic cylinder pressure P ff For: P ff =P+△P.

[0038] Preferably, the corresponding relationship between the minimum lifting angle θ at which the cargo can be dumped when the total mass of the cargo bucket is m is obtained according to empirical data, and the lifting angle θ sequence is θ0, θ1, θ2, θ3, θ4, ..., θ k The corresponding total mass sequence is m0, m1, m2, m3, m4, ..., m k When unloading, when the total mass of the cargo bucket drops to m nThen, the corresponding lifting angle θ is obtained. n and the corresponding t n , calculate the hydraulic cylinder pressure P at this time, F P This is the supporting force of the lifting rod on the cargo box under the action of the hydraulic cylinder at this time, l is the length from the force point of the lifting rod and the cargo box to the hinge point of the cargo box and the cargo box frame at this time, and β is the angle between the lifting rod and the cargo box frame at this time.

[0039] Preferably, obtaining the time t n The real-time lifting angle of the cargo box θ s , calculate the real-time lifting angle θ s and the target lift angle θ n The difference e n =θ n -θ s , compensate the hydraulic cylinder pressure P, and calculate the pressure difference △P=u(n),

[0040]

[0041]

[0042]

[0043] Among them, K P is the proportionality coefficient, T n is the integration time, T d is the differential time, then it drops to θ n The actual required hydraulic cylinder pressure P ff For: P ff =P+△P.

[0044] A method for unloading materials by a smart mining truck. After a vehicle management platform receives an instruction indicating that loading is completed, it first performs a vehicle self-inspection. If there is an abnormality, it enters an abnormal vehicle condition processing flow. If the vehicle is in normal condition and the platform scheduling meets the unloading conditions, an unloading task instruction is generated and sent to an autonomous driving mining truck. The autonomous driving mining truck is in the unloading task cycle and arrives at the unloading point to determine whether the unloading conditions are met. If so, the method for intelligent lifting of the cargo box of the smart mining truck is executed to perform the unloading action.

[0045] Preferably, before executing the unloading action, it is determined whether the lifting conditions are met: including whether the vehicle is in a parking state, whether the power take-off state is normal, and whether the safety conditions are met. After the vehicle meets the lifting conditions, the autonomous driving domain controller issues a lifting command: the gearbox is placed in the power take-off gear through the corresponding CAN message, and the vehicle body control module is enabled to perform the lifting operation through the corresponding CAN message.

[0046] Preferably, after unloading is completed, a recovery operation is performed: a CAN message is sent to the vehicle body control module to execute the lowering operation. After descending into place, the gearbox is restored to the state before power take-off through the CAN message controller. During the unloading process, if an emergency stop command is received from the VMS vehicle management platform, the system enters the safety processing module; after receiving the recovery command, the previous operation is continued. During the entire lifting process, the current state is fed back to the upstream module in real time. After unloading is completed, the unloading completion signal is fed back to the vehicle management platform and the upstream module to execute the next task.

[0047] Compared with the prior art, the present invention has the following advantages:

[0048] 1. Lift to the minimum angle for dumping under different loads, which improves lifting efficiency;

[0049] 2. The tilting angle is controlled by a cubic polynomial to achieve smooth lifting;

[0050] 3. The hydraulic oil pressure of the feedforward can be obtained through the current angle, lifting time and total weight of the cargo box. According to the PID control, the actual oil pressure required for the actual lifting angle can be obtained, and the lifting control of goods with different loads can be dynamically carried out with optimal efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic diagram of the force analysis of the cargo bucket in the intelligent lifting method of the cargo bucket of a smart mining truck of the present invention. DETAILED DESCRIPTION

[0052] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0054] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] Example 1

[0056] A method for intelligently lifting a cargo bucket of a smart mining truck comprises the following steps:

[0057] A) Sampling is performed during the lifting process of the cargo bucket to obtain a sequence of lifting moments t and a sequence of corresponding lifting angles θ;

[0058] B) setting a cubic function between the lifting angle θ and the lifting time t, and fitting to obtain a time-target angle function;

[0059] C) Analyze the force on the cargo bucket and calculate the hydraulic cylinder pressure P when the cargo bucket is lifted to the highest point;

[0060] D) Lift the cargo box according to the calculated hydraulic cylinder pressure P and obtain the real-time lifting angle θ of the cargo box s ;

[0061] E) Calculate the target lift angle θ at that moment based on the time-target angle function i , according to the real-time lifting angle θ s and the target lift angle θ i The difference is used to compensate the hydraulic cylinder pressure P until the cargo box is lifted to the highest point and unloading begins.

[0062] A method for unloading materials by a smart mining truck. After the vehicle management platform receives an instruction indicating that loading is completed, it first performs a vehicle self-inspection. If there is any abnormality, it enters the abnormal vehicle condition processing process. If the vehicle status is normal and the platform scheduling meets the unloading conditions, an unloading task instruction is generated and sent to the autonomous driving mining truck. The autonomous driving mining truck is in the unloading task cycle and arrives at the unloading point to determine whether the unloading conditions are met. If so, the intelligent lifting method of the cargo box of the smart mining truck is executed to perform the unloading action.

[0063] Example 2

[0064] A method for intelligently lifting a cargo bucket of a smart mining truck comprises the following steps:

[0065] A) Sampling is performed during the lifting process of the cargo bucket to obtain a sequence of lifting moments t and a sequence of corresponding lifting angles θ;

[0066] B) setting a cubic function between the lifting angle θ and the lifting time t, and fitting to obtain a time-target angle function;

[0067] C) Analyze the force on the cargo bucket and calculate the hydraulic cylinder pressure P when the cargo bucket is lifted to the highest point;

[0068] D) Lift the cargo box according to the calculated hydraulic cylinder pressure P and obtain the real-time lifting angle θ of the cargo box s ;

[0069] E) Calculate the target lift angle θ at that moment based on the time-target angle function i , according to the real-time lifting angle θ s and the target lift angle θ i The difference is used to compensate the hydraulic cylinder pressure P until the cargo box is lifted to the highest point and unloading begins.

[0070] In step A), the total mass m k The sampling is carried out during the lifting process of the cargo bucket. The lifting takes a total time kT, and the lifting time sequence t is recorded as t0, t1, t2, t3, t4, ..., t k , T is the time difference between two adjacent time points, and the corresponding lifting angle θ sequence is θ0, θ1, θ2, θ3, θ4, …, θ k .

[0071] In step B), the cubic function between the cargo bucket lifting angle θ and the lifting time t is set as:

[0072] θ(t)=a0t+a1t 2 +a2t 3

[0073] θ(t)′=a0+2a1t+3a2t 2

[0074] θ(t)″=2a1+6a2t

[0075] Where a0, a1, a2 are the parameters of the cubic function. Given (t0,θ0), (t1,θ1), we get:

[0076] a0=θ0′

[0077]

[0078]

[0079] Where, h = θ1-θ0, T = t1-t0, and the time-target angle function is obtained by fitting.

[0080] In step C), when the lifting lever lifts the cargo box to the lifting angle θ kWhen the load box is subjected to stress analysis, Figure 1 As shown, the length AB of the cargo bucket is L, the cargo bucket and the cargo bucket chassis are hinged at B, the bottom end C of the lifting rod is hinged to the cargo bucket chassis at B, and its extension is controlled by the hydraulic cylinder. The top end O of the lifting rod is movably connected to the cargo bucket, and the length from the force point O of the lifting rod and the cargo bucket to the hinge point B of the cargo bucket and the cargo bucket chassis is l, and the angle between the cargo bucket and the cargo bucket chassis is θ k , the angle between the lifting rod and the cargo box frame is β, F P is the support force of the lifting rod on the cargo bucket under the action of the hydraulic cylinder. The angle between the direction of the support force of the lifting rod on the cargo bucket and the vertical direction of the cargo bucket is recorded as α. a is the angular acceleration of the cargo bucket. According to the moment balance, the equation can be obtained:

[0081]

[0082] in,

[0083]

[0084] a=θ(t k )″

[0085] I is the moment of inertia, we can get:

[0086]

[0087] Arranged available,

[0088]

[0089] Assuming the effective area of ​​the hydraulic cylinder piston is S, the hydraulic cylinder pressure P at this time is:

[0090]

[0091] That is, the hydraulic cylinder pressure when the cargo box is lifted to the highest point

[0092] A method for unloading materials from a smart mining truck. After a vehicle management platform receives an instruction indicating that loading is completed, it first performs a vehicle self-inspection. If there is an abnormality, it enters an abnormal vehicle condition processing flow. If the vehicle is in normal condition and the platform scheduling meets the unloading conditions, an unloading task instruction is generated and sent to an autonomous driving mining truck. The autonomous driving mining truck is in a cycle of executing the unloading task and arrives at the unloading point to determine whether the unloading conditions are met. If so, the method for intelligent lifting of the cargo box of a smart mining truck as described in claim 1 is executed to perform the unloading action.

[0093] Before executing the unloading action, determine whether the lifting conditions are met: including whether the vehicle is in the parking state, whether the power take-off status is normal, and whether the safety conditions are met. After the vehicle meets the lifting conditions, the autonomous driving domain controller issues a lifting command: the gearbox is placed in the power take-off gear through the corresponding CAN message, and the vehicle body control module is enabled to perform the lifting operation through the corresponding CAN message.

[0094] Example 3

[0095] A method for intelligently lifting a cargo bucket of a smart mining truck comprises the following steps:

[0096] A) Sampling is performed during the lifting process of the cargo bucket to obtain a sequence of lifting moments t and a sequence of corresponding lifting angles θ;

[0097] B) setting a cubic function between the lifting angle θ and the lifting time t, and fitting to obtain a time-target angle function;

[0098] C) Analyze the force on the cargo bucket and calculate the hydraulic cylinder pressure P when the cargo bucket is lifted to the highest point;

[0099] D) Lift the cargo box according to the calculated hydraulic cylinder pressure P and obtain the real-time lifting angle θ of the cargo box s ;

[0100] E) Calculate the target lift angle θ at that moment based on the time-target angle function i , according to the real-time lifting angle θ s With the target lift angle θ i The difference is used to compensate the hydraulic cylinder pressure P until the cargo box is lifted to the highest point and unloading begins.

[0101] In step A), the total mass m k The sampling is carried out during the lifting process of the cargo bucket. The lifting takes a total time kT, and the lifting time sequence t is recorded as t0, t1, t2, t3, t4, ..., t k , T is the time difference between two adjacent time points, and the corresponding lifting angle θ sequence is θ0, θ1, θ2, θ3, θ4, …, θ k .

[0102] In step B), the cubic function between the cargo bucket lifting angle θ and the lifting time t is set as:

[0103] θ(t)=a0t+a1t 2 +a2t 3

[0104] θ(t)′=a0+2a1t+3a2t 2

[0105] θ(t)″=2a1+6a2t

[0106] Where a0, a1, a2 are the parameters of the cubic function. Given (t0,θ0), (t1,θ1), we get:

[0107] a0=θ0′

[0108]

[0109]

[0110] Where, h = θ1-θ0, T = t1-t0, and the time-target angle function is obtained by fitting.

[0111] In step C), when the lifting lever lifts the cargo box to the lifting angle θ k When the load is 1000 kg, the load is subjected to stress analysis. The load is L, the load is hinged to the load frame, the bottom end of the lifting rod is hinged to the load frame, and its extension is controlled by the hydraulic cylinder. The top end of the lifting rod is movably connected to the load. The length from the load point of the lifting rod and the load to the hinge point of the load is l, and the angle between the load and the load frame is θ. k , the angle between the lifting rod and the cargo box frame is β, F P is the support force of the lifting rod on the cargo bucket under the action of the hydraulic cylinder. The angle between the direction of the support force of the lifting rod on the cargo bucket and the vertical direction of the cargo bucket is recorded as α. a is the angular acceleration of the cargo bucket. According to the moment balance, the equation can be obtained:

[0112]

[0113] in,

[0114]

[0115] a=θ(t k )″

[0116] I is the moment of inertia, we can get:

[0117]

[0118] Arranged available,

[0119]

[0120] Assuming the effective area of ​​the hydraulic cylinder piston is S, the hydraulic cylinder pressure P at this time is:

[0121]

[0122] That is, the hydraulic cylinder pressure when the cargo box is lifted to the highest point

[0123] In step D), the cargo box is lifted according to the calculated hydraulic cylinder pressure P, and the time t is obtained. i The real-time lifting angle of the cargo box θ s In step E), the lifting time t is calculated according to the time-target angle function. i The target lift angle θ i , calculate the real-time lifting angle θ s With the target lift angle θ i The difference e i =θ i -θ s , compensate the hydraulic cylinder pressure P, and calculate the pressure difference △P=u(i),

[0124]

[0125]

[0126]

[0127] Among them, K P is the proportionality coefficient, T i is the integration time, T d is the differential time, then it is lifted to θ i The actual required hydraulic cylinder pressure P ff For: P ff =P+△P.

[0128] A method for unloading materials from a smart mining truck. After a vehicle management platform receives an instruction indicating that loading is completed, it first performs a vehicle self-inspection. If there is an abnormality, it enters an abnormal vehicle condition processing flow. If the vehicle is in normal condition and the platform scheduling meets the unloading conditions, an unloading task instruction is generated and sent to an autonomous driving mining truck. The autonomous driving mining truck is in a cycle of executing the unloading task and arrives at the unloading point to determine whether the unloading conditions are met. If so, the method for intelligent lifting of the cargo box of a smart mining truck as described in claim 1 is executed to perform the unloading action.

[0129] Before executing the unloading action, determine whether the lifting conditions are met: including whether the vehicle is in the parking state, whether the power take-off status is normal, and whether the safety conditions are met. After the vehicle meets the lifting conditions, the autonomous driving domain controller issues a lifting command: the gearbox is placed in the power take-off gear through the corresponding CAN message, and the vehicle body control module is enabled to perform the lifting operation through the corresponding CAN message.

[0130] Example 4

[0131] A method for intelligently lifting a cargo bucket of a smart mining truck comprises the following steps:

[0132] A) Sampling is performed during the lifting process of the cargo bucket to obtain a sequence of lifting moments t and a sequence of corresponding lifting angles θ;

[0133] B) setting a cubic function between the lifting angle θ and the lifting time t, and fitting to obtain a time-target angle function;

[0134] C) Analyze the force on the cargo bucket and calculate the hydraulic cylinder pressure P when the cargo bucket is lifted to the highest point;

[0135] D) Lift the cargo box according to the calculated hydraulic cylinder pressure P and obtain the real-time lifting angle θ of the cargo box s ;

[0136] E) Calculate the target lift angle θ at that moment based on the time-target angle function i , according to the real-time lifting angle θ s With the target lift angle θ i The difference is used to compensate the hydraulic cylinder pressure P until the cargo box is lifted to the highest point and unloading begins.

[0137] In step A), the total mass m k The sampling is carried out during the lifting process of the cargo bucket. The lifting takes a total time kT, and the lifting time sequence t is recorded as t0, t1, t2, t3, t4, ..., t k , T is the time difference between two adjacent time points, and the corresponding lifting angle θ sequence is θ0, θ1, θ2, θ3, θ4, …, θ k .

[0138] In step B), the cubic function between the cargo bucket lifting angle θ and the lifting time t is set as:

[0139] θ(t)=a0t+a1t 2 +a2t 3

[0140] θ(t)′=a0+2a1t+3a2t 2

[0141] θ(t)″=2a1+6a2t

[0142] In the formula, a0, a1, a2 are the parameters of the cubic function. Given (t0,θ0), (t1,θ1), we get:

[0143] a0=θ0′

[0144]

[0145]

[0146] Where, h = θ1-θ0, T = t1-t0, and the time-target angle function is obtained by fitting.

[0147] In step C), when the lifting lever lifts the cargo box to the lifting angle θ k When the load is 1000 kg, the load is subjected to stress analysis. The load is L, the load is hinged to the load frame, the bottom end of the lifting rod is hinged to the load frame, and its extension is controlled by the hydraulic cylinder. The top end of the lifting rod is movably connected to the load. The length from the load point of the lifting rod and the load to the hinge point of the load is l, and the angle between the load and the load frame is θ. k , the angle between the lifting rod and the cargo box frame is β, F P is the support force of the lifting rod on the cargo bucket under the action of the hydraulic cylinder. The angle between the direction of the support force of the lifting rod on the cargo bucket and the vertical direction of the cargo bucket is recorded as α. a is the angular acceleration of the cargo bucket. According to the moment balance, the equation can be obtained:

[0148]

[0149] in,

[0150]

[0151] a=θ(t k )″

[0152] I is the moment of inertia, we can get:

[0153]

[0154] Arranged available,

[0155]

[0156] Assuming the effective area of ​​the hydraulic cylinder piston is S, the hydraulic cylinder pressure P at this time is:

[0157]

[0158] That is, the hydraulic cylinder pressure when the cargo box is lifted to the highest point

[0159] In step D), the cargo box is lifted according to the calculated hydraulic cylinder pressure P, and the time t is obtained. i The real-time lifting angle of the cargo box θ s In step E), the lifting time t is calculated according to the time-target angle function. i The target lift angle θ i , calculate the real-time lifting angle θ s and the target lift angle θ i The difference e i =θ i -θ s , compensate the hydraulic cylinder pressure P, and calculate the pressure difference △P=u(i),

[0160]

[0161]

[0162]

[0163] Among them, K P is the proportionality coefficient, T i is the integration time, T d is the differential time, then it is lifted to θ i The actual required hydraulic cylinder pressure P ff For: P ff =P+△P.

[0164] A method for unloading materials from a smart mining truck. After a vehicle management platform receives an instruction indicating that loading is completed, it first performs a vehicle self-inspection. If there is an abnormality, it enters an abnormal vehicle condition processing flow. If the vehicle is in normal condition and the platform scheduling meets the unloading conditions, an unloading task instruction is generated and sent to an autonomous driving mining truck. The autonomous driving mining truck is in a cycle of executing the unloading task and arrives at the unloading point to determine whether the unloading conditions are met. If so, the method for intelligent lifting of the cargo box of a smart mining truck as described in claim 1 is executed to perform the unloading action.

[0165] Before executing the unloading action, determine whether the lifting conditions are met: including whether the vehicle is in the parking state, whether the power take-off status is normal, and whether the safety conditions are met. After the vehicle meets the lifting conditions, the autonomous driving domain controller issues a lifting command: the gearbox is placed in the power take-off gear through the corresponding CAN message, and the vehicle body control module is enabled to perform the lifting operation through the corresponding CAN message.

[0166] In addition, according to the empirical data, the corresponding relationship between the minimum lifting angle θ at which the cargo can be dumped when the total mass of the cargo bucket is m is obtained, and the lifting angle θ sequence is θ0, θ1, θ2, θ3, θ4, ..., θ k The corresponding total mass sequence is m0, m1, m2, m3, m4, ..., m k When unloading, when the total mass of the cargo bucket drops to m n Then, the corresponding lifting angle θ is obtained. n and the corresponding t n , calculate the hydraulic cylinder pressure P at this time, F P This is the supporting force of the lifting rod on the cargo box under the action of the hydraulic cylinder at this time, l is the length from the force point of the lifting rod and the cargo box to the hinge point of the cargo box and the cargo box frame at this time, and β is the angle between the lifting rod and the cargo box frame at this time.

[0167] In particular, get the time t n The real-time lifting angle of the cargo box θ s, calculate the real-time lifting angle θ s and the target lift angle θ n The difference e n =θ n -θ s , compensate the hydraulic cylinder pressure P, and calculate the pressure difference △P=u(n),

[0168]

[0169]

[0170]

[0171] Among them, K P is the proportionality coefficient, T n is the integration time, T d is the differential time, then it drops to θ n The actual required hydraulic cylinder pressure P ff For: P ff =P+△P.

[0172] A method for unloading materials from a smart mining truck. After a vehicle management platform receives an instruction indicating that loading is completed, it first performs a vehicle self-inspection. If there is an abnormality, it enters an abnormal vehicle condition processing flow. If the vehicle is in normal condition and the platform scheduling meets the unloading conditions, an unloading task instruction is generated and sent to an autonomous driving mining truck. The autonomous driving mining truck is in a cycle of executing the unloading task and arrives at the unloading point to determine whether the unloading conditions are met. If so, the method for intelligent lifting of the cargo box of a smart mining truck as described in claim 1 is executed to perform the unloading action.

[0173] Before executing the unloading action, determine whether the lifting conditions are met: including whether the vehicle is in the parking state, whether the power take-off status is normal, and whether the safety conditions are met. After the vehicle meets the lifting conditions, the autonomous driving domain controller issues a lifting command: the gearbox is placed in the power take-off gear through the corresponding CAN message, and the vehicle body control module is enabled to perform the lifting operation through the corresponding CAN message.

[0174] After unloading is completed, the recovery operation is executed: a CAN message is sent to the vehicle body control module to execute the lowering operation. After descending into place, the gearbox is restored to the state before power take-off through the CAN message controller. During the unloading process, if an emergency stop command is received from the VMS vehicle management platform, the system enters the safety processing module; after receiving the recovery command, the previous operation is continued. During the entire lifting process, the current state is fed back to the upstream module in real time. After unloading is completed, the unloading completion signal is fed back to the vehicle management platform and the upstream module to execute the next task.

[0175] The intelligent lifting method for the cargo bed of a smart mining truck and the intelligent unloading method for a smart mining truck of the present invention can lift the cargo bed to the minimum angle for dumping under different loads, thereby improving the lifting efficiency; the dumping angle is controlled in a cubic polynomial manner to achieve lifting smoothness; the feedforward hydraulic oil pressure can be obtained through the current angle, lifting time and total weight of the cargo bed, and the actual oil pressure required for the actual lifting to the angle can be obtained according to PID control, so that the lifting control of cargo with different loads can be dynamically performed with optimal efficiency.

[0176] It should be noted that the description of the above technical solutions is exemplary, and this specification can be embodied in different forms and should not be interpreted as being limited to the technical solutions set forth herein. On the contrary, providing these descriptions will make the disclosure of the present invention thorough and complete, and will fully convey the scope disclosed in this specification to those skilled in the art. In addition, the technical solutions of the present invention are limited only by the scope of the claims.

[0177] The various aspects disclosed for describing the present specification and claims are merely examples, and therefore, the present specification and claims are not limited to the details shown. In the above description, when the detailed description of the related known functions or configurations is determined to be unnecessary to obscure the focus of the present specification and claims, the detailed description will be omitted.

[0178] In the case of using “including”, “having” and “comprising” described in the present specification, unless otherwise used, there may also be another part or other parts, and the terms used may generally be in the singular but may also represent the plural form.

[0179] Finally, it should be pointed out that the above content is a further detailed description of the invention in combination with specific implementation methods. It cannot be considered that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, simple replacements made without departing from the concept of the present invention should be regarded as belonging to the protection scope of the present invention. The above embodiments are only more representative examples of the present invention. Obviously, the present invention is not limited to the above embodiments, and there can be many variations. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention should be considered to belong to the protection scope of the present invention.

[0180] At the same time, it should be noted that the description of the above technical solutions is exemplary, and this specification can be embodied in different forms and should not be construed as being limited to the technical solutions set forth herein. On the contrary, providing these descriptions will make the disclosure of the present invention thorough and complete, and will fully convey the scope disclosed in this specification to those skilled in the art. In addition, the technical solutions of the present invention are limited only by the scope of the claims. The features of the various embodiments of the present invention may be partially or completely combined or spliced ​​with each other, and may be performed in various different configurations as those skilled in the art may fully understand. The embodiments of the present invention may be performed independently of each other, or may be performed together in a mutually dependent relationship.

[0181] For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, and the above structures should be regarded as belonging to the protection scope of the present invention.

Claims

1. A smart mining truck cargo bucket intelligent lifting method, characterized by: The steps include: A) Sampling is performed during the lifting process of the cargo bucket to obtain the lifting time t sequence and the corresponding lifting angle θ sequence. k The sampling is carried out during the lifting process of the cargo bucket. The lifting takes a total time kT, and the lifting time sequence t is recorded as t0, t1, t2, t3, t4, ..., t k , T is the time difference between two adjacent time points, and the corresponding lifting angle θ sequence is θ0, θ1, θ2, θ3, θ4, …, θ k ; B) setting a cubic function between the lifting angle θ and the lifting time t, and fitting to obtain a time-target angle function; C) Analyze the force on the cargo bucket and calculate the hydraulic cylinder pressure P when the cargo bucket is lifted to the highest point; D) Lift the cargo box according to the calculated hydraulic cylinder pressure P and obtain the lifting time t i The real-time lifting angle of the cargo box θ s ; E) Calculate the lifting time t according to the time-target angle function i The target lift angle θ i , according to the real-time lifting angle θ s With the target lift angle θ i The difference is used to compensate the hydraulic cylinder pressure P until the cargo box is lifted to the highest point and unloading begins.

2. According to claim 1, the intelligent lifting method for the cargo bucket of a smart mining truck is characterized by: In the step B), the cubic function between the cargo bucket lifting angle θ and the lifting time t is set as: θ(t)=a0t+a1t 2 +a2t 3 θ(t) ′ =a0+2a1t+3a2t 2 θ(t) ″ =2a1+6a2t Where a0, a1, a2 are the parameters of the cubic function. Given (t0,θ0), (t1,θ1), we get: a0=θ0′ Where, h = θ1-θ0, T = t1-t0, and the time-target angle function is obtained by fitting.

3. According to claim 2, the intelligent lifting method for the cargo bucket of a smart mining truck is characterized by: In step C), when the lifting rod lifts the cargo bucket to the lifting angle θ k When the load is 1000 kg, the load is subjected to stress analysis. The load is L, the load is hinged to the load frame, the bottom end of the lifting rod is hinged to the load frame, and its extension is controlled by the hydraulic cylinder. The top end of the lifting rod is movably connected to the load. The length from the load point of the lifting rod and the load to the hinge point of the load is l, and the angle between the load and the load frame is θ. k , the angle between the lifting rod and the cargo box frame is β, F P is the support force of the lifting rod on the cargo bucket under the action of the hydraulic cylinder. The angle between the direction of the support force of the lifting rod on the cargo bucket and the vertical direction of the cargo bucket is recorded as α. a is the angular acceleration of the cargo bucket. According to the moment balance, the equation can be obtained: in, a=θ(t k ) ″ I is the moment of inertia, we can get: Arranged available, Assuming the effective area of ​​the hydraulic cylinder piston is S, the hydraulic cylinder pressure P at this time is: That is, the hydraulic cylinder pressure P = F when the cargo box is lifted to the highest point P / S.

4. According to claim 3, the intelligent lifting method for the cargo bucket of a smart mining truck is characterized in that: In step E), calculate the real-time lifting angle θ s and the target lift angle θ i The difference e i =θ i -θ s , compensate the hydraulic cylinder pressure P, and calculate the pressure difference △P=u(i), Among them, K P is the proportionality coefficient, T i is the integration time, T d is the differential time, then it is lifted to θ i The actual required hydraulic cylinder pressure P ff For: P ff =P+△P.

5. According to claim 4, the intelligent lifting method for the cargo bucket of a smart mining truck is characterized in that: According to the empirical data, the corresponding relationship between the minimum lifting angle θ at which the cargo can be dumped when the total mass of the cargo bucket is m is obtained, and the lifting angle θ sequence is θ0, θ1, θ2, θ3, θ4, ..., θ k The corresponding total mass sequence is m0, m1, m2, m3, m4, ..., m k When unloading, when the total mass of the cargo bucket drops to m n Then, the corresponding lifting angle θ is obtained. n and the corresponding t n , calculate the hydraulic cylinder pressure P at this time, F P This is the supporting force of the lifting rod on the cargo box under the action of the hydraulic cylinder at this time, l is the length from the force point of the lifting rod and the cargo box to the hinge point of the cargo box and the cargo box frame at this time, and β is the angle between the lifting rod and the cargo box frame at this time.

6. The intelligent lifting method for a cargo bucket of a smart mining truck according to claim 5 is characterized in that: Get time t n The real-time lifting angle of the cargo box θ s , calculate the real-time lifting angle θ s and the target lift angle θ n The difference e n =θ n -θ s , compensate the hydraulic cylinder pressure P, and calculate the pressure difference △P=u(n), Among them, K P is the proportionality coefficient, T n is the integration time, T d is the differential time, then it drops to θ n The actual required hydraulic cylinder pressure P ff For: P ff =P+△P.

7. A smart mining truck unloading method, characterized in that: After the vehicle management platform receives the instruction that loading is completed, it first performs a vehicle self-inspection. If there is any abnormality, it enters the abnormal vehicle condition processing process. If the vehicle status is normal and the platform scheduling meets the unloading conditions, it generates an unloading task instruction and sends the instruction to the autonomous driving mining truck. The autonomous driving mining truck is in the unloading task cycle and arrives at the unloading point to determine whether the unloading conditions are met. If so, the smart mining truck cargo box intelligent lifting method as described in claim 1 is executed to perform the unloading action.

8. The intelligent mining truck unloading method according to claim 7 is characterized in that: Before executing the unloading action, determine whether the lifting conditions are met: including whether the vehicle is in the parking state, whether the power take-off status is normal, and whether the safety conditions are met. After the vehicle meets the lifting conditions, the autonomous driving domain controller issues a lifting command: the gearbox is placed in the power take-off gear through the corresponding CAN message, and the vehicle body control module is enabled to perform the lifting operation through the corresponding CAN message.

9. The intelligent mining truck unloading method according to claim 8 is characterized in that: After unloading is completed, the recovery operation is executed: a CAN message is sent to the vehicle body control module to execute the lowering operation. After descending into place, the gearbox is restored to the state before power take-off through the CAN message controller. During the unloading process, if an emergency stop command is received from the VMS vehicle management platform, the system enters the safety processing module; after receiving the recovery command, the previous operation is continued. During the entire lifting process, the current state is fed back to the upstream module in real time. After unloading is completed, the unloading completion signal is fed back to the vehicle management platform and the upstream module to execute the next task.

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