Loading state estimation method and loading amount estimation method

Abstract

The application provides a loading state estimation method, which can be used for estimating the loading state of a dump truck according to the driving state and the loading and unloading state of the dump truck. The loading state estimation method comprises: observing the driving state of the dump truck to obtain an observed driving state at continuous time points; observing the loading and unloading state of the dump truck at a time point when the observed driving state is static to obtain an observed loading and unloading state at continuous time points; and estimating the loading state based on the observed loading and unloading state to obtain an estimated loading state, and updating the estimated loading state according to the observed loading and unloading state at a subsequent time point. Through the loading state estimation method, the estimated loading state of the dump truck can be accurately, reliably and timely obtained. The application also provides a loading amount estimation method based on the loading state estimation method.

Description

Technical Field

[0001] This application relates to methods for estimating loading status and methods for estimating loading volume, and more particularly to a method for estimating the loading status of a dump truck and a method for estimating the total loading volume of a dump truck over a defined period. Background Technology

[0002] In situations where dump trucks are used as loading tools to transport bulk materials (such as earthwork, slag, minerals, grains, etc.), such as in open-pit mines, in the loading area (hereinafter referred to as "loading"), an excavator loads slag into the dump truck's cargo box; after loading is completed, the dump truck is fully loaded and drives to the unloading area; in the unloading area, the dump truck's cargo box is raised to the top, during which the cargo box unloads the slag; after unloading is completed, the dump truck's cargo box falls back to the bottom, at which point the dump truck is empty, and if necessary, the dump truck drives back to the loading area. Thus, the dump truck completes one loading and unloading cycle.

[0003] Accurate, reliable, and timely acquisition of the loading status of dump trucks is crucial for dump truck fleet operators, mine owners, and others. For example, based on the loading status of dump trucks, the amount of bulk materials transported by the dump trucks within a certain period (e.g., one day, one week, one month) can be measured.

[0004] Currently, there is no solution in this technical field that can accurately, reliably, and timely obtain the loading status of dump trucks. Specifically, due to uncontrollable human factors, solutions based on manual recording have low accuracy, reliability, and timeliness in obtaining the loading status of dump trucks. Furthermore, due to the drastic terrain changes in open-pit mines, the boundaries between the loading and unloading areas of dump trucks are extremely unstable, and the unpaved road conditions for dump trucks are also extremely complex. Therefore, solutions based on positioning and measurement cannot provide reliable measurement results. In addition, due to various uncertainties on-site, dump trucks often cannot be fully loaded or unloaded in one go, requiring them to return after leaving the loading or unloading area for reloading or unloading. This makes all existing solutions for obtaining the loading status of dump trucks unreliable.

[0005] Based on the current state of the technology, there is a need for a loading state estimation method for estimating the loading state of a dump truck and a loading amount estimation method for estimating the total loading amount of a dump truck within a certain period, which can accurately, reliably and timely obtain the estimated loading state of the dump truck, and based on the estimated loading state, can accurately, reliably and timely obtain the estimated loading amount of the dump truck. Summary of the Invention

[0006] According to one aspect of this application, a loading state estimation method is provided, which can be used to estimate the loading state of a dump truck based on its driving state and loading / unloading state. The loading state estimation method may include:

[0007] The driving status of dump trucks is observed to obtain continuous real-time driving status data.

[0008] The loading and unloading status of the dump truck is observed continuously at moments when the truck is stationary; and

[0009] The loading status is estimated based on the observed loading and unloading status to obtain the estimated loading status, and the estimated loading status is updated based on the observed loading and unloading status at subsequent time points.

[0010] According to the embodiments of this application, in the above-described loading state estimation method, the loading state can be estimated based on the observed loading and unloading state and in combination with the observed driving state at the next moment to obtain the estimated loading state.

[0011] According to the embodiments of this application, in the above-described loading state estimation method, when the observed loading and unloading state is loading, the loading state is estimated as pending, and when the observed loading and unloading state at a subsequent time is unloading, the pending estimated loading state is updated to full load; and when the observed loading and unloading state is unloading, the loading state is estimated as pending, and when the observed loading and unloading state at a subsequent time is loading, the pending estimated loading state is updated to empty.

[0012] According to the embodiments of this application, in the above-described loading state estimation method, when the observed loading / unloading state is loading and the observed driving state at the next moment is running, the loading state is estimated as undetermined, and when the observed loading / unloading state at a subsequent moment is unloading, the estimated loading state as undetermined is updated to full load; and when the observed loading / unloading state is unloading and the observed driving state at the next moment is running, the loading state is estimated as undetermined, and when the observed loading / unloading state at a subsequent moment is loading, the estimated loading state as undetermined is updated to empty.

[0013] According to the embodiments of this application, in the above-described loading state estimation method, the driving speed of the dump truck is estimated based on the equivalent center wheel speed of the front wheel of the dump truck and the acceleration of the dump truck in the direction of travel to obtain an estimated driving speed; and when the estimated driving speed is less than a first speed, the observed driving state is set to stationary, and when the estimated driving speed is greater than a second speed, the observed driving state is set to running.

[0014] According to the embodiments of this application, in the above-described loading state estimation method, the transmission gear of the dump truck is observed to obtain the observed transmission gear; the driving speed of the dump truck is estimated based on the equivalent center wheel speed of the front wheel and the acceleration of the dump truck in the direction of travel to obtain the estimated driving speed; and the observed driving state is set to stationary when the estimated driving speed is less than a first speed, and the observed driving state is set to running when the estimated driving speed is greater than a second speed and the observed transmission gear is not in neutral (N) gear.

[0015] According to the embodiments of this application, in the above-described loading state estimation method, the driving speed of the dump truck is estimated using a Kalman filter.

[0016] According to the embodiments of this application, in the above-described loading state estimation method, the loading and unloading state is observed based on the lifting and lowering state of the dump truck's cargo box, and the observed loading and unloading state is set to unloading when the dump truck's cargo box is being lifted or has been lifted to the designated position.

[0017] According to the embodiments of this application, in the above-described loading state estimation method, the loading and unloading state is further observed based on the deformation of the leaf spring of the rear axle of the dump truck, and the observed loading and unloading state is set as loading when the deformation of the leaf spring of the rear axle is greater than a preset deformation threshold.

[0018] According to the embodiments of this application, in the above-described loading state estimation method, the deformation of the leaf spring is estimated based on the angle detected and output by the angle sensor installed on the lever mechanism to obtain the estimated deformation, thereby observing the loading and unloading state. The lever mechanism is installed between the rear axle and the frame of the dump truck and can rotate according to the change in the distance between the rear axle and the frame.

[0019] According to another aspect of this application, a loading capacity estimation method is also provided, which can be used to estimate the total loading capacity of a dump truck over a defined period by the following:

[0020] Y = N × L,

[0021] in,

[0022] Y represents the estimated total load of the dump truck within a defined period.

[0023] N represents the number of dump trucks whose estimated loading condition is fully loaded within a defined period, obtained using any of the loading condition estimation methods described above.

[0024] L represents the rated load capacity corresponding to the estimated loading state of the dump truck being fully loaded.

[0025] The loading status estimation method provided in this application allows for the estimation of the loading status of a dump truck based on its driving and loading / unloading status, thereby enabling accurate, reliable, and timely acquisition of the estimated loading status. Furthermore, the loading quantity estimation method based on the loading status estimation method of this application allows for accurate, reliable, and timely acquisition of the estimated loading quantity of the dump truck. Attached Figure Description

[0026] For illustrative and not limiting purposes, the invention will now be described with reference to preferred embodiments thereof, particularly the accompanying drawings, in which:

[0027] Figure 1 A block diagram illustrating a loading state estimation method according to an embodiment of this application is shown;

[0028] Figure 2 A block diagram illustrating a loading state estimation method according to an embodiment of this application is shown;

[0029] Figure 3 A block diagram illustrating a loading state estimation method according to an embodiment of this application is shown;

[0030] Figure 4 A block diagram illustrating a loading state estimation method according to an embodiment of this application is shown;

[0031] Figure 5 A block diagram illustrating a loading state estimation method according to an embodiment of this application is shown;

[0032] Figure 6 A schematic diagram of a system for implementing the loading state estimation method according to an embodiment of this application is shown.

[0033] Figure 7 Show Figure 6 A schematic diagram of the angle sensor installation scheme in the system shown; and

[0034] Figure 8 Showing with Figure 7 The diagram shows the geometric setup corresponding to the angle sensor installation scheme. Detailed Implementation

[0035] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0036] According to one aspect of this application, a loading state estimation method is provided for estimating the loading state of a dump truck based on its driving and loading / unloading states. The loading state estimation method provided by this application allows for the estimation of the loading state of a dump truck based on its driving and loading / unloading states obtained through various appropriate methods, thereby obtaining the estimated loading state of the dump truck accurately, reliably, and promptly.

[0037] In this technical field, the estimated loading status of a dump truck can be obtained through various technical solutions. The estimated loading status of a dump truck includes whether the dump truck is empty or fully loaded.

[0038] Figure 1 A loading state estimation method according to an embodiment of the present application is shown, which is used to estimate the loading state of a dump truck based on its driving state and loading / unloading state.

[0039] It should be noted that, in the context of this application, a dump truck refers to a vehicle used for transporting goods, wherein the cargo box for loading goods can be raised and lowered, and the goods in the cargo box can be unloaded by raising the cargo box itself.

[0040] It should also be noted that the loading status of a dump truck includes empty and fully loaded. Empty means that the dump truck is currently empty, and fully loaded means that the dump truck is currently fully loaded. The empty or fully loaded status is used to qualitatively describe the amount of cargo in the dump truck's cargo box at the current moment, rather than to quantitatively describe the amount of cargo. In addition, the loading status of a dump truck also includes pending status, which means that the dump truck is neither empty nor fully loaded at the current moment. Pending status can be understood as a temporary state. This may be due to factors such as conflicts between historical observations used to determine the loading status of the dump truck, which make it impossible to effectively estimate the loading status of the dump truck. In this state, it may be necessary to update this temporary state by combining observations from subsequent moments until the loading status is estimated to be empty or fully loaded.

[0041] like Figure 1 As shown, the loading state estimation method M10 may include:

[0042] S100: Observe the driving status of the dump truck to obtain continuous observation of the driving status;

[0043] S200: The loading and unloading status of the dump truck is observed at the moment when the observed driving state is stationary to obtain the loading and unloading status at continuous time.

[0044] S300: Estimate the loading status based on the observed loading and unloading status to obtain the estimated loading status, and update the estimated loading status based on the observed loading and unloading status at subsequent times.

[0045] In the loading state estimation method according to this application, the loading state of the dump truck is estimated based on its driving state and loading / unloading state. This can be achieved by independently observing the driving state and loading / unloading state of the dump truck using multiple methods, and then estimating the loading state based on the observed loading / unloading states. Those skilled in the art will understand that by fusing multiple independent observations, the accuracy and reliability of the state estimation can be effectively improved.

[0046] Furthermore, in the state estimation method according to this application, the driving state of the dump truck is observed to obtain the observed driving state at continuous time intervals, and the loading and unloading state of the dump truck is observed at the time when the observed driving state is stationary to obtain the observed loading and unloading state at continuous time intervals.

[0047] Before further explaining the technical solution of this application, it should be noted that, in the context of this application, the observed driving state includes both stationary and running states. Stationary indicates that the dump truck is stationary at the current moment, while running indicates that the dump truck is running at the current moment. The observed stationary state of the dump truck does not equate to a speed of 0, and similarly, the observed running state does not equate to a speed greater than 0. At the site where the dump truck is operating, even when parked (in neutral with the handbrake engaged), the dump truck may still experience slight slippage due to loose gravel or soil on unpaved surfaces, and its speed relative to the road surface is not 0. However, for determining the loading state of the dump truck, the fact that the truck is in neutral and the handbrake is engaged indicates that it can enter a loading state, which is more important than its speed being 0. Furthermore, due to the uncontrollable slippage of the dump truck relative to the road surface, and the possibility that the dump truck has started and is moving slowly and continuously accelerating to leave the loading area, but the excavator is still loading the dump truck's cargo box, meaning the dump truck is still in the loading area and in a loading state, it is more important for determining the loading state of the dump truck that the dump truck is still in the loading area and in a loading state than that its speed is greater than 0.

[0048] Furthermore, it should be noted that, in the context of this application, the observed loading and unloading states include loading and unloading. Loading indicates that the dump truck is currently loading, and unloading indicates that the dump truck is currently unloading. For a dump truck in operation, loading means that the dump truck is in the loading zone with the correct operating posture (e.g., engine off, gear in neutral, handbrake engaged, cargo box in the bottom position), and the loader is loading goods into the dump truck's cargo box. Conversely, unloading means that the dump truck is in the unloading zone with the correct operating posture (e.g., engine off, gear in neutral, handbrake engaged, cargo box raised), and the dump truck unloads the goods from the cargo box by raising the cargo box itself.

[0049] Based on the above description, it can be understood that in this technical field, due to the various uncertainties and uncontrollable factors, including the stationary and moving states of dump trucks, as well as the loading and unloading processes, it is difficult to estimate the loading status of dump trucks in a timely, accurate, and reliable manner.

[0050] The loading state estimation method of this application will now be explained. In the loading state estimation method of this application, the driving state of the dump truck can be observed using any suitable method in this technical field to obtain the observed driving state at continuous time intervals; and the loading and unloading state of the dump truck can be observed using any suitable method in this technical field when the observed driving state is stationary to obtain the observed loading and unloading state at continuous time intervals. Furthermore, the loading state can be estimated based on the observed loading and unloading state using any suitable method in this technical field to obtain an estimated loading state, and the estimated loading state can be updated based on the observed loading and unloading state at subsequent time intervals. The corresponding solutions adopted in the technical solution according to this application will be described below.

[0051] In the loading state estimation method according to this application, the observed driving state of the dump truck is obtained by observing the driving state at continuous intervals, thus achieving a continuous and real-time observed driving state. Furthermore, the loading and unloading state is observed only when the observed driving state is stationary, obtaining a continuous and real-time observed loading and unloading state. This ensures both a continuous and real-time observed driving state that is independent of the observed driving state, and the accuracy of the obtained observed loading and unloading state is guaranteed by excluding observed loading and unloading states when the observed driving state is not stationary. Those skilled in the art will understand that accurate and reliable state estimation can be achieved by fusing multiple independent observations (observed driving state and observed loading and unloading state); moreover, since the observations are obtained at continuous intervals, timely state estimation is possible.

[0052] In one embodiment of this application, the loading and unloading status can also be observed at all times to obtain the observed loading and unloading status at consecutive times. Before performing loading status estimation, the observed status at all consecutive times that is not related to the time when the observed driving status is stationary is excluded.

[0053] Furthermore, in the loading state estimation method according to this application, after obtaining the observed driving state at consecutive times and the observed loading and unloading state at consecutive times when the observed driving state is stationary, the loading state is estimated based on the observed loading and unloading state to obtain an estimated loading state, and the estimated loading state is updated based on the observed loading and unloading state at subsequent times. As mentioned above, since the obtained observed loading and unloading states may have conflicts or other factors, the loading and unloading state at the current time cannot be effectively estimated. In the loading state estimation method according to this application, the ineffective state estimate at the current time is updated by obtaining the observed loading and unloading state at subsequent times after the current time until an effective state estimate is obtained. Therefore, by using the loading state estimation method according to this application, the loading state can be estimated accurately and reliably.

[0054] Figure 2 A loading state estimation method according to one embodiment of the present application is shown, which is used to estimate the loading state of a dump truck based on the driving state and loading / unloading state of the dump truck.

[0055] like Figure 2 As shown, the loading state estimation method M10 may include:

[0056] S100: Observe the driving status of the dump truck to obtain continuous observation of the driving status;

[0057] S200: The loading and unloading status of the dump truck is observed at the moment when the observed driving state is stationary to obtain the loading and unloading status at continuous time.

[0058] S300: Based on the observed loading and unloading status and combined with the observed driving status at the next moment, the loading status is estimated to obtain the estimated loading status, and the estimated loading status is updated according to the observed loading and unloading status at subsequent moments.

[0059] In the loading state estimation method according to this embodiment, in addition to including the above-mentioned... Figure 1In addition to observing the driving state of the dump truck to obtain continuous observation driving state and observing the loading and unloading state of the dump truck when the observed driving state is stationary to obtain continuous observation loading and unloading state, the method also includes estimating the loading state based on the observed loading and unloading state and the observed driving state at the next moment to obtain an estimated loading state, and updating the estimated loading state based on the observed loading and unloading state at subsequent moments. In addition to using the observed loading and unloading state as a condition, the method also combines the observed driving state at the next moment to estimate the loading state, thereby fully integrating the mutually independent observed loading and unloading state and observed driving state. As mentioned above, those skilled in the art can understand that accurate and reliable state estimation can be achieved based on the fusion of multiple independent observations (observed driving state and observed loading and unloading state).

[0060] The following describes a specific scheme for obtaining the observed driving state and the observed loading and unloading state at consecutive times according to the technical solution of this application, as well as estimating the loading state based on the observed loading and unloading state / based on the observed loading and unloading state and combined with the observed driving state at the next time moment, and updating the estimated loading state based on the observed loading and unloading state at subsequent time moments.

[0061] Figure 3 A loading state estimation method according to one embodiment of the present application is shown, which is used to estimate the loading state of a dump truck based on the driving state and loading / unloading state of the dump truck.

[0062] like Figure 3 As shown, the loading state estimation method M10 may include:

[0063] S100: Observe the driving status of the dump truck to obtain continuous observation of the driving status;

[0064] S200: The loading and unloading status of the dump truck is observed at the moment when the observed driving state is stationary to obtain the loading and unloading status at continuous time.

[0065] S310: Estimate the loading status based on the observed loading and unloading status to obtain the estimated loading status;

[0066] S410: If the observed loading / unloading status is "loading", the loading status is estimated as "pending"; and if the observed loading / unloading status at a subsequent time is "unloading", the estimated loading status is updated from "pending" to "full load".

[0067] S420: If the observed loading / unloading status is unloading, the loading status is estimated as pending, and if the observed loading / unloading status at a subsequent time is loading, the estimated loading status of pending is updated to empty.

[0068] In the loading state estimation method according to this embodiment, in addition to including the above-mentioned... Figure 1 and Figure 2 In addition to observing the driving state of the dump truck to obtain continuous observation driving state, observing the loading and unloading state of the dump truck when the driving state is stationary to obtain continuous observation loading and unloading state, and estimating the loading state based on the observed loading and unloading state to obtain estimated loading state, the following are also included:

[0069] If the observed loading / unloading status is loading, the loading status is estimated as pending; if the observed loading / unloading status is unloading at a later time, the estimated loading status of pending is updated to full load; and if the observed loading / unloading status is unloading, the loading status is estimated as pending; if the observed loading / unloading status is loading at a later time, the estimated loading status of pending is updated to empty.

[0070] Figure 4 A loading state estimation method according to one embodiment of the present application is shown, which is used to estimate the loading state of a dump truck based on the driving state and loading / unloading state of the dump truck.

[0071] like Figure 4 As shown, the loading state estimation method M10 may include:

[0072] S100: Observe the driving status of the dump truck to obtain continuous observation of the driving status;

[0073] S200: The loading and unloading status of the dump truck is observed at the moment when the observed driving state is stationary to obtain the loading and unloading status at continuous time.

[0074] S310: Estimate the loading status by observing the loading and unloading status and combining it with the observed driving status at the next moment;

[0075] S410: If the observed loading / unloading status is "loading", the loading status is estimated as "pending"; and if the observed loading / unloading status at a subsequent time is "unloading", the estimated loading status is updated from "pending" to "full load".

[0076] S420: If the observed loading / unloading status is unloading, the loading status is estimated as pending, and if the observed loading / unloading status at a subsequent time is loading, the estimated loading status of pending is updated to empty.

[0077] In the loading state estimation method according to this embodiment, in addition to including the above-mentioned... Figure 3In addition to observing the driving state of the dump truck to obtain continuous observation driving state, observing the loading and unloading state of the dump truck when the observed driving state is stationary to obtain continuous observation loading and unloading state, and estimating the loading state based on the observed loading and unloading state and the observed driving state at the next moment to obtain an estimated loading state, the following also includes:

[0078] If the observed loading / unloading status is loading, the loading status is estimated as pending; if the observed loading / unloading status is unloading at a later time, the estimated loading status of pending is updated to full load; and if the observed loading / unloading status is unloading, the loading status is estimated as pending; if the observed loading / unloading status is loading at a later time, the estimated loading status of pending is updated to empty.

[0079] Figure 5 A loading state estimation method according to one embodiment of the present application is shown, which is used to estimate the loading state of a dump truck based on the driving state and loading / unloading state of the dump truck.

[0080] like Figure 5 As shown, the loading state estimation method M10 may include:

[0081] S100: Observe the driving status of the dump truck to obtain continuous observation of the driving status;

[0082] S200: The loading and unloading status of the dump truck is observed at the moment when the observed driving state is stationary to obtain the loading and unloading status at continuous time.

[0083] S310: If the observed loading / unloading status is "loading" and the observed driving status at the next moment is "running," the loading status is estimated as "pending," and if the observed loading / unloading status at a subsequent moment is "unloading," the estimated loading status of "pending" is updated to "fully loaded."

[0084] S320: If the observed loading / unloading status is unloading and the observed driving status at the next moment is running, the loading status is estimated as pending, and if the observed loading / unloading status at a subsequent moment is loading, the estimated loading status that is pending is updated to empty.

[0085] In the loading state estimation method according to this embodiment, in addition to including the above-mentioned... Figure 1 and Figure 2 In addition to observing the driving state of the dump truck to obtain continuous observation driving state, observing the loading and unloading state of the dump truck when the driving state is stationary to obtain continuous observation loading and unloading state, and estimating the loading state based on the observed loading and unloading state to obtain estimated loading state, the following are also included:

[0086] If the observed loading / unloading status is "loading" and the observed driving status at the next time step is "running," the loading status is estimated as "pending." If the observed loading / unloading status at a subsequent time step is "unloading," the estimated loading status, previously "pending," is updated to "fully loaded."

[0087] If the observed loading / unloading status is unloading and the observed driving status at the next moment is running, the loading status is estimated as pending. If the observed loading / unloading status at a subsequent moment is loading, the estimated loading status that is pending is updated to empty.

[0088] The inventors of this application have also constructed a system for implementing the loading state estimation method based on the loading state estimation method described above. For example... Figure 6 As shown, the system 10 for implementing the loading state estimation method includes multiple state observation devices 100, a state estimation device 200, and a remote server 300, wherein each state observation device 100 includes an angle sensor 110, a vehicle chassis data interface 120, an acceleration sensor 130, and a wireless communication device (not shown).

[0089] The status monitoring device 100 is installed on each dump truck registered in the system 10 and sends relevant information and data to the status estimation device 200 and the remote server 300 through the wireless communication device therein.

[0090] Angle sensor 110, vehicle chassis data interface 120, and acceleration sensor 130 all continuously and in real time observe the driving and loading / unloading states of the dump truck, and transmit the real-time and continuous (moment-by-moment) observations to state estimation device 200 and remote server 300 via wireless communication devices. In state estimation device 200, the loading state of the dump truck is estimated, and the estimation result is sent to remote server 300 for recording, management, and further processing.

[0091] The technical solution of this application will now be described based on the system 10 used to implement the loading state estimation method.

[0092] Figure 7 The installation scheme of the angle sensor in this system is shown. For example... Figure 7As shown, the angle sensor is installed on the chassis of the dump truck, directly above the rear axle. The movable link, rigidly connected to the angle sensor, is installed at the center of the rear axle. During the loading process of the dump truck's cargo box from empty to loaded, the leaf spring suspension is compressed, reducing the distance between the chassis and the rear axle. The rear axle pushes the movable link 2 upwards, causing the movable link 1 and the angle sensor to rotate together. This change in distance between the chassis and the rear axle is converted into an angle change that the angle sensor can measure. Therefore, the degree of compression of the leaf spring suspension can be determined by measuring the corresponding angle. It should be noted that in the context of this application, the terms "leaf spring" and "leaf spring suspension" have the same meaning.

[0093] The following is combined with Figure 7 and Figure 8 The correspondence between the angle change measured by the angle sensor and the degree of compression of the leaf spring suspension is explained.

[0094] Figure 8 It shows the relationship with Figure 7 The diagram shows the geometric setup corresponding to the angle sensor installation scheme. Let the length of the movable link 1 be L, the compression stroke of the leaf spring suspension be H, and the horizontal line at the angle sensor installation position be the axis. Let the angle between the movable link 1 and the axis be α. Then, we can determine:

[0095] H = L × cosα,

[0096] When the leaf spring suspension is stretched, if the sensor output angle value when the movable link 1 is kept horizontal is represented as α0, and the real-time angle measured by the angle sensor is α1, with counterclockwise as the positive direction, then the included angle α can be expressed as:

[0097] α = α1 - α0,

[0098] The compression stroke of a leaf spring suspension can then be expressed as:

[0099]

[0100] Now continue to refer to Figure 6 The chassis data interface 120 is used to collect data related to the dump truck and its chassis, including current gear information (such as the current gear being N), wheel speed information (such as the rotational speed of each front wheel and each rear wheel), axle speed information, and cargo box lifting status information (such as whether the cargo box is being lifted or has been lifted to the correct position). According to one embodiment of this application, the chassis data interface uses the CAN (Controller Area Network) data interface of the VCU (Vehicle Control Unit) of a drive-by-wire wide-body mining truck chassis.

[0101] An acceleration sensor 130 is installed on the centerline of the dump truck in the direction of travel to collect acceleration information of the dump truck in the XYZ axis directions.

[0102] The state estimation device 200 includes a processor for processing observations from the state observation device 100 (angle sensor 110, vehicle chassis data interface 120, and acceleration sensor 130), specifically for estimating the loading state of the dump truck to obtain an estimated loading state of the dump truck, and sending the result to a remote server 300.

[0103] The remote server 300 is a server used to receive unloading-related data sent by the status estimation device 200. The server can also store data, allow login to view the loading data of each unloading vehicle, and also support forwarding data.

[0104] According to one embodiment of this application (not shown), the driving speed of the dump truck can be estimated based on the equivalent center wheel speed of the front wheel and the acceleration of the dump truck in the direction of travel. If the estimated driving speed is less than a first speed, the observed driving state is set to stationary, and if the estimated driving speed is greater than a second speed, the observed driving state is set to running.

[0105] In this embodiment, the rotational speeds of the two front wheels of the dump truck can be acquired through the chassis data interface of the aforementioned system, and the acquired rotational speeds can be converted into the equivalent center rotational speeds of the front wheels, for example, by weighted averaging. Furthermore, the acceleration of the dump truck in the direction of travel can be measured using the acceleration sensor in the aforementioned system. Since, in the context of this application, dump trucks primarily travel on unpaved roads, and the rear wheels, which are the drive wheels of the dump truck, frequently slip, this embodiment measures the rotational speed of the front wheels and estimates the speed of the dump truck based on the measured values, thus avoiding measurement errors caused by rear wheel slippage and the resulting estimation errors.

[0106] Based on the pre-set diameter of the front tires of a specific model of dump truck, the equivalent center rotation speed of the front wheel is converted into the first driving speed v1 of the dump truck, and based on the measurement time, the acceleration of the dump truck in the direction of travel is converted into the second driving speed v2 of the dump truck using Newton's second law.

[0107] In one embodiment of this application, the driving speed of the dump truck can be estimated based on a pre-set confidence level λ1 for the first driving speed v1 and a confidence level λ1 for the second driving speed v2, in the following manner, to obtain the estimated driving speed.

[0108]

[0109] In the above embodiments, the corresponding confidence level can be determined based on prior knowledge of the two measurement methods corresponding to the first driving speed v1 and the second driving speed v2, respectively.

[0110] In another embodiment of this application, the driving speed of the dump truck can be estimated using a Kalman filter. Specifically, for the two measured driving speeds v1 and v2 of the dump truck, a second-order Kalman filter is used to estimate the driving speed of the dump truck to obtain the estimated driving speed.

[0111] Those skilled in the art will understand that, in this embodiment, the estimated speed of the dump truck is obtained by estimating the equivalent center wheel speed of the front wheels and the acceleration of the dump truck in the direction of travel. This achieves speed estimation based on at least two observations, thereby reducing measurement errors caused by systematic or random errors in any one of the observations. For example, the two front wheels of the dump truck may have different diameters due to different wear conditions, and the relationship between their rotational speed and straight-line travel speed may change due to slippage. By converting the rotational speeds of the two front wheels into the equivalent center wheel speed, the measurement errors caused by the above factors can be effectively reduced. This improves the accuracy and reliability of the estimated loading state obtained by finally estimating the loading state of the dump truck. Furthermore, as described above, in this embodiment, the driving state of the dump truck is observed in real time and continuously through the vehicle chassis data interface and acceleration sensor installed on the dump truck. The driving speed of the dump truck can be estimated in a timely manner, thereby enabling timely estimation of the loading state of the dump truck and timely acquisition of the estimated loading state.

[0112] In this embodiment, after obtaining the estimated driving speed, the observed driving state can be set to stationary if the estimated driving speed is less than a first speed, and set to running if the estimated driving speed is greater than a second speed. As described above, in the context of this application, for determining the loading state of a dump truck, the observed stationary state of the dump truck does not equate to a driving speed of 0, and similarly, the observed running state of the dump truck does not equate to a driving speed greater than 0. Therefore, in this embodiment, a first speed is predetermined as a stationary threshold, and the observed driving state is set to stationary only if the estimated driving speed is less than the first speed; correspondingly, a second speed is predetermined as a running threshold, and the observed driving state is set to running only if the estimated driving speed is greater than the second speed.

[0113] As described above, by using a non-zero first speed as the stationary threshold and a non-zero second speed as the running threshold in this embodiment, the error caused by the slippage of the dump truck relative to the road surface on the observed driving state can be effectively reduced. Furthermore, by using the dump truck leaving the loading area as the condition for determining the second speed, the error in the observed driving state can be further reduced, thereby enabling accurate and reliable estimation of the dump truck's loading state.

[0114] In one embodiment of this application, the first speed is equal to the second speed.

[0115] In another embodiment of this application, the first speed is preset to 1 km / h and the second speed is preset to 5 km / h.

[0116] In the technical solutions provided in this application, in addition to estimating the driving speed of the dump truck based on the equivalent center wheel speed of the front wheel of the dump truck and the acceleration of the dump truck in the direction of travel as described above, other solutions can also be adopted.

[0117] Specifically, according to one embodiment of this application (not shown), in the loading state estimation method, the gear position of the dump truck's transmission can be observed to obtain the observed transmission gear position, and the driving speed of the dump truck can be estimated based on the equivalent center wheel speed of the front wheel of the dump truck and the acceleration of the dump truck in the direction of travel to obtain the estimated driving speed; and if the estimated driving speed is less than a first speed, the observed driving state is set to stationary, and if the estimated driving speed is greater than a second speed and the observed transmission gear is not in neutral (N) gear, the observed driving state is set to running.

[0118] In this embodiment, in addition to estimating the dump truck's speed based on the equivalent center wheel speed of the front wheels and the dump truck's acceleration in the direction of travel, as in the embodiments described above, and setting the observed driving state to stationary when the estimated driving speed is less than a first speed, the observed transmission gear position (not in neutral) can be combined with the estimated driving speed being greater than a second speed as a condition for setting the observed driving state to running. In this way, by fully integrating more independent observed states (observed transmission gear position), the error in the observed driving state can be further reduced, thereby enabling a more accurate and reliable estimation of the dump truck's loading state.

[0119] According to one embodiment of this application (not shown), in the loading state estimation method, the loading and unloading state can also be observed based on the lifting and lowering state of the dump truck's cargo box, and the observed loading and unloading state can be set to unloading when the dump truck's cargo box is being lifted or has been lifted to the designated position. As described above, a dump truck can automatically unload the goods in its cargo box by lifting it, and observing the lifting and lowering state of the cargo box allows for a direct observation of the dump truck's loading and unloading state. In the context of this application, the lifting state of the cargo box includes cargo box lifting, lifting to the designated position (lifted to the top), cargo box lowering, and cargo box lowering to the bottom.

[0120] In one embodiment of this application, it can be like in Figure 6 As shown in the system for implementing the loading state estimation method, data related to the dump truck and its chassis, including cargo box lifting information, is collected through the vehicle chassis data interface in the state observation device. In another embodiment of this application, the lifting state of the cargo box can also be captured by a video acquisition device, and the cargo box state in the video image can be identified by an image recognition device to obtain the cargo box lifting state at a specific moment.

[0121] Now back Figure 6 , Figure 7 , Figure 8 The technical solution of this application is described in conjunction with the system used to implement the loading state estimation method.

[0122] According to one embodiment of this application, in addition to observing the loading and unloading state based on the lifting state of the dump truck's cargo box and setting the observed loading and unloading state accordingly, as in the above-described loading state estimation method, the loading and unloading state can also be observed based on the deformation of the leaf spring of the dump truck's rear axle, and the observed loading and unloading state can be set to loading if the deformation of the leaf spring of the rear axle is greater than a preset deformation threshold.

[0123] In this embodiment, the deformation of the leaf spring of the rear axle of the dump truck can be measured by any suitable means, and the loading and unloading status of the dump truck can be observed based on the measured deformation.

[0124] In one embodiment, the deformation of the leaf springs on the rear axle of a dump truck can be measured in real time by capturing video and using image recognition technology.

[0125] In another embodiment, the deformation of the leaf spring on the rear axle of the dump truck can be measured using an angle sensor and its configuration within the system described above for implementing the loading state estimation method. Details of this configuration can be found above and will not be repeated here.

[0126] In this embodiment, after obtaining the observed deformation of the leaf spring, the observed deformation can be compared with a pre-set deformation threshold. If the observed deformation exceeds the deformation threshold, the observed loading / unloading state is set to loaded. Since the leaf springs of the rear axle of the dump truck undergo permanent deformation after the dump truck has been running for a certain period, the initial deformation of the leaf springs when the dump truck is unloaded may continue to increase. In the technical solution of this application, for example, the leaf spring deformation threshold can be set by pre-collecting the permanent deformation data of the dump truck leaf springs. This effectively reduces the error caused by the deformation state when observing the loading / unloading state of the dump truck, thereby ensuring accurate and reliable estimation of the dump truck's loading state.

[0127] According to one embodiment of this application, in the above-described loading state estimation method, the deformation of the leaf spring can be estimated based on the angle detected and output by an angle sensor mounted on the lever mechanism to obtain an estimated deformation, thereby observing the loading and unloading state. The lever mechanism is mounted between the rear axle and the frame of the dump truck and can rotate according to changes in the distance between the rear axle and the frame. In this embodiment, as... Figure 7 As shown, the linkage mechanism includes a mechanism consisting of movable link 1 and movable link 2, as well as the connection between them and the dump truck frame and rear axle.

[0128] The technical solution of this implementation method has been described in detail in the above content related to the system for implementing the loading state estimation method, and will not be repeated here.

[0129] According to another aspect of this application, a method for estimating the total load of a dump truck over a defined period is provided. In this method, the total load of the dump truck over a defined period is estimated by the following:

[0130] Y = N × L,

[0131] in,

[0132] Y represents the estimated total load of the dump truck within a defined period.

[0133] N represents the number of dump trucks whose estimated loading condition is fully loaded during the defined period, obtained according to any of the above loading condition estimation methods.

[0134] L represents the rated load capacity corresponding to the estimated loading state of the dump truck being fully loaded.

[0135] For a specific dump truck, after estimating the loading status of the dump truck using any of the above loading status estimation methods and obtaining the estimated loading status, the number of dump trucks with the estimated loading status of being fully loaded within a certain period can be counted. Combined with the pre-determined calibrated loading amount corresponding to the estimated loading status of the dump truck being fully loaded, the estimated total loading amount of the dump truck within the above-mentioned specific period can be obtained.

[0136] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A loading state estimation method, used to estimate the loading state of the dump truck based on its driving state and loading / unloading state, the loading state estimation method comprising: The driving status of the dump truck is observed to obtain continuous observations of the driving status. The loading and unloading status of the dump truck is observed at moments when the truck is stationary to obtain continuous observations of the loading and unloading status. as well as The loading status is estimated based on the observed loading and unloading status to obtain the estimated loading status, and the estimated loading status is updated based on the observed loading and unloading status at subsequent time points; in, If the observed loading / unloading status is loading, the loading status is estimated as pending; and if the observed loading / unloading status at a later time is unloading, the estimated loading status of pending is updated to full load. as well as If the observed loading / unloading status is unloading, the loading status is estimated as pending; and if the observed loading / unloading status at a later time is loading, the estimated loading status of pending is updated to empty.

2. The loading state estimation method according to claim 1, wherein, The estimated loading status is obtained by estimating the loading and unloading status based on the observed loading and unloading status and the observed driving status at the next moment.

3. The loading state estimation method according to claim 2, wherein, If the observed loading and unloading status is loading and the observed driving status at the next moment is running, the loading status is estimated as pending; and if the observed loading and unloading status at a subsequent moment is unloading, the estimated loading status of pending is updated to full load. as well as If the observed loading and unloading status is unloading and the observed driving status at the next moment is running, the loading status is estimated as pending. If the observed loading and unloading status at a subsequent moment is loading, the estimated loading status of pending is updated to empty.

4. The loading state estimation method according to claim 1, wherein, The estimated speed of the dump truck is obtained by estimating the driving speed based on the equivalent center wheel speed of the front wheel and the acceleration of the dump truck in the direction of travel. as well as When the estimated driving speed is less than the first speed, the observed driving state is set to stationary, and when the estimated driving speed is greater than the second speed, the observed driving state is set to running.

5. The loading state estimation method according to claim 1, wherein, The gear position of the dump truck's transmission was also observed to obtain the observed gear position. The estimated speed of the dump truck is obtained by estimating the driving speed based on the equivalent center wheel speed of the front wheel and the acceleration of the dump truck in the direction of travel. as well as When the estimated driving speed is less than the first speed, the observed driving state is set to stationary; when the estimated driving speed is greater than the second speed and the observed transmission gear is not in neutral (N), the observed driving state is set to running.

6. The loading state estimation method according to claim 4 or 5, wherein, The driving speed of the dump truck is estimated using a Kalman filter.

7. The loading state estimation method according to claim 1, wherein, The loading and unloading status is observed based on the lifting and lowering state of the dump truck's cargo box, and the observed loading and unloading status is set to unloading when the dump truck's cargo box is being lifted or has been lifted to the designated position.

8. The loading state estimation method according to claim 7, wherein, The loading and unloading status is also observed based on the deformation of the leaf spring of the rear axle of the dump truck, and the observed loading and unloading status is set to loading if the deformation of the leaf spring of the rear axle is greater than a preset deformation threshold.

9. The loading state estimation method according to claim 8, wherein, The deformation of the leaf spring is estimated based on the angle detected and output by the angle sensor installed on the lever mechanism to obtain the estimated deformation, thereby observing the loading and unloading status. The lever mechanism is installed between the rear axle and the frame of the dump truck and can rotate according to the change in the distance between the rear axle and the frame.

10. Loading volume estimation method, used to estimate the total loading volume of a dump truck over a defined period by the following: ， in, This indicates the estimated total load capacity of the dump truck within a defined period. This indicates the number of dump trucks whose estimated loading condition is fully loaded, obtained by the loading condition estimation method according to any one of claims 1-9, during the determined period. This indicates the calibrated load capacity corresponding to the estimated loading state of the dump truck being fully loaded.

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