Unmanned mining truck braking control method and device

Abstract

The present invention provides a braking control method and device for an unmanned mine car, the braking control method for an unmanned mine car comprising: obtaining the vehicle mass information, the current gear position of the transmission and the real-time speed of the unmanned mine car when the unmanned mine car is determined to be in a downhill state based on the pitch angle data and the predetermined slope threshold; obtaining the speed error and acceleration of the unmanned mine car based on the real-time speed and the preset speed; obtaining the target braking force of the unmanned mine car based on the vehicle mass information and the acceleration, determining the target gear position of the retarder based on the target braking force and the braking force thresholds corresponding to each gear position of the retarder of the unmanned mine car; sending the gear position signal of the target gear position to the retarder so that the retarder adjusts the gear position to the target gear position according to the gear position signal. The method of the present invention can not only realize the automatic adjustment of the braking force of the unmanned mine car, but also improve the braking performance of the unmanned mine car.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a braking control method and device for an unmanned mining vehicle. Background Art

[0002] In the related art, the braking method of unmanned vehicles is generally to control the braking by combining the brake gear lever, engine exhaust brake and retarder brake. This method cannot automatically control the driving state of the unmanned mine car, has a low degree of automation, and cannot meet the needs of unmanned mine cars. In order to improve the automation level of the unmanned mine car's braking, the desired vehicle speed can be set by pre-setting the retarder handle gear to control the unmanned mine car to travel within the desired speed, but the unmanned mine car braking performance of the above method is relatively low. Summary of the invention

[0003] The invention provides a braking control method and device for an unmanned mine car, which are used to improve the braking performance of the automatic braking of the unmanned mine car.

[0004] The present invention provides a braking control method for an unmanned mining vehicle, comprising:

[0005] Acquire the pitch angle data of the unmanned mine car; when it is determined that the unmanned mine car is in a downhill state based on the pitch angle data and a predetermined slope threshold, acquire the vehicle mass information, the current gear position of the transmission and the real-time speed of the unmanned mine car;

[0006] Based on the real-time speed and a preset speed corresponding to the current gear position of the transmission, a speed error and an acceleration of the unmanned mining vehicle are obtained;

[0007] Obtaining a target braking force of the unmanned mining vehicle according to the vehicle mass information and the acceleration, and determining a target gear position of the retarder based on the target braking force and braking force thresholds corresponding to each gear position of the retarder of the unmanned mining vehicle, wherein the target gear position belongs to one of all gear positions of the retarder;

[0008] A gear position signal of the target gear position is sent to the retarder, so that the retarder adjusts the gear position to the target gear position according to the gear position signal.

[0009] According to the unmanned mining vehicle braking control method provided by the present invention, the step of obtaining the target braking force of the unmanned mining vehicle according to the vehicle mass information and the acceleration comprises:

[0010] The target braking force is obtained according to the vehicle mass information, the acceleration and the resistance experienced by the unmanned mining vehicle.

[0011] According to the unmanned mining vehicle braking control method provided by the present invention, the resistance includes at least one of air resistance, rolling resistance and slope resistance.

[0012] According to the unmanned mining vehicle braking control method provided by the present invention, the step of obtaining the target braking force according to the vehicle mass information, the acceleration and the resistance of the unmanned mining vehicle comprises:

[0013] The target braking force is obtained by applying the following formula:

[0014] F t -F w -F f -F i =ma;

[0015] Among them, F t is the target braking force, F w is the air resistance, F w is the rolling resistance, F i is the slope resistance, m is the vehicle mass information, and a is the acceleration.

[0016] According to the unmanned mining vehicle braking control method provided by the present invention, the retarder includes a plurality of gears, each gear corresponding to a different braking force threshold;

[0017] The determining of the target gear position based on the braking force and the braking force thresholds corresponding to different gear positions of the retarder includes:

[0018] Based on the hysteresis comparator, multiple braking force thresholds corresponding to the retarder are compared with the braking force in sequence according to the order of gear positions. When the braking force is greater than the target braking force threshold, the gear corresponding to the target braking force threshold is determined to be the target gear position, and the target braking force threshold is one of the multiple braking force thresholds.

[0019] According to the brake control method for an unmanned mine vehicle provided by the present invention, the step of determining that the unmanned mine vehicle is in a downhill state based on the pitch angle data and a predetermined slope threshold comprises:

[0020] When the pitch angle data is greater than the predetermined slope threshold, collecting the downhill duration of the unmanned mining vehicle;

[0021] When the downhill time is longer than the predetermined downhill time threshold, it is determined that the unmanned mining vehicle is in a downhill state.

[0022] The present invention also provides a brake control device for an unmanned mining vehicle, comprising:

[0023] A data acquisition module is used to acquire the pitch angle data of the unmanned mine car; when it is determined that the unmanned mine car is in a downhill state based on the pitch angle data and a predetermined slope threshold, the vehicle mass information, the current gear position of the transmission and the real-time speed of the unmanned mine car are acquired;

[0024] a calculation module, for obtaining a speed error and an acceleration of the unmanned mining vehicle based on the real-time speed and a preset speed corresponding to a current gear position of the transmission;

[0025] a gear position analysis module, for obtaining a target braking force of the unmanned mining vehicle according to the vehicle mass information and the acceleration, and determining a target gear position of the retarder based on the target braking force and braking force thresholds corresponding to each gear position of the retarder of the unmanned mining vehicle, wherein the target gear position belongs to one of all gear positions of the retarder;

[0026] The instruction sending module is used to send a gear position signal of the target gear position to the retarder, so that the retarder adjusts the gear position to the target gear position according to the gear position signal.

[0027] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the unmanned mining vehicle braking control method described above is implemented.

[0028] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the unmanned mining vehicle braking control method as described in any one of the above is implemented.

[0029] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the unmanned mining vehicle braking control method described above is implemented.

[0030] The unmanned mine car braking control method and device provided by the present invention obtains vehicle mass information and acceleration when the unmanned mine car is in a downhill state, and calculates a more accurate target braking force based on the two. The target braking force and the braking force thresholds corresponding to each gear of the retarder are used to determine the target gear, and the gear signal is sent to the retarder so that the current gear of the retarder is switched to the target gear to provide accurate braking force, thereby considering the braking force requirements of the unmanned mine car under different loads and different transmission gears, and automatically adjusting the retarder gear to provide appropriate braking force, which can not only realize the automatic adjustment of the braking force of the unmanned mine car, but also improve the braking performance of the unmanned mine car. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 This is one of the flow charts of the brake control method for an unmanned mining vehicle provided by the present invention;

[0033] Figure 2 This is the second flow chart of the unmanned mining vehicle braking control method provided by the present invention;

[0034] Figure 3 It is a structural schematic diagram of the unmanned mining vehicle braking control device provided by the present invention;

[0035] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0037] Combine the following Figure 1-Figure 3 The present invention describes the brake control method and device of the unmanned mining vehicle.

[0038] Figure 1 It is one of the flow charts of the unmanned mine car braking control method provided by the present invention, and the unmanned mine car braking control method comprises the following steps:

[0039] Step 110, obtaining the pitch angle data of the unmanned mine car; when it is determined that the unmanned mine car is in a downhill state based on the pitch angle data and a predetermined slope threshold, obtaining the vehicle mass information, the current gear position of the transmission and the real-time speed of the unmanned mine car.

[0040] In this step, the unmanned mining vehicle can be a pure electric vehicle or an electric-gas hybrid vehicle.

[0041] In this step, the vehicle-mounted quality information includes the quality of the unmanned mining vehicle in different vehicle-mounted states, wherein the vehicle-mounted state includes an empty state or a fully loaded state of the unmanned mining vehicle, and different vehicle-mounted state information corresponds to different quality parameters.

[0042] In this embodiment, the transmission of the unmanned mining vehicle includes multiple gear information, such as forward gear, reverse gear and parking gear, etc. Different gear information corresponds to different braking force thresholds.

[0043] In this embodiment, the pitch angle data is collected by an inertial navigation system (INS) of the unmanned mining vehicle, hereinafter referred to as INS.

[0044] In this embodiment, the inertial navigation system measures the acceleration of the inertial reference system of the unmanned mining vehicle, integrates it with respect to time, and transforms it into the navigation coordinate system to obtain information such as speed, pitch angle and position in the navigation coordinate system.

[0045] In this embodiment, the overall mass of the unmanned mine car in different vehicle loading states is different. Correspondingly, the unmanned mine cars of different masses have different braking forces to maintain the same speed. Similarly, the gear speeds of unmanned mine cars of different masses traveling with the same braking force are different.

[0046] In this embodiment, the current load of the unmanned mine car is obtained according to the operating process of the unmanned mine car. When the unmanned mine car is in the unloading route, the unmanned mine car is fully loaded. When the unmanned mine car is in the loading route, the unmanned mine car is empty. The correct quality parameters are assigned according to the empty and full load states.

[0047] In this embodiment, the current gear position of the transmission is the displayed gear position of the transmission of the unmanned mining vehicle in the current driving mode. For example, the current gear position of the transmission can be a forward gear or a reverse gear; different gear positions are set with corresponding preset speeds.

[0048] In this step, the predetermined slope threshold is set according to the actual slope scenario, and the predetermined slope threshold may be different in different scenarios.

[0049] In some embodiments, the downhill state of the unmanned mine car is determined by the following steps: when the pitch angle data is greater than a predetermined slope threshold, the downhill timing duration of the unmanned mine car is collected; when the downhill timing duration is greater than a predetermined downhill time threshold, it is determined that the unmanned mine car is in a downhill state.

[0050] In this embodiment, the pitch angle data pitch is obtained through the inertial navigation system of the unmanned mining vehicle, and the pitch angle is compared with the predetermined slope threshold. If the pitch is greater than the calibration value, the timing starts. And when the timing is greater than the downhill time threshold, the downhill state is output, otherwise the timing is restarted; the uphill and downhill states of the unmanned mining vehicle are determined specifically by the following formula:

[0051]

[0052] Among them, down_hill_timer_flag is the downhill timing flag, pitch is the pitch angle data, and c is the slope threshold. When the pitch angle data is greater than or equal to the preset slope threshold, the unmanned mine car starts downhill timing and obtains the downhill timing timer. When the downhill timing time is greater than or equal to the preset slope time threshold b, it is determined that the unmanned mine car is in a downhill state.

[0053] Step 120: Obtain the speed error and acceleration of the unmanned mining vehicle based on the real-time speed and the preset speed corresponding to the current gear position of the transmission.

[0054] In this embodiment, the corresponding unmanned mining car acceleration is obtained through the speed error of the unmanned mining car in different vehicle states and different gears, and then the braking force in the current scenario is calculated through the dynamic model.

[0055] In this embodiment, when the current gear of the transmission is a forward gear; when the unmanned mine car is in a downhill state and the current gear of the transmission, based on the real-time speed and the preset speed corresponding to the current gear of the transmission, determining the acceleration of the unmanned mine car includes: when the unmanned mine car is in a downhill state and a forward gear, calculating the difference between the real-time speed and the preset speed to obtain a speed error; calculating the speed error and outputting the acceleration of the unmanned mine car.

[0056] In this embodiment, the speed error is calculated by a PID controller (Proportion Integration Differentiation) and the acceleration of the unmanned mining vehicle is output.

[0057] Figure 2 This is the second flow chart of the unmanned mining vehicle braking control method provided by the present invention. Figure 2 In the embodiment shown, the pitch angle is first collected through the inertial navigation system, and multiple gear information, real-time speed, load status and mass parameters of the unmanned mine car (vehicle) under the load status are obtained. When the pitch angle is greater than the preset slope threshold, the uphill timing is started, and when the timing time exceeds the preset slope time threshold, it is determined that the unmanned mine car is currently in a downhill state. At the same time, when the unmanned mine car is in the forward gear or the reverse gear, the speed error between the real-time speed and the preset speed in the gear is calculated, and the acceleration of the unmanned mine car is calculated according to the speed error through the PID closed-loop controller. Finally, the braking force corresponding to the acceleration of the unmanned mine car is comprehensively calculated through the dynamic model combined with multiple external forces.

[0058] Step 130, obtaining a target braking force of the unmanned mining vehicle according to the vehicle mass information and the acceleration, and determining a target gear position of the retarder based on the target braking force and the braking force thresholds corresponding to each gear position of the retarder of the unmanned mining vehicle, wherein the target gear position is one of all gear positions of the retarder.

[0059] In this step, the target gear is the gear to be adjusted. For example, the current gear of the unmanned mine car transmission is the forward gear, and the current gear of the buffer is the 3rd gear. The braking force thresholds corresponding to each gear of the unmanned mine car buffer are compared with the actual braking force of the unmanned mine car in the forward gear in turn. If the target gear is the 3rd gear, the retarder of the unmanned mine car should be controlled by the unmanned mine car control system to switch the 3rd gear to the 2nd gear.

[0060] In some embodiments, the step of obtaining the target braking force of the unmanned mining vehicle according to the vehicle mass information and the acceleration includes: obtaining the target braking force according to the vehicle mass information, the acceleration and the resistance experienced by the unmanned mining vehicle.

[0061] In this embodiment, the resistance encountered by the driverless mining vehicle may be at least one of air resistance, rolling resistance and slope resistance.

[0062] In this embodiment, the braking force is obtained by analyzing the vehicle mass information and the acceleration of the unmanned mine car based on a dynamic model; wherein the dynamic model is determined based on the braking force, air resistance, rolling resistance, ramp resistance, vehicle mass information and the acceleration of the unmanned mine car, and the air resistance, rolling resistance and ramp resistance are determined based on the pitch angle data.

[0063] In this embodiment, the dynamic model can obtain a more accurate braking force for the motion acceleration, mass and external forces (air resistance, rolling force and ramp resistance, etc.) of the unmanned mine car in the current scenario, and then determine the speed information of the forward gear that meets the braking force, so as to realize automatic driving control of the unmanned mine car in complex scenarios.

[0064] In this embodiment, the vehicle mass information and the acceleration of the unmanned mining vehicle are input into the dynamic model to obtain the braking force, which includes: applying the following formula to obtain the braking force corresponding to the acceleration of the unmanned mining vehicle:

[0065] F t -F w -F f -F i =ma;

[0066] Among them, F t is the braking force, F w is the air resistance, F f is the rolling resistance, F iis the slope resistance, m is the mass parameter corresponding to the target vehicle status information, and a is the acceleration of the unmanned mining vehicle.

[0067] In this embodiment, in actual processing, the actual running speed of the unmanned mining vehicle is relatively low, and the air resistance can be ignored. For example, assuming F w is 0.

[0068] In this embodiment, the rolling resistance is determined using the following rolling resistance formula:

[0069] F f = mgfcos(pitch);

[0070] Among them, f is the rolling resistance coefficient, which mainly describes the degree of resistance of the unmanned mining car when rolling.

[0071] In this embodiment, the ramp resistance is determined using the following ramp resistance formula:

[0072] F i =mgsin(pitch);

[0073] In some embodiments, the retarder includes multiple gears, each gear corresponds to a different braking force threshold; based on the braking force and the braking force thresholds corresponding to different gears of the retarder, determining the target gear includes: comparing the multiple braking force thresholds corresponding to the retarder with the braking force in sequence in order of gears based on a hysteresis comparator, and when the braking force does not exceed the target braking force threshold, determining the gear corresponding to the target braking force threshold as the target gear, and the target braking force threshold is one of the multiple braking force thresholds.

[0074] In this embodiment, the braking force and the braking force threshold of each gear of the retarder are substituted into the hysteresis comparator for calculation. The hysteresis comparator judges the size between the braking force and the braking force threshold from high to low gear, and gives priority to the high gear retarder control instruction.

[0075] It should be noted that the principle of the hysteresis comparator is: if the input value is greater than the upper threshold, the output is true; if it is less than the lower threshold, the output is false; if it is between the upper and lower thresholds, it is the gear state at the previous moment. This embodiment sets a hysteresis comparator to determine the target gear information, which can prevent the retarder gear jump phenomenon of the unmanned mine car, so as to ensure the stable and safe driving of the unmanned mine car.

[0076] Step 140: Send a gear position signal of the target gear position to the retarder, so that the retarder adjusts the gear position to the target gear position according to the gear position signal.

[0077] In this step, after determining the target gear, the unmanned mine car control system sends the gear signal of the target gear to the retarder of the unmanned mine car. After receiving the gear signal, the retarder switches the current driving gear of the unmanned mine car to the target gear, thereby realizing automatic control of the driving state of the unmanned mine car.

[0078] exist Figure 2 In the illustrated embodiment, the retarder of the unmanned mine car includes four braking gears, namely the 1st gear, the 2nd gear, the 3rd gear and the 4th gear, and the braking force thresholds corresponding to each gear are the 1st gear threshold, the 2nd gear threshold, the 3rd gear threshold and the 4th gear threshold; the hysteresis comparator first compares the braking force with the 4th gear threshold corresponding to the 4th gear through the 4th gear retarder control instruction, and when the braking force is less than or equal to the 4th gear threshold, it is determined that the current gear of the unmanned mine car retarder is the 4th gear; the hysteresis comparator compares the braking force with the 3rd gear threshold corresponding to the 3rd gear through the 3rd gear retarder control instruction, and when the braking force is less than or equal to the 3rd gear threshold, it is determined that the current driving gear of the unmanned mine car is the 3rd gear, otherwise, the hysteresis comparator continues to compare the braking force with the gear threshold corresponding to the next gear through the next gear retarder control instruction.

[0079] The unmanned mine car braking control method provided by the embodiment of the present invention obtains the vehicle mass information and acceleration when the unmanned mine car is in a downhill state, and calculates a more accurate target braking force based on the two. The target braking force and the braking force thresholds corresponding to each gear of the retarder are used to determine the target gear, and the gear signal is sent to the retarder so that the current gear of the retarder is switched to the target gear to provide accurate braking force. The braking force requirements of the unmanned mine car under different loads and different transmission gears are taken into consideration, and the retarder gear is automatically adjusted to provide appropriate braking force. This can not only realize the automatic adjustment of the braking force of the unmanned mine car, but also improve the braking performance of the unmanned mine car.

[0080] The unmanned mine car braking control device provided by the present invention is described below. The unmanned mine car braking control device described below and the unmanned mine car braking control method described above can be referred to each other.

[0081] Figure 3 Schematic diagram of the structure of the unmanned mining vehicle braking control device provided by the present invention. Figure 3 As shown, the unmanned mining vehicle braking control device includes: a data acquisition module 310, a calculation module 320, a gear position analysis module 330 and an instruction sending module 340.

[0082] The data acquisition module 310 is used to acquire the pitch angle data of the unmanned mine car; when it is determined that the unmanned mine car is in a downhill state based on the pitch angle data and a predetermined slope threshold, the vehicle mass information, the current gear position of the transmission and the real-time speed of the unmanned mine car are acquired;

[0083] A calculation module 320, for obtaining a speed error and an acceleration of the unmanned mining vehicle based on the real-time speed and a preset speed corresponding to the current gear position of the transmission;

[0084] The gear position analysis module 330 is used to obtain the target braking force of the unmanned mining vehicle according to the vehicle mass information and the acceleration, and determine the target gear position of the retarder based on the target braking force and the braking force thresholds corresponding to each gear position of the retarder of the unmanned mining vehicle, wherein the target gear position is one of all gear positions of the retarder;

[0085] The instruction sending module 340 is used to send a gear position signal of a target gear position to the retarder, so that the retarder adjusts the gear position to the target gear position according to the gear position signal.

[0086] The unmanned mine car braking control device provided by the embodiment of the present invention obtains the vehicle mass information and acceleration when the unmanned mine car is in a downhill state, and calculates a more accurate target braking force based on the two. The target braking force and the braking force thresholds corresponding to each gear of the retarder are used to determine the target gear, and the gear signal is sent to the retarder so that the current gear of the retarder is switched to the target gear to provide accurate braking force. The braking force requirements of the unmanned mine car under different loads and different transmission gears are taken into consideration, and the retarder gear is automatically adjusted to provide appropriate braking force. This can not only realize the automatic adjustment of the braking force of the unmanned mine car, but also improve the braking performance of the unmanned mine car.

[0087] Figure 4 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 4As shown, the electronic device may include: a processor (processor) 410, a communication interface (Communications Interface) 420, a memory (memory) 430 and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other through the communication bus 440. The processor 410 can call the logic instructions in the memory 430 to execute the unmanned mine car braking control method, which includes: obtaining the pitch angle data of the unmanned mine car; when it is determined that the unmanned mine car is in a downhill state based on the pitch angle data and a predetermined slope threshold, obtaining the vehicle mass information, the current gear position of the transmission and the real-time speed of the unmanned mine car; based on the real-time speed and the preset speed corresponding to the current gear position of the transmission, obtaining the speed error and acceleration of the unmanned mine car; obtaining the target braking force of the unmanned mine car according to the vehicle mass information and the acceleration, and determining the target gear position of the retarder based on the target braking force and the braking force thresholds corresponding to each gear position of the retarder of the unmanned mine car, the target gear position being one of all gear positions of the retarder; and sending the gear position signal of the target gear position to the retarder so that the retarder adjusts the gear position to the target gear position according to the gear position signal.

[0088] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0089] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the unmanned mine car braking control method provided by the above methods, the method comprising: obtaining pitch angle data of the unmanned mine car; when it is determined that the unmanned mine car is in a downhill state based on the pitch angle data and a predetermined slope threshold, obtaining the vehicle mass information, the current gear position of the transmission and the real-time speed of the unmanned mine car; based on the real-time speed and the preset speed corresponding to the current gear position of the transmission, obtaining the speed error and acceleration of the unmanned mine car; obtaining the target braking force of the unmanned mine car according to the vehicle mass information and the acceleration, and determining the target gear position of the retarder based on the target braking force and the braking force thresholds corresponding to each gear position of the retarder of the unmanned mine car, the target gear position belonging to one of all gear positions of the retarder; sending the gear position signal of the target gear position to the retarder so that the retarder adjusts the gear position to the target gear position according to the gear position signal.

[0090] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented by a processor to execute the unmanned mine car braking control method provided by the above-mentioned methods when the computer program is executed, the method comprising: obtaining pitch angle data of the unmanned mine car; when it is determined that the unmanned mine car is in a downhill state based on the pitch angle data and a predetermined slope threshold, obtaining the vehicle mass information, the current gear position of the transmission and the real-time speed of the unmanned mine car; based on the real-time speed and the preset speed corresponding to the current gear position of the transmission, obtaining the speed error and acceleration of the unmanned mine car; obtaining the target braking force of the unmanned mine car according to the vehicle mass information and the acceleration, and determining the target gear position of the retarder based on the target braking force and the braking force thresholds corresponding to each gear position of the retarder of the unmanned mine car, the target gear position being one of all gear positions of the retarder; and sending the gear position signal of the target gear position to the retarder so that the retarder adjusts the gear position to the target gear position according to the gear position signal.

[0091] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0092] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A braking control method for an unmanned mining vehicle, characterized in that: include: Obtain the pitch angle data of the unmanned mining vehicle; In the case where it is determined that the unmanned mine car is in a downhill state based on the pitch angle data and a predetermined slope threshold, the vehicle mass information, the current gear position of the transmission and the real-time speed of the unmanned mine car are obtained; the pitch angle data is determined by integrating the acceleration of the inertial reference system of the unmanned mine car with time based on the inertial navigation system, and the acceleration of the inertial reference system of the unmanned mine car after the integration is transformed into the navigation coordinate system; the vehicle mass information includes the mass of the unmanned mine car under different vehicle states, wherein the vehicle state includes the unmanned mine car empty state or full state, and different vehicle state information corresponds to different mass parameters; Based on the real-time speed and a preset speed corresponding to the current gear position of the transmission, a speed error and an acceleration of the unmanned mining vehicle are obtained; Obtaining a target braking force of the unmanned mining vehicle according to the vehicle mass information and the acceleration, and determining a target gear position of the retarder based on the target braking force and braking force thresholds corresponding to each gear position of the retarder of the unmanned mining vehicle, wherein the target gear position belongs to one of all gear positions of the retarder; The gear position signal of the target gear position is sent to the retarder, so that the retarder adjusts the gear position to the target gear position according to the gear position signal; the step of obtaining the target braking force of the unmanned mining vehicle according to the vehicle mass information and the acceleration comprises: The target braking force is obtained according to the vehicle mass information, the acceleration and the resistance of the unmanned mining vehicle; the resistance is determined based on the pitch angle data; The retarder includes a plurality of gears, each gear corresponding to a different braking force threshold; The determining of the target gear position based on the braking force and the braking force thresholds corresponding to different gear positions of the retarder includes: Based on the hysteresis comparator, multiple braking force thresholds corresponding to the retarder are compared with the braking force in sequence according to the order of gear positions. When the braking force does not exceed the target braking force threshold, the gear corresponding to the target braking force threshold is determined to be the target gear position, and the target braking force threshold is one of the multiple braking force thresholds.

2. The unmanned mining vehicle braking control method according to claim 1, characterized in that: The resistance includes at least one of air resistance, rolling resistance and slope resistance.

3. The unmanned mining vehicle braking control method according to claim 1, characterized in that: The step of obtaining the target braking force according to the vehicle mass information, the acceleration and the resistance experienced by the unmanned mining vehicle comprises: The target braking force is obtained by applying the following formula: ； in, F t is the target braking force, F w is the air resistance, F w is the rolling resistance, F i is the slope resistance, m is the vehicle mass information, a is the acceleration.

4. The unmanned mining vehicle braking control method according to claim 1, characterized in that: The step of determining that the unmanned mining vehicle is in a downhill state based on the pitch angle data and a predetermined slope threshold comprises: When the pitch angle data is greater than the predetermined slope threshold, collecting the downhill duration of the unmanned mining vehicle; When the downhill time is longer than a predetermined downhill time threshold, it is determined that the unmanned mining vehicle is in a downhill state.

5. An unmanned mine car braking control device, using the unmanned mine car braking control method as claimed in claim 1, characterized in that: include: A data acquisition module is used to obtain the pitch angle data of the unmanned mining vehicle; When it is determined that the unmanned mining vehicle is in a downhill state based on the pitch angle data and a predetermined slope threshold, obtaining vehicle mass information, a current gear position of a transmission and a real-time speed of the unmanned mining vehicle; a calculation module, for obtaining a speed error and an acceleration of the unmanned mining vehicle based on the real-time speed and a preset speed corresponding to a current gear position of the transmission; a gear position analysis module, for obtaining a target braking force of the unmanned mining vehicle according to the vehicle mass information and the acceleration, and determining a target gear position of the retarder based on the target braking force and braking force thresholds corresponding to each gear position of the retarder of the unmanned mining vehicle, wherein the target gear position belongs to one of all gear positions of the retarder; The instruction sending module is used to send a gear position signal of the target gear position to the retarder, so that the retarder adjusts the gear position to the target gear position according to the gear position signal.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the unmanned mining vehicle braking control method according to any one of claims 1 to 4 is implemented.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the unmanned mining vehicle braking control method according to any one of claims 1 to 4 is implemented.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the unmanned mining vehicle braking control method according to any one of claims 1 to 4 is implemented.

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