A charging management method for unmanned mining trucks

Abstract

A charging management method for an unmanned mining truck belongs to the field of unmanned mining trucks, including: obtaining the current SOC value and SOH value; comparing the real-time SOC value with the system preset SOC threshold, when the real-time SOC value is lower than or equal to the system preset SOC threshold, calculating the remaining cruising range and the equivalent flat road distance from the current position of the mining truck to the charging station; determining whether the mining truck needs to continue running or be charged immediately by the difference between the remaining cruising range minus the equivalent flat road distance and the preset reserved mileage. The present invention can realize a control scheme for unmanned mining trucks to comprehensively determine whether charging is required based on load, charging station location, temperature, battery health status and other conditions, thereby increasing the efficiency of battery power usage, reducing the number of charging times, and improving the overall efficiency of mining operations.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned mining trucks, and in particular relates to a charging management method for unmanned mining trucks. Background Art

[0002] In the modern mining process, the automation and unmanned driving technology of mining trucks have become key factors in improving mining efficiency and reducing costs. When the SOC (State of Charge, also known as the remaining power, usually expressed as a percentage) of unmanned new energy mining trucks is lower than the set value during transportation, the vehicle will immediately drive to the charging station for charging, without considering the battery health status and mining environment, resulting in insufficient utilization of battery power or failure to reach the charging point due to battery power feed.

[0003] In response to the above problems, the existing solution is generally to increase the reserved power, but this solution will lead to an increase in the number of charging times and a decrease in the effective energy utilization rate of the battery, which limits the improvement of mining operation efficiency.

[0004] Therefore, in response to this technical problem, there is an urgent need to develop a charging management solution that can maximize the use of battery power, reduce the number of charging times and improve vehicle operating efficiency. Summary of the invention

[0005] In order to solve the problems of low battery effective energy utilization, high charging times, and inability to effectively improve mining operation efficiency in the prior art, the present invention provides a charging management method for unmanned mining trucks. The present invention increases the utilization rate of battery effective energy and effectively improves the overall efficiency of mining operations.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] The present invention provides a method for managing charging of an unmanned mining truck, which specifically comprises the following steps:

[0008] S1. The automatic driving control module of the unmanned mining truck obtains the current battery remaining power, i.e., SOC value, and battery health, i.e., SOH value, in real time;

[0009] S2. The automatic driving control module of the unmanned mining truck compares the real-time SOC value with the SOC threshold preset by the system. When the real-time SOC value is lower than or equal to the SOC threshold preset by the system, the automatic driving control module starts to calculate the remaining cruising range S under the current SOC;

[0010] S3. The automatic driving control module calculates the remaining cruising range S of the unmanned mining truck under the current SOC based on the ambient temperature of the mining area, the adhesion coefficient of the mining area road, the load of the unmanned mining truck and the battery health; obtains the distance L0 between the current mining truck position and the charging pile position according to the high-precision navigation route from the current mining truck position to the charging pile position provided by the on-board high-precision navigation system of the unmanned mining truck, calculates its equivalent flat road distance L1, and uses the difference between the remaining cruising range S and the equivalent flat road distance L1 as the basis for judging whether to charge;

[0011] S4. The automatic driving control module of the unmanned mining truck obtains the remaining cruising range S and the equivalent flat road distance L1 under the current SOC, subtracts the remaining cruising range S under the current SOC from the equivalent flat road distance L1, and compares the obtained S-L1 value with the system preset reserved mileage L. When the S-L1 value is greater than the system preset reserved mileage L, the automatic driving control module determines that the unmanned mining truck can continue to operate and does not need to be charged, and the judgment process is repeated during driving; when the S-L1 value is less than or equal to the system preset reserved mileage L, the automatic driving control module determines that the unmanned mining truck needs to go to the charging pile for charging immediately.

[0012] Furthermore, in step S1, the automatic driving control module of the unmanned mining truck obtains the current remaining battery power and battery health through real-time messages sent by the battery management system.

[0013] Furthermore, in step S2, the SOC threshold preset by the system is 30%.

[0014] Furthermore, in step S3, the high-precision navigation route from the current mining truck position to the charging pile position includes altitude information.

[0015] Furthermore, in step S3, the remaining cruising range S is calculated as follows:

[0016]

[0017] In the formula, μ α is the vehicle speed, W is the remaining power of the vehicle, η is the system efficiency, P is the power consumption of the mining truck, and ρ is the correction coefficient.

[0018] Furthermore, the calculation formula of the correction coefficient ρ is:

[0019] ρ=[(-2×10 -7 )·t 4 +10 -5 ·t 3 -0.0002 t 2 +0.0052·t+0.883]·SOH·M

[0020] Wherein, t is temperature; M represents the load factor of the unmanned mining truck. When the mining truck is empty, M=1; when the mining truck is fully loaded, M=0.75.

[0021] Furthermore, the calculation formula of the power consumption P of the mining card is:

[0022]

[0023] Where m is the mass of the vehicle, g is the acceleration of gravity, μ is the tire resistance coefficient, and C D is the air resistance coefficient, and A is the windward area.

[0024] Furthermore, in step S3, the calculation formula of the equivalent flat road distance L1 is:

[0025]

[0026] Among them, f'(L0)≥0 represents an uphill section; f'(L0)<0 represents a downhill section; f(L0) is the functional relationship between the horizontal distance and elevation of each point on the mining road; let a be the current position of the unmanned mining truck, b be the position of the charging pile, t be the ambient temperature of the mining area, is the efficiency of converting energy feedback into electrical energy on the downhill section, m is the mass of the vehicle, g is the acceleration of gravity, h is the route height from the current position of the unmanned mining truck to the charging pile position, μ is the tire resistance coefficient, C D is the air resistance coefficient, A is the windward area, μ α The speed of the vehicle.

[0027] Furthermore, in step S4, the value of the reserved mileage L preset by the system can be adjusted according to the size of the mining area.

[0028] The beneficial effects of the present invention are:

[0029] 1. The present invention provides a charging management method for unmanned mining trucks, which can comprehensively determine whether charging is needed based on the load of the mining truck, the location of the charging pile, the ambient temperature of the mining area, the health status of the battery, and other conditions, thereby increasing the utilization efficiency of the battery power of the unmanned mining truck by about 10%, thereby increasing the overall efficiency of mining operations by 5% to 10%.

[0030] 2. The unmanned mining truck charging management method provided by the present invention can maximize the use of the power of the unmanned mining truck battery, reduce the number of charging times, and thus improve the vehicle operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1The present invention provides a flow chart of a charging management method for an unmanned mining truck.

[0032] Figure 2 It is a high-precision navigation route map from the current mining truck location to the charging pile location. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below with reference to the accompanying drawings.

[0034] like Figure 1 As shown, the present invention provides a method for managing charging of unmanned mining trucks, and its specific implementation process is as follows:

[0035] S1. The automatic driving control module of the unmanned mining truck obtains the current battery remaining power, i.e., SOC value, and battery health, i.e., SOH value, in real time through the real-time message sent by the battery management system (BMS).

[0036] S2. The automatic driving control module of the unmanned mining truck compares the real-time SOC value obtained in step S1 with the system preset SOC threshold (for example, the system preset SOC threshold may be 30%). When the real-time SOC value is lower than or equal to the system preset SOC threshold, the automatic driving control module starts to calculate the remaining cruising range S under the current SOC.

[0037] S3. The automatic driving control module calculates the remaining cruising range S of the unmanned mining truck under the current SOC by using the following formula (1) in combination with the acquired mining area ambient temperature, mining area road adhesion coefficient, unmanned mining truck load, battery health, i.e., SOH value, and other influencing factors; obtains the distance L0 between the current mining truck position and the charging pile position according to the high-precision navigation route (the route must include altitude information) from the current mining truck position to the charging pile position provided by the onboard high-precision navigation system of the unmanned mining truck, and calculates the equivalent flat road distance L1 by using the following formula (2), and uses the difference between the remaining cruising range S and the equivalent flat road distance L1 as the basis for judging whether to charge.

[0038] The calculation formula (1) for the remaining cruising range S is:

[0039]

[0040] In the formula, μ α is the vehicle speed, W is the remaining power of the vehicle, η is the system efficiency, P is the power consumption of the mining truck, and ρ is the correction coefficient.

[0041] Among them, the correction coefficient ρ is affected by factors such as the ambient temperature of the mining area, the load of the unmanned mining truck and the health of the battery. Its calculation formula is:

[0042] ρ=[(-2×10-7 )·t 4 +10 -5 ·t 3 -0.0002 t 2 +0.0052·t+0.883]·SOH·M

[0043] Where t is the ambient temperature of the mining area; M represents the load factor of the unmanned mining truck. When the mining truck is empty, M=1; when the mining truck is fully loaded, M=0.75.

[0044] Among them, the power consumption P of the mining truck is affected by factors such as the load, speed, tire resistance, air resistance and windward area of ​​the unmanned mining truck. The calculation formula is:

[0045]

[0046] Where m is the mass of the vehicle, g is the acceleration of gravity, μ is the tire resistance coefficient, and C D is the air resistance coefficient, and A is the windward area.

[0047] Among them, the specific calculation method of the equivalent flat road distance L1 is as follows:

[0048] Due to the complex road conditions in the mining area, the route from the current location of the unmanned mining truck to the charging pile location is a rugged road, so it is necessary to set nodes according to different slopes for segment analysis. Figure 2 As shown in the figure, the letters in the figure represent the nodes on the mine route map. The ON section is the high-precision navigation route from the current position of the unmanned mining truck to the charging pile position provided by the on-board high-precision navigation system. The total distance is L0. However, due to the ruggedness of the route, the ON section is divided into 14 sections according to different slopes. The relationship between the height h of the ON section and the total distance L0 is fitted according to the high-precision navigation route map as h=f(L0). The ON section is analyzed in different situations, and then the equivalent flat road distance L1 of the total distance L0 is calculated. The specific implementation process is as follows:

[0049] (1) Figure 2 As shown in the figure, when the road is uphill, f'(L0)≥0, and the calculation formula for the equivalent flat road distance L1 is:

[0050]

[0051] Where θ is the angle between the slope and the ground, and L2 is the horizontal distance between the uphill and flat roads.

[0052] (2) Figure 2 As shown in the figure, when the road is downhill, f'(L0) < 0, and the calculation formula for the equivalent flat road distance L1 is:

[0053]

[0054] In the formula, The efficiency of converting energy feedback into electrical energy on downhill sections.

[0055] (3) In summary, the calculation formula for the equivalent flat road distance L1 is:

[0056]

[0057] S4. The automatic driving control module of the unmanned mining truck obtains the remaining cruising range S and the equivalent flat road distance L1 of the unmanned mining truck under the current SOC obtained in step S3, and subtracts the remaining cruising range S under the current SOC from the equivalent flat road distance L1, and then compares the obtained S-L1 value with the system preset reserved mileage L. When the value of S-L1 is greater than the system preset reserved mileage L, the automatic driving control module determines that the unmanned mining truck can continue to operate without charging, and the judgment process is repeated during driving; when the value of S-L1 is less than or equal to the system preset reserved mileage L, the automatic driving control module determines that the unmanned mining truck needs to go to the charging pile immediately for charging. Among them, the value of the system preset reserved mileage L can be freely adjusted according to the size of the mining area.

[0058] In summary, the unmanned mining truck charging management method provided by the present invention can maximize the utilization of the battery power of the unmanned mining truck, extend the working time of the unmanned mining truck, reduce the number of charging times, and thus improve the overall efficiency of mining operations.

[0059] The above examples are used to illustrate the present invention rather than to limit the present invention. Any modifications and changes made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall within the protection scope of the present invention.

Claims

1. A charging management method for an unmanned mining truck, characterized in that: The following steps are involved: S1. The automatic driving control module of the unmanned mining truck obtains the current battery remaining power, i.e., SOC value, and battery health, i.e., SOH value, in real time; S2. The automatic driving control module of the unmanned mining truck compares the real-time SOC value with the SOC threshold preset by the system. When the real-time SOC value is lower than or equal to the SOC threshold preset by the system, the automatic driving control module starts to calculate the remaining cruising range S under the current SOC; S3. The automatic driving control module calculates the remaining cruising range S of the unmanned mining truck under the current SOC based on the ambient temperature of the mining area, the adhesion coefficient of the mining area road, the load of the unmanned mining truck and the battery health; obtains the distance L0 between the current mining truck position and the charging pile position according to the high-precision navigation route from the current mining truck position to the charging pile position provided by the on-board high-precision navigation system of the unmanned mining truck, calculates its equivalent flat road distance L1, and uses the difference between the remaining cruising range S and the equivalent flat road distance L1 as the basis for judging whether to charge; The calculation formula of the remaining cruising range S is: In the formula, μ α is the vehicle speed, W is the remaining power of the vehicle, η is the system efficiency, P is the power consumption of the mining truck, and ρ is the correction coefficient; The calculation formula of the correction coefficient ρ is: ρ=[(-2×10 -7 )·t 4 +10 -5 ·t 3 -0.0002·t 2 +0.0052·t+0.883]·OSH·M Where, t is temperature; M represents the load factor of the unmanned mining truck. When the mining truck is empty, M = 1; when the mining truck is fully loaded, M = 0.75; The calculation formula of the power consumption P of the mining card is: Where m is the mass of the vehicle, g is the acceleration of gravity, μ is the tire resistance coefficient, and C D is the air resistance coefficient, A is the windward area; The calculation formula of the equivalent flat road distance L1 is: Among them, f'(L0)≥0 represents an uphill section; f'(L0)<0 represents a downhill section; f(L0) is the functional relationship between the horizontal distance and elevation of each point on the mining road; let a be the current position of the unmanned mining truck, b be the position of the charging pile, t be the ambient temperature of the mining area, is the efficiency of converting energy feedback into electrical energy on the downhill section, m is the mass of the vehicle, g is the acceleration of gravity, h is the route height from the current position of the unmanned mining truck to the charging pile position, μ is the tire resistance coefficient, C D is the air resistance coefficient, A is the windward area, μ α is the speed of the vehicle; S4. The automatic driving control module of the unmanned mining truck obtains the remaining cruising range S and the equivalent flat road distance L1 under the current SOC, subtracts the remaining cruising range S under the current SOC from the equivalent flat road distance L1, and compares the obtained S-L1 value with the system preset reserved mileage L. When the S-L1 value is greater than the system preset reserved mileage L, the automatic driving control module determines that the unmanned mining truck can continue to operate and does not need to be charged, and the judgment process is repeated during driving; when the S-L1 value is less than or equal to the system preset reserved mileage L, the automatic driving control module determines that the unmanned mining truck needs to go to the charging pile for charging immediately.

2. The charging management method for an unmanned mining truck according to claim 1, characterized in that: In step S1, the automatic driving control module of the unmanned mining truck obtains the current remaining battery power and battery health through the real-time message sent by the battery management system.

3. The charging management method for an unmanned mining truck according to claim 1, characterized in that: In step S2, the SOC threshold preset by the system is 30%.

4. The charging management method for an unmanned mining truck according to claim 1, characterized in that: In step S3, the high-precision navigation route from the current mining truck position to the charging pile position includes altitude information.

5. The charging management method for an unmanned mining truck according to claim 1, characterized in that: In step S4, the value of the reserved mileage L preset by the system can be adjusted according to the size of the mining area.

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