Mine truck slope correction method, device, mine truck, product and medium

Abstract

The present invention discloses a method, device, mining truck, product and medium for correcting the slope of a mining truck. The method for correcting the slope of a mining truck comprises: obtaining the slope detected by a slope sensor; obtaining the vehicle speed; determining the cumulative height difference and the cumulative mileage in the current driving cycle based on the slope and the vehicle speed; determining whether the slope sensor has a measurement deviation based on the cumulative height difference and a preset height difference threshold; when the slope sensor has a measurement deviation, determining a slope correction value based on the cumulative height difference and the cumulative mileage, and correcting the slope detected by the slope sensor based on the slope correction value. By adopting the above scheme, the problem of the slope deviation of the mining truck not being corrected in time is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a method, device, mining truck, product and medium for correcting the slope of a mining truck. Background Art

[0002] A mining truck is a heavy-duty dump truck used in open-pit mines to complete rock and earth stripping and ore transportation tasks. Slope is an important parameter affecting the operation of a mining truck, which directly affects the power and economy of the mining truck.

[0003] In the related art, the slope is measured by a slope sensor. Due to reasons such as installation, hardware and software, the slope measured by the slope sensor may have a steady-state deviation, resulting in a deviation in the slope measurement of the mining truck. Summary of the invention

[0004] The present invention provides a mine truck slope correction method, device, mine truck, product and medium to solve the problem that the slope deviation is not corrected in time.

[0005] According to one aspect of the present invention, a method for correcting the slope of a mining truck is provided, and the method for correcting the slope of a mining truck comprises:

[0006] Get the slope detected by the slope sensor;

[0007] Get vehicle speed;

[0008] determining a cumulative altitude difference and a cumulative mileage in a current driving cycle based on the slope and the vehicle speed;

[0009] Determining whether a measurement deviation occurs in the slope sensor based on the accumulated height difference and a preset height difference threshold;

[0010] When a measurement deviation occurs in the slope sensor, a slope correction value is determined based on the accumulated altitude difference and the accumulated mileage, and the slope detected by the slope sensor is corrected based on the slope correction value.

[0011] In an optional embodiment of the present invention, the determining whether the slope sensor has a measurement deviation based on the accumulated height difference and a preset height difference threshold comprises:

[0012] Determining whether the accumulated height difference is greater than a preset height difference threshold;

[0013] When the accumulated height difference is greater than the preset height difference threshold, determining that a measurement deviation occurs in the slope sensor;

[0014] When the accumulated height difference is less than or equal to the preset height difference threshold, it is determined that the slope sensor has no measurement deviation.

[0015] In an optional embodiment of the present invention, after determining that the slope sensor has a measurement deviation, the method further includes:

[0016] The number of deviation anomalies increases by one;

[0017] Accordingly, before determining the slope correction value based on the accumulated height difference and the accumulated mileage and correcting the slope detected by the slope sensor based on the slope correction value, the method further includes:

[0018] Determine whether the number of deviation anomalies is greater than a preset number;

[0019] When the number of abnormal deviations is greater than the preset number, determining a slope correction value based on the accumulated height difference and the accumulated mileage, and correcting the slope detected by the slope sensor based on the slope correction value;

[0020] When the number of abnormal deviations is less than or equal to the preset number, the step of determining a slope correction value based on the accumulated altitude difference and the accumulated mileage, and correcting the slope detected by the slope sensor based on the slope correction value is not performed;

[0021] Accordingly, after determining that the slope sensor has no measurement deviation, the method further includes:

[0022] The number of deviation anomalies is set to 0.

[0023] In an optional embodiment of the present invention, after determining that the slope sensor has a measurement deviation, the method further includes:

[0024] Storing the accumulated height difference corresponding to the current driving cycle into an abnormal accumulated height difference database;

[0025] storing the accumulated mileage corresponding to the current driving cycle into an abnormal accumulated mileage database;

[0026] Accordingly, determining the slope correction value based on the accumulated altitude difference and the accumulated mileage includes:

[0027] A slope correction value is determined based on the plurality of accumulated altitude differences in the abnormal accumulated altitude difference database and the plurality of accumulated mileages in the abnormal accumulated mileage database.

[0028] In an optional embodiment of the present invention, the determining of the slope correction value based on the multiple accumulated altitude differences in the abnormal accumulated altitude difference database and the multiple accumulated mileages in the abnormal accumulated mileage database includes:

[0029] Slope correction value=original slope correction value−100*(sum of the plurality of accumulated altitude differences in the abnormal accumulated altitude difference database / sum of the plurality of accumulated mileages in the abnormal accumulated mileage database).

[0030] In an optional embodiment of the present invention, before determining whether the slope sensor has a measurement deviation based on the accumulated height difference and a preset height difference threshold, the method further includes:

[0031] Determining whether the accumulated mileage is greater than a preset mileage threshold;

[0032] When the accumulated mileage is greater than the preset mileage threshold, performing a step of determining whether a measurement deviation occurs in the slope sensor based on the accumulated altitude difference and the preset altitude difference threshold;

[0033] When the accumulated mileage is less than or equal to the preset mileage threshold, the step of determining whether the slope sensor has a measurement deviation based on the accumulated altitude difference and the preset altitude difference threshold is not performed.

[0034] According to another aspect of the present invention, a mining truck slope correction device is provided, the mining truck slope correction device comprising:

[0035] A slope acquisition module is used to obtain the slope detected by the slope sensor;

[0036] A vehicle speed acquisition module, used to acquire vehicle speed;

[0037] a parameter determination module, configured to determine a cumulative height difference and a cumulative mileage in a current driving cycle based on the slope and the vehicle speed;

[0038] a deviation determination module, configured to determine whether a measurement deviation occurs in the slope sensor based on the accumulated height difference and a preset height difference threshold;

[0039] The correction module is used to determine a slope correction value based on the accumulated height difference and the accumulated mileage when the slope sensor has a measurement deviation, and to correct the slope detected by the slope sensor based on the slope correction value.

[0040] According to another aspect of the present invention, a mining card is provided, the mining card comprising:

[0041] at least one processor; and

[0042] a memory communicatively connected to the at least one processor; wherein,

[0043] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the mining truck slope correction method described in any embodiment of the present invention.

[0044] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the mining truck slope correction method described in any embodiment of the present invention when executed.

[0045] According to another aspect of the present invention, a computer program product is provided, characterized in that the computer program product comprises a computer program, and when the computer program is executed by a processor, the mining truck slope correction method described in any embodiment of the present invention is implemented.

[0046] The technical solution of the embodiment of the present invention utilizes the characteristic that the starting point position of the mining truck is known, and obtains the slope detected by the slope sensor; obtains the vehicle speed; determines the cumulative height difference and the cumulative mileage in the current driving cycle based on the slope and the vehicle speed; then it can be determined whether the slope sensor has a measurement deviation based on the cumulative height difference and the preset height difference threshold; and when the slope sensor has a measurement deviation, the slope correction value is determined based on the cumulative height difference and the cumulative mileage, and the slope detected by the slope sensor is corrected based on the slope correction value. Therefore, this solution can automatically determine whether the slope sensor of the mining truck has a deviation, and make corrections in time when the slope has a deviation, solving the problem that the slope deviation of the mining truck is not corrected in time.

[0047] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 A flow chart of a method for correcting the slope of a mining truck provided in Embodiment 1 of the present invention;

[0050] Figure 2 A flow chart of a method for correcting the slope of a mining truck provided in the second embodiment of the present invention;

[0051] Figure 3 A flow chart of a method for correcting the slope of a mining truck provided in Embodiment 3 of the present invention;

[0052] Figure 4It is a structural schematic diagram of a mine truck slope correction device;

[0053] Figure 5 It is a structural schematic diagram of a mining truck that implements the mining truck slope correction method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0054] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0055] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0056] Embodiment 1

[0057] Figure 1 This is a flow chart of a method for correcting the slope of a mining truck provided in the first embodiment of the present invention. This embodiment is applicable to the case where the slope detected by the slope sensor of a mining truck is corrected. The method can be executed by a mining truck slope correction device. The mining truck slope correction device can be implemented in the form of hardware and / or software. The mining truck slope correction device can be configured in a controller inside the mining truck. Figure 1 As shown, the mine card slope correction method includes:

[0058] S110: Obtain the slope detected by the slope sensor.

[0059] Among them, a slope sensor is usually provided on the mining truck to detect the slope. The slope sensor refers to a component that can detect the slope and is installed on the mining truck.

[0060] S120: Obtain vehicle speed.

[0061] The vehicle speed refers to the speed at which the mining truck travels. Specifically, a vehicle speed sensor may be installed on the mining truck to detect the vehicle speed.

[0062] S130: Determine a cumulative altitude difference and a cumulative mileage in a current driving cycle based on the slope and the vehicle speed.

[0063] Among them, the driving cycle refers to the driving process within the power-on and power-off interval of the mining truck. The cumulative height difference and cumulative mileage within the current driving cycle are the cumulative height difference and cumulative mileage within the power-on and power-off interval of the mining truck this time. The cumulative mileage is the mileage traveled by the mining truck from the power-on to the power-off of the mining truck this time. In some embodiments, the cumulative mileage is the product of the vehicle speed and the driving time. The driving time is the time interval between the power-on and power-off of the mining truck this time. It can be understood that this is the case where the mining truck is driving at a constant speed. The speed of the mining truck will change during actual operation. At this time, the cumulative mileage can be calculated according to the vehicle speed at different times, and no specific limitation is made here.

[0064] The accumulated height difference is the height difference between the height when the mining truck is powered on and the height when it is powered off. Specifically, it can be assumed that the total path of the mining truck can be decomposed into a series of sections with known slopes. Then the total height change can be calculated by integrating the slope and length of each section. The length of each section can be obtained by the vehicle speed of the section and the time it takes to pass through the section. Therefore, the accumulated height difference can be obtained by the slope and speed at different times in the current driving cycle. It can be understood that when the slope sensor has an original slope correction value, the slope used to calculate the accumulated height difference is the slope detected by the slope sensor minus the original slope correction value. In the initial state, the value of the original slope correction value is 0.

[0065] In some embodiments, steps S110, S120, and S130 may be executed after the vehicle is powered on, and subsequent steps S140 and S150 may be executed after the vehicle is powered off. If the vehicle is not powered off after being powered on, steps S110, S120, and S130 may be continuously executed until the vehicle is powered off, thereby ensuring that the calculated cumulative altitude difference and cumulative mileage are the cumulative altitude difference and cumulative mileage within the current driving cycle.

[0066] S140: Determine whether a measurement deviation occurs in the slope sensor based on the accumulated height difference and a preset height difference threshold.

[0067] The preset height difference threshold refers to the threshold that the cumulative height difference does not exceed when the slope sensor does not have a measurement deviation. Since the mining truck goes from the designated location to the mining area during normal operation of each shift and returns to the designated location again when the operation is completed, the height difference of the entire working process is theoretically fixed under normal circumstances. Therefore, the specific size of the preset height difference threshold can be set according to the working process of the mining truck, and the specific value of the preset height difference threshold is not specifically limited here.

[0068] When the slope sensor has a measurement deviation, step S150 is executed. When the slope sensor has no measurement deviation, step S150 is not executed and the slope correction process ends.

[0069] S150, determining a slope correction value based on the accumulated altitude difference and the accumulated mileage, and correcting the slope detected by the slope sensor based on the slope correction value.

[0070] The slope correction value refers to the value of adjusting or correcting the slope value under specific circumstances. The slope detected by the slope sensor minus the slope correction value is the corrected slope. Since the calculation of the cumulative height difference depends on the slope and mileage, the deviation of the slope will directly affect the cumulative height difference, and the slope correction value can be determined based on the cumulative height difference and the cumulative mileage.

[0071] The above scheme uses the characteristic that the starting point position of the mining truck is known, and obtains the slope detected by the slope sensor; obtains the vehicle speed; determines the cumulative height difference and the cumulative mileage in the current driving cycle based on the slope and the vehicle speed; then it can determine whether the slope sensor has a measurement deviation based on the cumulative height difference and the preset height difference threshold; and when the slope sensor has a measurement deviation, determines the slope correction value based on the cumulative height difference and the cumulative mileage, and corrects the slope detected by the slope sensor based on the slope correction value. Therefore, it is possible to automatically determine whether the slope sensor of the mining truck has a deviation, and make corrections in time when the slope has a deviation, solving the problem of the mining truck slope deviation not being corrected in time.

[0072] Embodiment 2

[0073] Figure 2 This is a flow chart of a method for correcting the slope of a mining truck provided in the second embodiment of the present invention. The relationship between this embodiment and the above embodiment is that the first embodiment is improved. Figure 2 As shown, the mine card slope correction method includes:

[0074] S210: Obtain the slope detected by the slope sensor.

[0075] S220: Obtain vehicle speed.

[0076] S230: Determine a cumulative altitude difference and a cumulative mileage in a current driving cycle based on the slope and the vehicle speed.

[0077] S240: Determine whether the accumulated height difference is greater than a preset height difference threshold.

[0078] Among them, the preset height difference threshold refers to the threshold value that the cumulative height difference does not exceed when the slope sensor does not have a measurement deviation. In some embodiments, the mining truck goes from the parking lot to the mining area during normal operation of each shift, and returns to the same parking lot again at the end of the operation. Therefore, under normal circumstances, the height difference of the entire working process is theoretically 0. At this time, the preset height difference threshold can be set to 0. Considering the accuracy of detection in actual application, the preset height difference threshold can be set to close to 0, and the degree of deviation between the preset height difference threshold and 0 is set according to the detection accuracy. It can be understood that in other embodiments, there are multiple parking lots for storing mining trucks, and there are at least two parking lots with height differences. The mining truck goes from one parking lot to the mining area during normal operation of each shift, and returns from the mining area to another parking lot at the end of the operation. Assuming that the height difference of the starting parking lot of the mining truck is H, the preset height difference threshold can be set to H at this time. The specific value of the preset height difference threshold is not specifically limited here, and it is just an example here.

[0079] Since theoretically the height difference of the entire working process of the mining truck is fixed to the preset height difference threshold, when the cumulative height difference is greater than the preset height difference threshold, it is determined that the slope sensor has a measurement deviation, and step S250 is executed, the number of deviation abnormalities is increased by one, and step S270 is executed after executing step S250; when the cumulative height difference is less than or equal to the preset height difference threshold, it is determined that the slope sensor has no measurement deviation, and step S260 is executed, and the number of deviation abnormalities is set to 0.

[0080] S250: The number of deviation anomalies is increased by one.

[0081] The number of abnormal deviations refers to the number of consecutive occurrences of the accumulated height difference being greater than the preset height difference threshold.

[0082] S260: The number of deviation anomalies is set to 0.

[0083] Among them, by setting the number of deviation anomalies to 0 when the cumulative height difference is less than or equal to the preset height difference threshold, the number of deviation anomalies reflects the number of consecutive occurrences of the cumulative height difference being greater than the preset height difference threshold.

[0084] S270: Determine whether the number of deviation anomalies is greater than a preset number.

[0085] The preset number of times refers to the number of times that the deviation abnormality times should be greater than when the slope correction is triggered in advance.

[0086] When the number of deviation abnormalities is greater than the preset number of times, step S280 is executed, a slope correction value is determined based on the cumulative altitude difference and the cumulative mileage, and the slope detected by the slope sensor is corrected based on the slope correction value; when the number of deviation abnormalities is less than or equal to the preset number of times, step S280 is not executed, a slope correction value is determined based on the cumulative altitude difference and the cumulative mileage, and the slope detected by the slope sensor is corrected based on the slope correction value, and the slope correction process is ended.

[0087] S280, determining a slope correction value based on the accumulated altitude difference and the accumulated mileage, and correcting the slope detected by the slope sensor based on the slope correction value.

[0088] The above scheme utilizes the characteristic that the height difference of the entire working process of the mining truck is fixed in theory. By determining whether the cumulative height difference is greater than the preset height difference threshold, it can conveniently determine whether there is a measurement deviation of the slope sensor, and determine the slope correction value based on the cumulative height difference and the cumulative mileage only when the number of deviation abnormalities is greater than the preset number, and correct the slope detected by the slope sensor based on the slope correction value, that is, the slope correction is triggered only when the slope sensor has measurement deviations for multiple times, which can improve the accuracy of the slope correction and prevent the slope correction from being triggered incorrectly.

[0089] In an optional embodiment of the present invention, after determining that the slope sensor has a measurement deviation, the method further includes:

[0090] The accumulated height difference corresponding to the current driving cycle is stored in an abnormal accumulated height difference database. Therefore, the accumulated height differences included in the abnormal accumulated height difference database are all accumulated height differences of driving cycles corresponding to which the accumulated height difference is greater than the preset height difference threshold.

[0091] The accumulated mileage corresponding to the current driving cycle is stored in an abnormal accumulated mileage database; therefore, the accumulated mileage included in the abnormal accumulated mileage database is the accumulated mileage of the driving cycle corresponding to the accumulated altitude difference being greater than the preset altitude difference threshold.

[0092] Accordingly, determining the slope correction value based on the accumulated altitude difference and the accumulated mileage includes:

[0093] The slope correction value is determined based on the multiple accumulated height differences in the abnormal accumulated height difference database and the multiple accumulated mileages in the abnormal accumulated mileage database. That is, the slope correction value is determined based on the multiple accumulated mileages and accumulated height differences corresponding to the abnormal situations that occur multiple times continuously, which can make the slope correction value more accurate, and thus can more accurately correct the slope detected by the slope sensor.

[0094] On the basis of the above embodiment, the slope correction value is determined based on the multiple accumulated altitude differences in the abnormal accumulated altitude difference database and the multiple accumulated mileages in the abnormal accumulated mileage database, including: slope correction value = original slope correction value - 100* (the sum of the multiple accumulated altitude differences in the abnormal accumulated altitude difference database / the sum of the multiple accumulated mileages in the abnormal accumulated mileage database).

[0095] Among them, the original slope correction value refers to the value of the slope detected by the slope sensor in the current driving cycle. After the slope correction value is calculated according to the above formula, the slope correction value will be used as the original slope correction value of the subsequent driving cycle to correct the slope sensor, eliminating the steady-state deviation of the slope sensor until the slope correction is performed again. In the initial state of the mining truck, that is, when the slope detected by the slope sensor is the actual slope, the original slope correction value is 0. Through the above formula, the slope correction value can be calculated quickly and accurately, which is convenient for the subsequent use of the slope correction value to correct the slope detected by the slope sensor, thereby improving the accuracy of the slope measurement of the mining truck.

[0096] Embodiment 3

[0097] Figure 3 This is a flow chart of a method for correcting the slope of a mining truck provided in the third embodiment of the present invention. The relationship between this embodiment and the above embodiment is that the second embodiment is improved. Figure 3 As shown, the mine card slope correction method includes:

[0098] S310: Obtain the slope detected by the slope sensor.

[0099] S320: Obtain vehicle speed.

[0100] S330: Determine the accumulated altitude difference and accumulated mileage in the current driving cycle based on the slope and the vehicle speed.

[0101] S340: Determine whether the accumulated mileage is greater than a preset mileage threshold.

[0102] Among them, the preset mileage threshold refers to the mileage that a mining truck should exceed during normal operation.

[0103] When the accumulated mileage is greater than the preset mileage threshold, step S350 is executed, which is the step of determining whether the slope sensor has a measurement deviation based on the accumulated altitude difference and the preset altitude difference threshold; when the accumulated mileage is less than or equal to the preset mileage threshold, step S350 is not executed, which is the step of determining whether the slope sensor has a measurement deviation based on the accumulated altitude difference and the preset altitude difference threshold, and the slope correction process is ended.

[0104] S350: Determine whether the accumulated height difference is greater than a preset height difference threshold.

[0105] When the accumulated height difference is greater than the preset height difference threshold, it is determined that the slope sensor has a measurement deviation, and step S360 is executed, the number of deviation exceptions is increased by one, and step S380 is executed after executing step S250; when the accumulated height difference is less than or equal to the preset height difference threshold, it is determined that the slope sensor has no measurement deviation, and step S370 is executed, and the number of deviation exceptions is set to 0.

[0106] S360: The number of deviation anomalies is increased by one.

[0107] S370. The number of deviation anomalies is set to 0.

[0108] S380: Determine whether the number of deviation anomalies is greater than a preset number.

[0109] When the number of deviation abnormalities is greater than the preset number of times, step S390 is executed, a slope correction value is determined based on the cumulative height difference and the cumulative mileage, and the slope detected by the slope sensor is corrected based on the slope correction value; when the number of deviation abnormalities is less than or equal to the preset number of times, step S390 is not executed, a slope correction value is determined based on the cumulative height difference and the cumulative mileage, and the slope detected by the slope sensor is corrected based on the slope correction value, and the slope correction process is ended.

[0110] S390. Determine a slope correction value based on the accumulated altitude difference and the accumulated mileage, and correct the slope detected by the slope sensor based on the slope correction value.

[0111] The above scheme, by determining whether the accumulated altitude difference is greater than a preset altitude difference threshold, executes subsequent steps only when the accumulated mileage is greater than the preset mileage threshold, thereby avoiding erroneous corrections caused by short power-on and power-off intervals and abnormal power-on and power-off, and can improve the accuracy of slope correction and prevent false triggering of slope correction.

[0112] Embodiment 4

[0113] Figure 4 This is a schematic diagram of the structure of a mining truck slope correction device provided in the fourth embodiment of the present invention. Figure 4 As shown, the mine truck slope correction device includes:

[0114] The slope acquisition module 61 is used to acquire the slope detected by the slope sensor.

[0115] The vehicle speed acquisition module 62 is used to acquire the vehicle speed.

[0116] The parameter determination module 63 is used to determine the accumulated altitude difference and accumulated mileage in the current driving cycle based on the slope and the vehicle speed.

[0117] The deviation determination module 64 is used to determine whether the slope sensor has a measurement deviation based on the accumulated height difference and a preset height difference threshold.

[0118] The correction module 65 is used to determine a slope correction value based on the accumulated height difference and the accumulated mileage when the slope sensor has a measurement deviation, and to correct the slope detected by the slope sensor based on the slope correction value.

[0119] In an optional embodiment of the present invention, the deviation determination module 64 includes:

[0120] The deviation determination submodule is used to determine whether the accumulated height difference is greater than a preset height difference threshold.

[0121] The first deviation determination submodule is used to determine that a measurement deviation occurs in the slope sensor when the accumulated height difference is greater than the preset height difference threshold.

[0122] The second deviation determination submodule is used to determine that the slope sensor has no measurement deviation when the accumulated height difference is less than or equal to the preset height difference threshold.

[0123] In an optional embodiment of the present invention, the mining truck slope correction device further includes:

[0124] The abnormality counting module is used to increase the number of abnormal deviations by one after determining that the slope sensor has a measurement deviation.

[0125] The number determination module is used to determine whether the number of deviation anomalies is greater than a preset number.

[0126] The first execution module is used to execute the steps of determining a slope correction value based on the accumulated altitude difference and the accumulated mileage, and correcting the slope detected by the slope sensor based on the slope correction value when the number of deviation abnormalities is greater than the preset number.

[0127] The second execution module is used for not executing the steps of determining the slope correction value based on the accumulated altitude difference and the accumulated mileage, and correcting the slope detected by the slope sensor based on the slope correction value when the number of deviation abnormalities is less than or equal to the preset number.

[0128] The reset module is used to set the number of abnormal deviations to 0 after determining that the slope sensor has no measurement deviation.

[0129] In an optional embodiment of the present invention, the mining truck slope correction device further includes:

[0130] The height difference storage module is used to store the accumulated height difference corresponding to the current driving cycle into an abnormal accumulated height difference database.

[0131] The mileage storage module is used to store the accumulated mileage corresponding to the current driving cycle into an abnormal accumulated mileage database.

[0132] Correspondingly, the correction module 65 is specifically configured to determine a slope correction value based on the multiple accumulated altitude differences in the abnormal accumulated altitude difference database and the multiple accumulated mileages in the abnormal accumulated mileage database.

[0133] In an optional embodiment of the present invention, the correction module 65 is specifically used to determine the slope correction value through the following formula: slope correction value=original slope correction value-100*(the sum of multiple accumulated height differences in the abnormal accumulated height difference database / the sum of multiple accumulated mileages in the abnormal accumulated mileage database).

[0134] In an optional embodiment of the present invention, the mining truck slope correction device further includes:

[0135] The mileage determination module is used to determine whether the accumulated mileage is greater than a preset mileage threshold.

[0136] The third execution module is used to execute the step of determining whether the slope sensor has a measurement deviation based on the accumulated altitude difference and a preset altitude difference threshold when the accumulated mileage is greater than the preset mileage threshold.

[0137] The fourth execution module is used for not executing the step of determining whether the slope sensor has a measurement deviation based on the accumulated altitude difference and the preset altitude difference threshold when the accumulated mileage is less than or equal to the preset mileage threshold.

[0138] The mining truck slope correction device provided in the embodiment of the present invention can execute the mining truck slope correction method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0139] Embodiment 5

[0140] Figure 5A schematic diagram of a mining card that can be used to implement an embodiment of the present invention is shown. The mining card includes various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The mining card may also include various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0141] like Figure 5 As shown, the mining card includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. Various programs and data required for the operation of the mining card can also be stored in the RAM 13. The processor 11, ROM 12 and RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0142] Multiple components in the mining card are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the mining card to exchange information / data with other mining cards through a computer network such as the Internet and / or various telecommunication networks.

[0143] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a mining truck slope correction method.

[0144] In some embodiments, the mining truck slope correction method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the mining truck via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the mining truck slope correction method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the mining truck slope correction method in any other appropriate manner (for example, by means of firmware).

[0145] In some embodiments, the mining truck includes a computer program product, which includes a computer program. When the computer program is executed by the processor 11, it implements the various methods and processes described above, such as the mining truck slope correction method.

[0146] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0147] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0148] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0149] To provide interaction with a user, the systems and techniques described herein may be implemented on a mining card having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which a user can provide input to the mining card. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0150] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0151] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0152] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0153] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for correcting the slope of a mine truck, characterized in that: include: Get the slope detected by the slope sensor; Get vehicle speed; determining a cumulative altitude difference and a cumulative mileage in a current driving cycle based on the slope and the vehicle speed; Determining whether a measurement deviation occurs in the slope sensor based on the accumulated height difference and a preset height difference threshold; When a measurement deviation occurs in the slope sensor, the accumulated height difference corresponding to the current driving cycle is stored in an abnormal accumulated height difference database; storing the accumulated mileage corresponding to the current driving cycle into an abnormal accumulated mileage database; determining a slope correction value based on the plurality of accumulated altitude differences in the abnormal accumulated altitude difference database and the plurality of accumulated mileages in the abnormal accumulated mileage database, and correcting the slope detected by the slope sensor based on the slope correction value; The step of determining the slope correction value based on the plurality of accumulated altitude differences in the abnormal accumulated altitude difference database and the plurality of accumulated mileages in the abnormal accumulated mileage database comprises: Slope correction value = original slope correction value - 100 (The sum of the multiple accumulated altitude differences in the abnormal accumulated altitude difference database / the sum of the multiple accumulated mileages in the abnormal accumulated mileage database).

2. The method for correcting the slope of a mining truck according to claim 1, characterized in that: The determining whether the slope sensor has a measurement deviation based on the accumulated height difference and a preset height difference threshold comprises: Determining whether the accumulated height difference is greater than a preset height difference threshold; When the accumulated height difference is greater than the preset height difference threshold, determining that a measurement deviation occurs in the slope sensor; When the accumulated height difference is less than or equal to the preset height difference threshold, it is determined that the slope sensor has no measurement deviation.

3. The method for correcting the slope of a mining truck according to claim 2, characterized in that: After determining that the slope sensor has a measurement deviation, the method further includes: The number of deviation anomalies increases by one; Accordingly, before determining the slope correction value based on the accumulated height difference and the accumulated mileage and correcting the slope detected by the slope sensor based on the slope correction value, the method further includes: Determine whether the number of deviation anomalies is greater than a preset number; When the number of abnormal deviations is greater than the preset number, determining a slope correction value based on the accumulated height difference and the accumulated mileage, and correcting the slope detected by the slope sensor based on the slope correction value; When the number of abnormal deviations is less than or equal to the preset number, the step of determining a slope correction value based on the accumulated altitude difference and the accumulated mileage, and correcting the slope detected by the slope sensor based on the slope correction value is not performed; Accordingly, after determining that the slope sensor has no measurement deviation, the method further includes: The number of deviation anomalies is set to 0.

4. The method for correcting the slope of a mining truck according to any one of claims 1 to 3, characterized in that: Before determining whether the slope sensor has a measurement deviation based on the accumulated height difference and a preset height difference threshold, the method further includes: Determining whether the accumulated mileage is greater than a preset mileage threshold; When the accumulated mileage is greater than the preset mileage threshold, performing a step of determining whether a measurement deviation occurs in the slope sensor based on the accumulated altitude difference and the preset altitude difference threshold; When the accumulated mileage is less than or equal to the preset mileage threshold, the step of determining whether the slope sensor has a measurement deviation based on the accumulated altitude difference and the preset altitude difference threshold is not performed.

5. A mining truck slope correction device, characterized in that: include: A slope acquisition module is used to obtain the slope detected by the slope sensor; A vehicle speed acquisition module, used to acquire vehicle speed; a parameter determination module, configured to determine a cumulative height difference and a cumulative mileage in a current driving cycle based on the slope and the vehicle speed; a deviation determination module, configured to determine whether a measurement deviation occurs in the slope sensor based on the accumulated height difference and a preset height difference threshold; A height difference storage module, configured to store the accumulated height difference corresponding to the current driving cycle into an abnormal accumulated height difference database when a measurement deviation occurs in the slope sensor; A mileage storage module, configured to store the accumulated mileage corresponding to the current driving cycle into an abnormal accumulated mileage database when a measurement deviation occurs in the slope sensor; a correction module, configured to determine a slope correction value based on a plurality of the accumulated height differences in the abnormal accumulated height difference database and a plurality of the accumulated mileages in the abnormal accumulated mileage database when a measurement deviation occurs in the slope sensor, and to correct the slope detected by the slope sensor based on the slope correction value; The correction module is specifically used to determine the slope correction value by the following formula: Slope correction value = original slope correction value - 100 (The sum of the multiple accumulated altitude differences in the abnormal accumulated altitude difference database / the sum of the multiple accumulated mileages in the abnormal accumulated mileage database).

6. A mining card, characterized in that: The mining card includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the mining truck slope correction method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the mining truck slope correction method according to any one of claims 1 to 4 when executed.

8. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program implements the mining truck slope correction method according to any one of claims 1 to 4.

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