Monitoring method and system for extended-range trackless rubber-tyred vehicle in coal mines

Abstract

The present invention discloses a monitoring method and system for a range-extending system of a trackless rubber-tyred vehicle in an underground coal mine, and relates to the technical field of monitoring of the range-extending system, including predicting the driving state of the trackless rubber-tyred vehicle on the transportation path based on the underground coal mine environment information and the trackless rubber-tyred vehicle information; obtaining the driving deviation of the monitoring point by comparing the predicted driving state of the trackless rubber-tyred vehicle at a certain monitoring point with the actual driving state of the trackless rubber-tyred vehicle; determining the pure electric performance index of the monitoring point on the pure electric mode path based on multiple first reflection indicators and driving deviations; determining the hybrid performance index of the monitoring point on the hybrid power mode path based on multiple first reflection indicators, multiple second reflection indicators and driving deviations; integrating the pure electric performance index and hybrid performance index of each monitoring point to determine the overall performance index of the power mode. The adaptability and accuracy of the monitoring of the range-extending system of the trackless rubber-tyred vehicle are guaranteed, and a solid foundation is laid for the transportation of trackless rubber-tyred vehicles in underground coal mines.

Description

Technical Field

[0001] The present invention relates to the technical field of monitoring of a range-extending system, and more specifically, to a monitoring method and system for a range-extending system of a trackless rubber-tyred vehicle in an underground coal mine. Background Art

[0002] The rubber-tyred trackless vehicle is a type of transport vehicle specially designed for underground coal mine operations. They are usually used to transport personnel, equipment and materials, and travel in the tunnels of coal mines. These vehicles generally use rubber tires and can travel on relatively rugged and uneven underground roads. Compared with traditional rail transport vehicles, they have higher flexibility and adaptability. The design of the rubber-tyred trackless vehicle takes into account the special environment of coal mines, such as narrow tunnels, high humidity, high dust, and possible harmful gases. Therefore, these vehicles usually have strong explosion-proof, dust-proof, and moisture-proof capabilities, and can work stably in relatively harsh environments.

[0003] The range-extending system for rubber-tyred trackless vehicles in underground coal mines is a system designed to improve the operating efficiency and endurance of rubber-tyred trackless vehicles. It usually includes one or more battery packs and an internal combustion engine as a range extender. When the vehicle is running underground, it mainly relies on the battery pack for power. When the battery is low, the internal combustion engine will start to charge the battery, thereby extending the vehicle's operating time. The range-extending system can improve the vehicle's endurance, reduce downtime caused by charging, and improve work efficiency. At the same time, since the battery pack can provide the main power for the vehicle's operation, the range-extending system for rubber-tyred trackless vehicles has lower emissions and is more environmentally friendly than vehicles driven by pure internal combustion engines. In summary, the monitoring of the range-extending system for rubber-tyred trackless vehicles is the basis for ensuring coal mine transportation work, and the monitoring of the range-extending system is particularly important.

[0004] In the prior art, the monitoring of the range-extending system is often carried out through the relationship between real-time data and thresholds, and cannot reflect the performance of the range-extending system at a specific stage, resulting in poor adaptability and low accuracy of the monitoring of the range-extending system of the rubber-tyred trackless vehicle.

[0005] Therefore, how to improve the adaptability and accuracy of the monitoring system of the range extender of rubber-tyred trackless vehicles is a technical problem that needs to be solved. Summary of the invention

[0006] The present invention provides a monitoring method for a trackless rubber-tyred vehicle range extension system in a coal mine, so as to solve the technical problems of poor adaptability and low precision of the trackless rubber-tyred vehicle range extension system monitoring in the prior art. The method comprises:

[0007] Receive the coal mine transportation task of the trackless rubber-tyred vehicle, set the transportation route of the trackless rubber-tyred vehicle according to the coal mine transportation task, and predict the driving status of the trackless rubber-tyred vehicle on the transportation route based on the coal mine underground environment information and the trackless rubber-tyred vehicle information;

[0008] The transport route is divided into a pure electric mode route and a hybrid power mode route according to the power mode of the rubber-tyred trackless vehicle, and multiple monitoring points are set on the pure electric mode route, the hybrid power mode route and the actual control time of the power mode. The driving deviation of the monitoring point is obtained by comparing the predicted driving state of the rubber-tyred trackless vehicle at a certain monitoring point with the actual driving state of the rubber-tyred trackless vehicle, and the instantaneous indicators and non-instantaneous indicators in the pure electric mode and the hybrid power mode are configured;

[0009] On the pure electric mode path, a plurality of first reflection indicators are determined according to the instantaneous indicators and the non-instantaneous indicators of the current monitoring point, and a pure electric performance indicator of the monitoring point on the pure electric mode path is determined based on the plurality of first reflection indicators and the driving deviation;

[0010] On the hybrid mode path, a plurality of first reflection indicators and second reflection indicators are determined according to the instantaneous indicators and the non-instantaneous indicators of the current monitoring point, and a hybrid performance indicator of the monitoring point on the hybrid mode path is determined based on the plurality of first reflection indicators, the plurality of second reflection indicators and the driving deviation;

[0011] After the transportation route of the rubber-tyred trackless vehicle is completed, the pure electric performance indicators and hybrid performance indicators of each monitoring point are integrated to determine the overall performance indicators of the power mode of the rubber-tyred trackless vehicle for this coal mine transportation mission.

[0012] In some embodiments of the present application, the driving deviation of a monitoring point is obtained by comparing the predicted driving state of a rubber-tyred trackless vehicle at a certain monitoring point with the actual driving state of the rubber-tyred trackless vehicle, including:

[0013] The driving status includes the average speed before the monitoring point and the average acceleration before the monitoring point;

[0014] The driving deviation of the monitoring point is obtained according to the average speed before the monitoring point and the average acceleration before the monitoring point;

[0015] ;

[0016] in, is the driving deviation of the ith monitoring point, and is the deviation conversion coefficient of velocity and acceleration, is the actual average speed before the ith monitoring point, is the predicted average speed before the i-th monitoring point, is the actual average acceleration before the ith monitoring point, is the predicted average acceleration before the i-th monitoring point.

[0017] In some embodiments of the present application, instantaneous indicators and non-instantaneous indicators in both pure electric mode and hybrid power mode are configured, including:

[0018] All parameters of the pure electric mode and the hybrid power mode are determined respectively, and the parameter categories are divided into instantaneous indicators and non-instantaneous indicators according to the time description span of each parameter, so as to obtain instantaneous indicators and non-instantaneous indicators in the pure electric mode and instantaneous indicators and non-instantaneous indicators in the hybrid power mode.

[0019] In some embodiments of the present application, a plurality of first reflection indicators are determined according to instantaneous indicators and non-instantaneous indicators of the current monitoring point, including:

[0020] The first reflection index includes battery performance status index, motor performance status index, battery balancing index and conversion efficiency index;

[0021] Construct an instantaneous indicator curve that changes with time before the current monitoring point, split the instantaneous indicator curve into multiple small curves according to the time interval corresponding to the instantaneous indicator type, randomly select multiple points on the small curve, calculate the slope between every two adjacent points, and obtain the average slope of each small curve;

[0022] The slope average change rate of the instantaneous index curve is calculated according to the slope average of each small curve, and a slope average threshold is obtained by mapping the slope average change rate. The small curves whose slope average is lower than the slope average threshold are screened out, and the adjacent small curves after screening are spliced ​​to obtain a single small curve and a spliced ​​small curve, and the instantaneous index average values ​​of the single small curve and the spliced ​​small curve are calculated;

[0023] Different stability weights are assigned to the individual small curve and the spliced ​​small curve according to the time of the small curve, and the average values ​​of the instantaneous indicators of the individual small curve and the spliced ​​small curve are weighted summed to obtain the stability value of the instantaneous indicator;

[0024] Determine the instantaneous index comprehensive value according to the stable value of the instantaneous index and the real-time value of the instantaneous index at the current monitoring point, and determine the battery performance status index, the motor performance status index, and the conversion efficiency index according to the instantaneous index comprehensive value and the non-instantaneous index;

[0025] In the time before the current monitoring point, the imbalance time node is determined by judging the imbalance condition, and the balance time node is determined by judging the balance condition. The single balancing capability is described according to the time of the imbalance time node-balance time node, and the battery balancing index is obtained by integrating each balancing capability.

[0026] In some embodiments of the present application, the pure electric performance index of the monitoring point on the pure electric mode path is determined based on multiple first reflection indicators and driving deviations, including:

[0027] Standardize the battery performance status index, the motor performance status index, the battery balancing index, the conversion efficiency index and the driving deviation;

[0028] Determine the pure electric performance index according to the battery performance status index, the motor performance status index, the battery balancing index, the conversion efficiency index and the driving deviation;

[0029] ;

[0030] in, is the pure electric performance index of the ith monitoring point on the pure electric mode path, , , are the weights of the battery performance status index, the motor performance status index, and the conversion efficiency index, respectively. , , are the battery performance status index, motor performance status index, and conversion efficiency index corresponding to the i-th monitoring point on the pure electric mode path, exp is an exponential function, , are the correction weights of battery balancing index and driving deviation respectively, n is the number of balancing times before the i-th monitoring point on the pure electric mode path, is the jth adjustment time before the i-th monitoring point, is the driving deviation of the ith monitoring point on the pure electric mode path, , are the first constant and the second constant respectively.

[0031] In some embodiments of the present application, a plurality of first reflection indicators and second reflection indicators are determined according to instantaneous indicators and non-instantaneous indicators of the current monitoring point, including:

[0032] The second reflection index includes a mode switching index and an internal combustion engine performance state index;

[0033] Determining a plurality of first reflection indices and internal combustion engine performance status indices through comprehensive values ​​of instantaneous indices;

[0034] In pure electric mode, between the time point when the battery reaches the preset threshold and the time point when the internal combustion engine starts for a period of time, the fluctuations of the driving state and the fluctuations of the battery's instantaneous indicators are monitored, and the mode switching indicator is determined by integrating the two.

[0035] In some embodiments of the present application, the hybrid performance index of the monitoring point on the hybrid mode path is determined based on the plurality of first reflection indexes, the plurality of second reflection indexes and the driving deviation, including:

[0036] normalizing a plurality of first reflection indicators, a plurality of second reflection indicators, and a driving deviation;

[0037] ;

[0038] in, is the hybrid performance index of the uth monitoring point on the hybrid mode path, m is the total number of the first reflection index and the second reflection index except the mode switching index, is the weight of the cth reflection index on the hybrid mode path, is the size of the cth reflection indicator at the uth monitoring point on the hybrid mode path, is the mode switching index size at the u-th monitoring point on the hybrid mode path, is the driving deviation at the uth monitoring point on the hybrid mode path, is the third constant.

[0039] In some embodiments of the present application, the pure electric performance index and hybrid performance index of each monitoring point are integrated to determine the overall performance index of the power mode of the trackless rubber-tyred vehicle for this coal mine transportation task, including:

[0040] ;

[0041] in, is the overall performance index of the power mode, , They are the performance weights corresponding to the pure electric performance index on the pure electric mode path and the hybrid performance index on the hybrid mode path. is the pure electric performance index of the last monitoring point on the pure electric mode path, n1 is the total number of monitoring points on the pure electric mode path, The adjustment amount obtained by mapping the sum of the pure electric performance indicators of all other monitoring points on the pure electric mode path except the last monitoring point by the first mapping relationship is represented , is the hybrid performance index of the last monitoring point on the hybrid mode path, n2 is the total number of monitoring points on the hybrid mode path, The adjustment amount obtained by the second mapping relationship is the sum of the hybrid performance indicators of all other monitoring points on the hybrid mode path except the last monitoring point .

[0042] Correspondingly, the present application also provides a monitoring system for a trackless rubber-tyred vehicle range extension system in a coal mine, comprising:

[0043] A prediction module is used to receive the coal mine transportation task of the trackless rubber-tyred vehicle, set the transportation path of the trackless rubber-tyred vehicle according to the coal mine transportation task, and predict the driving state of the trackless rubber-tyred vehicle on the transportation path according to the coal mine underground environment information and the trackless rubber-tyred vehicle information;

[0044] A setting module is used to split the transport path into a pure electric mode path and a hybrid power mode path according to the power mode of the rubber-tyred trackless vehicle, set multiple monitoring points on the pure electric mode path, the hybrid power mode path and the actual control time of the power mode, obtain the driving deviation of the monitoring point by comparing the predicted driving state of the rubber-tyred trackless vehicle at a certain monitoring point with the actual driving state of the rubber-tyred trackless vehicle, and configure instantaneous indicators and non-instantaneous indicators in the pure electric mode and the hybrid power mode;

[0045] A pure electric module, used to determine a plurality of first reflection indicators according to instantaneous indicators and non-instantaneous indicators of a current monitoring point on a pure electric mode path, and determine a pure electric performance indicator of the monitoring point on the pure electric mode path based on the plurality of first reflection indicators and a driving deviation;

[0046] A hybrid module, for determining a plurality of first reflection indicators and a second reflection indicator according to the instantaneous indicator and the non-instantaneous indicator of the current monitoring point on the hybrid mode path, and determining a hybrid performance indicator of the monitoring point on the hybrid mode path based on the plurality of first reflection indicators, the plurality of second reflection indicators and the driving deviation;

[0047] The evaluation module is used to integrate the pure electric performance index and hybrid performance index of each monitoring point after the transportation route of the rubber-tyred trackless vehicle is completed, so as to determine the overall performance index of the power mode of the rubber-tyred trackless vehicle for this coal mine transportation mission.

[0048] By applying the above technical scheme, the coal mine transportation task of the rubber-tyred trackless vehicle is received, the transportation route of the rubber-tyred trackless vehicle is set according to the coal mine transportation task, and the driving state of the rubber-tyred trackless vehicle on the transportation route is predicted according to the coal mine underground environment information and the information of the rubber-tyred trackless vehicle; the transportation route is split into a pure electric mode route and a hybrid power mode route according to the power mode of the rubber-tyred trackless vehicle, and multiple monitoring points are set on the pure electric mode route, the hybrid power mode route and the actual control time of the power mode, and the driving deviation of the monitoring point is obtained by comparing the predicted driving state of the rubber-tyred trackless vehicle at a certain monitoring point with the actual driving state of the rubber-tyred trackless vehicle, and the instantaneous indicators and non-instantaneous indicators in the pure electric mode and the hybrid power mode are configured; in the pure electric mode, the hybrid power mode is used as the driving state of the vehicle, and the driving state of the vehicle is controlled by the vehicle. On the electric mode path, multiple first reflection indicators are determined according to the instantaneous indicators and non-instantaneous indicators of the current monitoring point, and the pure electric performance indicators of the monitoring point on the pure electric mode path are determined based on the multiple first reflection indicators and driving deviations; on the hybrid power mode path, multiple first reflection indicators and second reflection indicators are determined according to the instantaneous indicators and non-instantaneous indicators of the current monitoring point, and the hybrid performance indicators of the monitoring point on the hybrid power mode path are determined based on the multiple first reflection indicators, multiple second reflection indicators and driving deviations; after the transportation path of the rubber-tyred trackless vehicle is completed, the pure electric performance indicators and hybrid performance indicators of each monitoring point are integrated to determine the overall performance indicators of the power mode of the rubber-tyred trackless vehicle for this coal mine transportation task. This application determines multiple first reflection indicators and second reflection indicators through the instantaneous indicators and non-instantaneous indicators of the current monitoring point, and screens out the stable values ​​of the instantaneous indicators, thereby obtaining relatively accurate first reflection indicators and second reflection indicators with small fluctuation errors. In addition, the corresponding pure electric performance indicators and hybrid performance indicators were adjusted according to the driving deviation, battery balancing indicators and mode switching indicators, ensuring the adaptability and accuracy of the extended-range system monitoring of the rubber-tyred trackless vehicle, laying a solid foundation for the transportation work of the rubber-tyred trackless vehicle in coal mines and ensuring the stable operation of the rubber-tyred trackless vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A flow chart of a monitoring method for a range-extending system of a trackless rubber-tyred vehicle in an underground coal mine proposed by the present invention;

[0050] Figure 2 The present invention is a schematic diagram of the structure of the monitoring system applied to the range-extending system of the rubber-tyred trackless vehicle in underground coal mines. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present invention will be described clearly and completely 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, rather than all the embodiments.

[0052] The present application embodiment provides a monitoring method for a range-extending system of a trackless rubber-tyred vehicle in a coal mine, such as Figure 1 As shown, the method comprises the following steps:

[0053] Step S101, receiving a coal mine transportation task of a trackless rubber-tyred vehicle, setting a transportation path of the trackless rubber-tyred vehicle according to the coal mine transportation task, and predicting a driving state of the trackless rubber-tyred vehicle on the transportation path according to coal mine underground environment information and trackless rubber-tyred vehicle information.

[0054] In this embodiment, the underground environmental information of the coal mine includes road conditions, surrounding environment, etc., and the information of the rubber-tyred trackless vehicle includes basic information such as load information and battery information. A prediction model is constructed by these two types of information to predict the driving state (speed, acceleration, etc.) of the rubber-tyred trackless vehicle on the transportation path under ideal conditions.

[0055] In some embodiments of the present application, the driving deviation of a monitoring point is obtained by comparing the predicted driving state of a rubber-tyred trackless vehicle at a certain monitoring point with the actual driving state of the rubber-tyred trackless vehicle, including:

[0056] The driving status includes the average speed before the monitoring point and the average acceleration before the monitoring point;

[0057] The driving deviation of the monitoring point is obtained according to the average speed before the monitoring point and the average acceleration before the monitoring point;

[0058] ;

[0059] in, is the driving deviation of the ith monitoring point, and is the deviation conversion coefficient of velocity and acceleration, is the actual average speed before the ith monitoring point, is the predicted average speed before the i-th monitoring point, is the actual average acceleration before the ith monitoring point, is the predicted average acceleration before the i-th monitoring point.

[0060] In this embodiment, the running state of the rubber-tyred trackless vehicle can reflect the deviation of the kinetic energy system from the ideal state to a certain extent. Here, the running deviation is described by the deviation between the actual value and the predicted value of the speed and acceleration.

[0061] It should be noted that in order to ensure the adaptability of the power of the pure electric mode path and the hybrid mode path, the driving deviation only considers the driving deviation on the corresponding path. For example, at a monitoring point on the hybrid mode path, when calculating the driving deviation, the starting time node to be considered is the beginning of the hybrid mode path, so as to calculate the average speed and acceleration in this time period, rather than starting from the pure electric mode path.

[0062] Step S102, splitting the transport path into a pure electric mode path and a hybrid power mode path according to the power mode of the rubber-tyred trackless vehicle, setting multiple monitoring points on the pure electric mode path, the hybrid power mode path and the actual control time of the power mode, obtaining the driving deviation of the monitoring point by comparing the predicted driving state of the rubber-tyred trackless vehicle at a certain monitoring point with the actual driving state of the rubber-tyred trackless vehicle, and configuring instantaneous indicators and non-instantaneous indicators in the pure electric mode and the hybrid power mode.

[0063] In this embodiment, the power mode of the rubber-tyred trackless vehicle during actual driving is divided into a pure electric mode path and a hybrid power mode path. Setting multiple monitoring points on the pure electric mode path, the hybrid power mode path and the actual control moment of the power mode means selecting monitoring points on the two paths according to some special circumstances or special moments, thereby improving the adaptability of monitoring and ensuring the safe operation of the rubber-tyred trackless vehicle. Special circumstances or special moments include points with complex paths, the process of switching from pure electric mode to hybrid power mode, points with large changes in kinetic energy, etc. Here, any monitoring point can be manually selected as a monitoring point according to actual needs.

[0064] It should be noted that the working principle of the power of the rubber-tyred trackless vehicle is to first provide power through the battery pack in the pure electric mode. When the battery is low to the preset threshold, the mode is switched, and the battery pack is charged by the internal combustion engine and generator in the hybrid mode, thereby providing power for the rubber-tyred trackless vehicle. Here, only the automatic switching process of the pure electric mode switching to the hybrid mode when the battery is low to the preset threshold is considered, and the manual control switching scenario is not considered. The power mode of the rubber-tyred trackless vehicle on the complete transportation path is pure electric mode-hybrid power mode, so there are only two corresponding paths.

[0065] In some embodiments of the present application, instantaneous indicators and non-instantaneous indicators in both pure electric mode and hybrid power mode are configured, including:

[0066] All parameters of the pure electric mode and the hybrid power mode are determined respectively, and the parameter categories are divided into instantaneous indicators and non-instantaneous indicators according to the time description span of each parameter, so as to obtain instantaneous indicators and non-instantaneous indicators in the pure electric mode and instantaneous indicators and non-instantaneous indicators in the hybrid power mode.

[0067] In this embodiment, the time description span of the parameter refers to the timeliness of the parameter, and the instantaneous index refers to the parameter providing real-time information of the current system, such as the real-time voltage, current, temperature of the battery, the real-time speed, load, temperature of the internal combustion engine, etc. The non-instantaneous index refers to the index within a period of time, such as the number of charge and discharge cycles of the battery pack, the number of working hours of the internal combustion engine, the mileage of the vehicle, etc.

[0068] Step S103, on the pure electric mode path, multiple first reflection indicators are determined according to the instantaneous indicators and non-instantaneous indicators of the current monitoring point, and the pure electric performance indicator of the monitoring point on the pure electric mode path is determined based on the multiple first reflection indicators and the driving deviation.

[0069] In this embodiment, the first reflection indicator includes a battery performance status indicator, a motor performance status indicator, a battery balancing indicator, and a conversion efficiency indicator, etc. If only the instantaneous indicator at the current monitoring point is used to describe the performance, etc., there will be large data errors or volatility errors, and it cannot reflect the performance before the monitoring point. Therefore, a stable value of an instantaneous indicator is determined here, and the comprehensive value of the instantaneous indicator is determined by combining the stable value and the real-time value to obtain a more accurate first reflection indicator. The first reflection indicator is determined by instantaneous indicators and non-instantaneous indicators (according to the corresponding mathematical relationship model). For example, when calculating the performance status of the battery, it is necessary to consider the battery power, internal resistance, health status, voltage, current, temperature, etc. at the same time to obtain the battery performance status. The mathematical principles or mathematical relationships here are not the focus of this solution and will not be described in detail here.

[0070] In some embodiments of the present application, a plurality of first reflection indicators are determined according to instantaneous indicators and non-instantaneous indicators of the current monitoring point, including:

[0071] The first reflection index includes battery performance status index, motor performance status index, battery balancing index and conversion efficiency index;

[0072] Construct an instantaneous indicator curve that changes with time before the current monitoring point, split the instantaneous indicator curve into multiple small curves according to the time interval corresponding to the instantaneous indicator type, randomly select multiple points on the small curve, calculate the slope between every two adjacent points, and obtain the average slope of each small curve;

[0073] The slope average change rate of the instantaneous index curve is calculated according to the slope average of each small curve, and a slope average threshold is obtained by mapping the slope average change rate. The small curves whose slope average is lower than the slope average threshold are screened out, and the adjacent small curves after screening are spliced ​​to obtain a single small curve and a spliced ​​small curve, and the instantaneous index average values ​​of the single small curve and the spliced ​​small curve are calculated;

[0074] Different stability weights are assigned to the individual small curve and the spliced ​​small curve according to the time of the small curve, and the average values ​​of the instantaneous indicators of the individual small curve and the spliced ​​small curve are weighted summed to obtain the stability value of the instantaneous indicator;

[0075] Determine the instantaneous index comprehensive value according to the stable value of the instantaneous index and the real-time value of the instantaneous index at the current monitoring point, and determine the battery performance status index, the motor performance status index, and the conversion efficiency index according to the instantaneous index comprehensive value and the non-instantaneous index;

[0076] In the time before the current monitoring point, the imbalance time node is determined by judging the imbalance condition, and the balance time node is determined by judging the balance condition. The single balancing capability is described according to the time of the imbalance time node-balance time node, and the battery balancing index is obtained by integrating each balancing capability.

[0077] In this embodiment, the instantaneous index curve is used to screen the stable value of the instantaneous index, and the instantaneous index comprehensive value is determined according to the stable value of the instantaneous index and the real-time value of the instantaneous index at the current monitoring point. Here, the comprehensive value can be determined according to the weighted average or average value. Different stability weights are given to the individual small curves and the spliced ​​small curves by the time of the small curves. The time length of each small curve is the same. The spliced ​​small curve of adjacent small curves has a longer time and a relatively larger weight.

[0078] In this embodiment, in pure electric mode and hybrid mode, due to factors such as aging of battery cells, manufacturing differences, and charging and discharging conditions, imbalance of the battery pack may occur. The imbalance condition is that the voltage, temperature, capacity, etc. of the battery exceed the corresponding threshold value, and any one of them is sufficient. The balance condition is that there is no situation where the voltage, temperature, capacity, etc. of the battery exceeds the corresponding threshold value, and all of them must be satisfied. When unbalanced, the battery management system (BMS) will adjust the balance state of the battery pack, and the balancing ability is described by the adjustment time.

[0079] In some embodiments of the present application, the pure electric performance index of the monitoring point on the pure electric mode path is determined based on multiple first reflection indicators and driving deviations, including:

[0080] Standardize the battery performance status index, the motor performance status index, the battery balancing index, the conversion efficiency index and the driving deviation;

[0081] Determine the pure electric performance index according to the battery performance status index, the motor performance status index, the battery balancing index, the conversion efficiency index and the driving deviation;

[0082] ;

[0083] in, is the pure electric performance index of the ith monitoring point on the pure electric mode path, , , are the weights of the battery performance status index, the motor performance status index, and the conversion efficiency index, respectively. , , are the battery performance status index, motor performance status index, and conversion efficiency index corresponding to the i-th monitoring point on the pure electric mode path, exp is an exponential function, , are the correction weights of battery balancing index and driving deviation respectively, n is the number of balancing times before the i-th monitoring point on the pure electric mode path, is the jth adjustment time before the i-th monitoring point, is the driving deviation of the ith monitoring point on the pure electric mode path, , are the first constant and the second constant respectively.

[0084] In this embodiment, the sum of the performance represented by the battery performance state index, the motor performance state index, and the conversion efficiency index is adjusted by the battery balancing index and the driving deviation, and the value range is between 0.76-1.26.

[0085] Step S104, on the hybrid mode path, multiple first reflection indicators and second reflection indicators are determined according to the instantaneous indicators and non-instantaneous indicators of the current monitoring point, and the hybrid performance indicators of the monitoring point on the hybrid mode path are determined based on the multiple first reflection indicators, the multiple second reflection indicators and the driving deviation.

[0086] In this embodiment, the hybrid mode adds an internal combustion engine and a generator compared to the pure electric mode. The second reflection index is some indicators that the pure electric mode does not have. Other than that, the two have the same meaning. The method for determining the comprehensive value of the instantaneous index on the hybrid mode is the same as that of the pure electric mode, which will not be repeated here. The switching smoothness in the process of switching from pure electric mode to hybrid mode is also one of the indicators for measuring the performance of the hybrid mode. The first reflection index in the hybrid mode may be slightly different from the first reflection index in the pure electric mode. For example, the conversion efficiency index of the pure electric mode includes charging efficiency and discharging efficiency, and the conversion efficiency index of the hybrid mode includes not only charging efficiency and discharging efficiency, but also internal combustion engine efficiency and generator efficiency, etc. This situation is normal and needs to be considered differently according to actual conditions.

[0087] In some embodiments of the present application, a plurality of first reflection indicators and second reflection indicators are determined according to instantaneous indicators and non-instantaneous indicators of the current monitoring point, including:

[0088] The second reflection index includes a mode switching index and an internal combustion engine performance state index;

[0089] Determining a plurality of first reflection indices and internal combustion engine performance status indices through comprehensive values ​​of instantaneous indices;

[0090] In pure electric mode, between the time point when the battery reaches the preset threshold and the time point when the internal combustion engine starts for a period of time, the fluctuations of the driving state and the fluctuations of the battery's instantaneous indicators are monitored, and the mode switching indicator is determined by integrating the two.

[0091] In this embodiment, in the time between the time node when the battery reaches the preset threshold in pure electric mode and the time node when the internal combustion engine is started for a period of time, the start node of this time is the moment when the battery reaches the preset threshold in pure electric mode, and the end node is after the internal combustion engine is started for a period of time. The fluctuation of driving state and the fluctuation of instantaneous index of battery refer to the fluctuation of vehicle speed, acceleration, power output, battery voltage, battery current, battery temperature, etc. during the switching process. The mode switching index is determined by combining the fluctuations of these two aspects (which can be determined by weighted summation, etc.).

[0092] In some embodiments of the present application, the hybrid performance index of the monitoring point on the hybrid mode path is determined based on the plurality of first reflection indexes, the plurality of second reflection indexes and the driving deviation, including:

[0093] normalizing a plurality of first reflection indicators, a plurality of second reflection indicators, and a driving deviation;

[0094] ;

[0095] in, is the hybrid performance index of the uth monitoring point on the hybrid mode path, m is the total number of the first reflection index and the second reflection index except the mode switching index, is the weight of the cth reflection index on the hybrid mode path, is the size of the cth reflection indicator at the uth monitoring point on the hybrid mode path, is the mode switching index size at the u-th monitoring point on the hybrid mode path, is the driving deviation at the uth monitoring point on the hybrid mode path, is the third constant.

[0096] In this embodiment, the sum of the performance of the first reflection index and the second reflection index is adjusted by the mode switching index and the driving deviation, and the value range is between 0.69-1.35.

[0097] Step S105, after the transportation route of the rubber-tyred trackless vehicle is completed, the pure electric performance index and the hybrid performance index of each monitoring point are integrated to determine the overall performance index of the power mode of the rubber-tyred trackless vehicle for this coal mine transportation task.

[0098] In this embodiment, in order to measure the overall performance of the two power modes of this transportation task, the monitoring points of the two paths are integrated.

[0099] In some embodiments of the present application, the pure electric performance index and hybrid performance index of each monitoring point are integrated to determine the overall performance index of the power mode of the trackless rubber-tyred vehicle for this coal mine transportation task, including:

[0100] ;

[0101] in, is the overall performance index of the power mode, , They are the performance weights corresponding to the pure electric performance index on the pure electric mode path and the hybrid performance index on the hybrid mode path. is the pure electric performance index of the last monitoring point on the pure electric mode path, n1 is the total number of monitoring points on the pure electric mode path, The adjustment amount obtained by mapping the sum of the pure electric performance indicators of all other monitoring points on the pure electric mode path except the last monitoring point by the first mapping relationship is represented , is the hybrid performance index of the last monitoring point on the hybrid mode path, n2 is the total number of monitoring points on the hybrid mode path, The adjustment amount obtained by the second mapping relationship is the sum of the hybrid performance indicators of all other monitoring points on the hybrid mode path except the last monitoring point .

[0102] In this embodiment, the last monitoring point in the two paths has described the performance index of the entire path. In order to improve the accuracy of the description, the performance index represented by all the previous monitoring points (except the last one) is adjusted.

[0103] By applying the above technical scheme, the coal mine transportation task of the rubber-tyred trackless vehicle is received, the transportation route of the rubber-tyred trackless vehicle is set according to the coal mine transportation task, and the driving state of the rubber-tyred trackless vehicle on the transportation route is predicted according to the coal mine underground environment information and the information of the rubber-tyred trackless vehicle; the transportation route is split into a pure electric mode route and a hybrid power mode route according to the power mode of the rubber-tyred trackless vehicle, and multiple monitoring points are set on the pure electric mode route, the hybrid power mode route and the actual control time of the power mode, and the driving deviation of the monitoring point is obtained by comparing the predicted driving state of the rubber-tyred trackless vehicle at a certain monitoring point with the actual driving state of the rubber-tyred trackless vehicle, and the instantaneous indicators and non-instantaneous indicators in the pure electric mode and the hybrid power mode are configured; in the pure electric mode, the hybrid power mode is used as the driving state of the vehicle, and the driving state of the vehicle is controlled by the vehicle. On the electric mode path, multiple first reflection indicators are determined according to the instantaneous indicators and non-instantaneous indicators of the current monitoring point, and the pure electric performance indicators of the monitoring point on the pure electric mode path are determined based on the multiple first reflection indicators and driving deviations; on the hybrid power mode path, multiple first reflection indicators and second reflection indicators are determined according to the instantaneous indicators and non-instantaneous indicators of the current monitoring point, and the hybrid performance indicators of the monitoring point on the hybrid power mode path are determined based on the multiple first reflection indicators, multiple second reflection indicators and driving deviations; after the transportation path of the rubber-tyred trackless vehicle is completed, the pure electric performance indicators and hybrid performance indicators of each monitoring point are integrated to determine the overall performance indicators of the power mode of the rubber-tyred trackless vehicle for this coal mine transportation task. This application determines multiple first reflection indicators and second reflection indicators through the instantaneous indicators and non-instantaneous indicators of the current monitoring point, and screens out the stable values ​​of the instantaneous indicators, thereby obtaining relatively accurate first reflection indicators and second reflection indicators with small fluctuation errors. In addition, the corresponding pure electric performance indicators and hybrid performance indicators were adjusted according to the driving deviation, battery balancing indicators and mode switching indicators, ensuring the adaptability and accuracy of the extended-range system monitoring of the rubber-tyred trackless vehicle, laying a solid foundation for the transportation work of the rubber-tyred trackless vehicle in coal mines and ensuring the stable operation of the rubber-tyred trackless vehicle.

[0104] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present invention can be implemented by hardware, or by software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard 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 implementation scenario of the present invention.

[0105] In order to further explain the technical idea of ​​the present invention, the technical solution of the present invention is now described in combination with specific application scenarios.

[0106] Correspondingly, the present application also provides a monitoring system for a trackless rubber-tyred vehicle range extension system in a coal mine, such as Figure 2 As shown, including:

[0107] A prediction module is used to receive the coal mine transportation task of the trackless rubber-tyred vehicle, set the transportation path of the trackless rubber-tyred vehicle according to the coal mine transportation task, and predict the driving state of the trackless rubber-tyred vehicle on the transportation path according to the coal mine underground environment information and the trackless rubber-tyred vehicle information;

[0108] A setting module is used to split the transport path into a pure electric mode path and a hybrid power mode path according to the power mode of the rubber-tyred trackless vehicle, set multiple monitoring points on the pure electric mode path, the hybrid power mode path and the actual control time of the power mode, obtain the driving deviation of the monitoring point by comparing the predicted driving state of the rubber-tyred trackless vehicle at a certain monitoring point with the actual driving state of the rubber-tyred trackless vehicle, and configure instantaneous indicators and non-instantaneous indicators in the pure electric mode and the hybrid power mode;

[0109] A pure electric module, used to determine a plurality of first reflection indicators according to instantaneous indicators and non-instantaneous indicators of a current monitoring point on a pure electric mode path, and determine a pure electric performance indicator of the monitoring point on the pure electric mode path based on the plurality of first reflection indicators and a driving deviation;

[0110] A hybrid module, for determining a plurality of first reflection indicators and a second reflection indicator according to the instantaneous indicator and the non-instantaneous indicator of the current monitoring point on the hybrid mode path, and determining a hybrid performance indicator of the monitoring point on the hybrid mode path based on the plurality of first reflection indicators, the plurality of second reflection indicators and the driving deviation;

[0111] The evaluation module is used to integrate the pure electric performance index and hybrid performance index of each monitoring point after the transportation route of the rubber-tyred trackless vehicle is completed, so as to determine the overall performance index of the power mode of the rubber-tyred trackless vehicle for this coal mine transportation mission.

[0112] Those skilled in the art will appreciate that the modules in the system in the implementation scenario can be distributed in the system of the implementation scenario according to the implementation scenario description, or can be changed accordingly and located in one or more systems different from the implementation scenario. The modules in the above implementation scenario can be combined into one module, or can be further split into multiple submodules.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application 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 cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A monitoring method for a range-extending system of a trackless rubber-tyred vehicle in a coal mine, characterized in that: include: Receive the coal mine transportation task of the trackless rubber-tyred vehicle, set the transportation route of the trackless rubber-tyred vehicle according to the coal mine transportation task, and predict the driving status of the trackless rubber-tyred vehicle on the transportation route based on the coal mine underground environment information and the trackless rubber-tyred vehicle information; The transport route is divided into a pure electric mode route and a hybrid power mode route according to the power mode of the rubber-tyred trackless vehicle, and multiple monitoring points are set on the pure electric mode route, the hybrid power mode route and the actual control time of the power mode. The driving deviation of the monitoring point is obtained by comparing the predicted driving state of the rubber-tyred trackless vehicle at a certain monitoring point with the actual driving state of the rubber-tyred trackless vehicle, and the instantaneous indicators and non-instantaneous indicators in the pure electric mode and the hybrid power mode are configured; On the pure electric mode path, a plurality of first reflection indicators are determined according to the instantaneous indicators and the non-instantaneous indicators of the current monitoring point, and a pure electric performance indicator of the monitoring point on the pure electric mode path is determined based on the plurality of first reflection indicators and the driving deviation; On the hybrid mode path, a plurality of first reflection indicators and second reflection indicators are determined according to the instantaneous indicators and the non-instantaneous indicators of the current monitoring point, and a hybrid performance indicator of the monitoring point on the hybrid mode path is determined based on the plurality of first reflection indicators, the plurality of second reflection indicators and the driving deviation; After the transportation route of the rubber-tyred trackless vehicle is completed, the pure electric performance index and hybrid performance index of each monitoring point are integrated to determine the overall performance index of the power mode of the rubber-tyred trackless vehicle for this coal mine transportation task; in, By comparing the predicted driving state of the rubber-tyred trackless vehicle at a certain monitoring point with the actual driving state of the rubber-tyred trackless vehicle, the driving deviation of the monitoring point is obtained, including: The driving status includes the average speed before the monitoring point and the average acceleration before the monitoring point; The driving deviation of the monitoring point is obtained according to the average speed before the monitoring point and the average acceleration before the monitoring point; ； in, is the driving deviation of the ith monitoring point, and is the deviation conversion coefficient of velocity and acceleration, is the actual average speed before the ith monitoring point, is the predicted average speed before the i-th monitoring point, is the actual average acceleration before the ith monitoring point, is the predicted average acceleration before the i-th monitoring point; A plurality of first reflection indicators are determined according to instantaneous indicators and non-instantaneous indicators of the current monitoring point, including: The first reflection index includes battery performance status index, motor performance status index, battery balancing index and conversion efficiency index; Construct an instantaneous indicator curve that changes with time before the current monitoring point, split the instantaneous indicator curve into multiple small curves according to the time interval corresponding to the instantaneous indicator type, randomly select multiple points on the small curve, calculate the slope between every two adjacent points, and obtain the average slope of each small curve; The slope average change rate of the instantaneous index curve is calculated according to the slope average of each small curve, and a slope average threshold is obtained by mapping the slope average change rate. The small curves whose slope average is lower than the slope average threshold are screened out, and the adjacent small curves after screening are spliced ​​to obtain a single small curve and a spliced ​​small curve, and the instantaneous index average values ​​of the single small curve and the spliced ​​small curve are calculated; Different stability weights are assigned to the individual small curve and the spliced ​​small curve according to the time of the small curve, and the average values ​​of the instantaneous indicators of the individual small curve and the spliced ​​small curve are weighted summed to obtain the stability value of the instantaneous indicator; Determine the instantaneous index comprehensive value according to the stable value of the instantaneous index and the real-time value of the instantaneous index at the current monitoring point, and determine the battery performance status index, the motor performance status index, and the conversion efficiency index according to the instantaneous index comprehensive value and the non-instantaneous index; In the time before the current monitoring point, the imbalance time node is determined by judging the imbalance condition, and the balance time node is determined by judging the balance condition. The single balancing ability is described according to the time of the imbalance time node-balance time node, and each balancing ability is integrated to obtain the battery balancing index; The pure electric performance index of the monitoring point on the pure electric mode path is determined based on the multiple first reflection indexes and the driving deviation, including: Standardize the battery performance status index, the motor performance status index, the battery balancing index, the conversion efficiency index and the driving deviation; The pure electric performance index is determined according to the battery performance status index, the motor performance status index, the battery balancing index, the conversion efficiency index and the driving deviation; ； in, is the pure electric performance index of the ith monitoring point on the pure electric mode path, , , are the weights of the battery performance status index, the motor performance status index, and the conversion efficiency index, respectively. , , are the battery performance status index, motor performance status index, and conversion efficiency index corresponding to the i-th monitoring point on the pure electric mode path, exp is an exponential function, , are the correction weights of battery balancing index and driving deviation respectively, n is the number of balancing times before the i-th monitoring point on the pure electric mode path, is the jth adjustment time before the i-th monitoring point, is the driving deviation of the ith monitoring point on the pure electric mode path, , are the first constant and the second constant respectively; Determining a plurality of first reflection indicators and second reflection indicators according to instantaneous indicators and non-instantaneous indicators of the current monitoring point includes: The second reflection index includes a mode switching index and an internal combustion engine performance state index; Determining a plurality of first reflection indices and internal combustion engine performance status indices through comprehensive values ​​of instantaneous indices; In the pure electric mode, between the time point when the battery reaches the preset threshold and the time point when the internal combustion engine is started for a period of time, the fluctuation of the driving state and the fluctuation of the instantaneous index of the battery are monitored, and the mode switching index is determined after integrating the two; Determining a hybrid performance index of a monitoring point on the hybrid mode path based on a plurality of first reflection indexes, a plurality of second reflection indexes and a driving deviation includes: normalizing a plurality of first reflection indicators, a plurality of second reflection indicators, and a driving deviation; ； in, is the hybrid performance index of the uth monitoring point on the hybrid mode path, m is the total number of the first reflection index and the second reflection index except the mode switching index, is the weight of the cth reflection index on the hybrid mode path, is the size of the cth reflection indicator at the uth monitoring point on the hybrid mode path, is the mode switching index size at the u-th monitoring point on the hybrid mode path, is the driving deviation at the uth monitoring point on the hybrid mode path, is the third constant; The pure electric performance index and hybrid performance index of each monitoring point are integrated to determine the overall performance index of the power mode of the trackless rubber-wheeled vehicle for this coal mine transportation task, including: ； in, is the overall performance index of the power mode, , They are the performance weights corresponding to the pure electric performance index on the pure electric mode path and the hybrid performance index on the hybrid mode path. is the pure electric performance index of the last monitoring point on the pure electric mode path, n1 is the total number of monitoring points on the pure electric mode path, The adjustment amount obtained by mapping the sum of the pure electric performance indicators of all other monitoring points on the pure electric mode path except the last monitoring point by the first mapping relationship is represented , is the hybrid performance index of the last monitoring point on the hybrid mode path, is the total number of monitoring points on the hybrid mode path, The adjustment amount obtained by the second mapping relationship is the sum of the hybrid performance indicators of all other monitoring points on the hybrid mode path except the last monitoring point .

2. The monitoring method for the range-extending system of a trackless rubber-tyred vehicle in an underground coal mine according to claim 1 is characterized in that: Configure instantaneous and non-instantaneous indicators in both pure electric mode and hybrid mode, including: All parameters of the pure electric mode and the hybrid power mode are determined respectively, and the parameter categories are divided into instantaneous indicators and non-instantaneous indicators according to the time description span of each parameter, so as to obtain instantaneous indicators and non-instantaneous indicators in the pure electric mode and instantaneous indicators and non-instantaneous indicators in the hybrid power mode.

3. The monitoring system used in the range extension system of the trackless rubber-tyred vehicle in coal mines is characterized by: The monitoring method for implementing the range-extending system of a trackless rubber-tyred vehicle in an underground coal mine as claimed in claim 1 or 2 comprises: A prediction module is used to receive the coal mine transportation task of the trackless rubber-tyred vehicle, set the transportation path of the trackless rubber-tyred vehicle according to the coal mine transportation task, and predict the driving state of the trackless rubber-tyred vehicle on the transportation path according to the coal mine underground environment information and the trackless rubber-tyred vehicle information; A setting module is used to split the transport path into a pure electric mode path and a hybrid power mode path according to the power mode of the rubber-tyred trackless vehicle, set multiple monitoring points on the pure electric mode path, the hybrid power mode path and the actual control time of the power mode, obtain the driving deviation of the monitoring point by comparing the predicted driving state of the rubber-tyred trackless vehicle at a certain monitoring point with the actual driving state of the rubber-tyred trackless vehicle, and configure instantaneous indicators and non-instantaneous indicators in the pure electric mode and the hybrid power mode; A pure electric module, used to determine a plurality of first reflection indicators according to instantaneous indicators and non-instantaneous indicators of a current monitoring point on a pure electric mode path, and determine a pure electric performance indicator of the monitoring point on the pure electric mode path based on the plurality of first reflection indicators and a driving deviation; A hybrid module, for determining a plurality of first reflection indicators and a second reflection indicator according to the instantaneous indicator and the non-instantaneous indicator of the current monitoring point on the hybrid mode path, and determining a hybrid performance indicator of the monitoring point on the hybrid mode path based on the plurality of first reflection indicators, the plurality of second reflection indicators and the driving deviation; The evaluation module is used to integrate the pure electric performance index and hybrid performance index of each monitoring point after the transportation route of the rubber-tyred trackless vehicle is completed, so as to determine the overall performance index of the power mode of the rubber-tyred trackless vehicle for this coal mine transportation mission.

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