Unmanned mine truck container lifting control system and method and unmanned mine truck

Abstract

The invention provides an unmanned mine truck container lifting control system and method and an unmanned mine truck, and belongs to the technical field of container lifting control, and the system comprises a lifting data obtaining module which is used for obtaining container data of the unmanned mine truck, and the container data comprises the cargo weight in a container and the real-time angle difference between the container and a frame; the lifting stage dividing module is used for dividing the container lifting process into an acceleration lifting stage, a constant-speed lifting stage and a deceleration lifting stage based on the real-time angle difference; and the lifting control module is used for determining the maximum lifting speed based on the cargo weight, determining a variable-speed lifting strategy corresponding to the accelerated lifting stage, the constant-speed lifting stage and the decelerated lifting stage based on the maximum lifting speed, and controlling lifting of the cargo box based on the variable-speed lifting strategy. The container lifting process is divided into three stages, and the variable-speed lifting strategy is generated, so that the impact of the container lifting process on the frame and the hydraulic system is reduced, and the service life of the unmanned mine truck is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of cargo box lifting control, and in particular to an unmanned mining truck cargo box lifting control system and method, and an unmanned mining truck. Background Art

[0002] Lifting the cargo box to load and unload the cargo is an important function of unmanned mining trucks. Patent CN117698545A discloses a lifting control system for mining vehicles, which realizes lifting control through a controller and a lifting solenoid valve circuit. The specific control principle is: the controller controls the lifting solenoid valve circuit according to the signal command to realize intelligent control of the lifting of the cargo box.

[0003] However, there are the following technical problems: the lifting speed is constant during the lifting process, and the lifting process of the cargo box has a large impact on the hydraulic system and the frame, which affects the service life of the unmanned mining truck. In addition, the lifting height and position are set, and cannot be adjusted and optimized according to different working conditions, so the applicability is not high.

[0004] Therefore, there is an urgent need to provide an unmanned mining truck cargo box lifting control system, method and unmanned mining truck, which can be used to reduce the impact of the cargo lifting process on the hydraulic system and the frame, and make the lifting process adaptable to all working conditions, thereby improving the applicability of the unmanned mining truck cargo box lifting control system. Summary of the invention

[0005] In view of this, it is necessary to provide an unmanned mining truck cargo box lifting control system, method and unmanned mining truck to solve the technical problems in the prior art that the unmanned mining truck has a short service life and low applicability due to the large impact on the hydraulic system and the frame during the cargo box lifting process.

[0006] On the one hand, in order to solve the above technical problems, the present invention provides an unmanned mining truck cargo box lifting control system, comprising: A lifting data acquisition module is used to acquire the cargo box data of the unmanned mining truck, wherein the cargo box data includes the weight of the cargo in the cargo box and the real-time angle difference between the cargo box and the frame; A lifting stage division module, used for dividing the cargo box lifting process into an acceleration lifting stage, a uniform speed lifting stage and a deceleration lifting stage based on the real-time angle difference; A lifting control module is used to determine a maximum lifting speed based on the cargo weight, determine a variable speed lifting strategy corresponding to the acceleration lifting stage, the uniform speed lifting stage and the deceleration lifting stage based on the maximum lifting speed, and control the lifting of the cargo box based on the variable speed lifting strategy.

[0007] In a possible implementation, the lifting data acquisition module includes a pressure sensor, an angle sensor, and a data analysis unit; The pressure sensor is used to collect the cargo box weight of the cargo box; The angle sensor is used to collect the real-time angle of the cargo box and the real-time angle of the vehicle frame; The data analysis unit is used to determine the cargo weight based on the cargo box weight and the empty cargo box weight, and to determine the real-time angle difference based on the real-time angle of the cargo box and the real-time angle of the vehicle frame.

[0008] In a possible implementation, the lifting phase division module includes an angle threshold determination unit and a lifting phase division unit; The angle threshold determination unit is used to determine a first threshold angle and a second threshold angle, wherein the second threshold angle is greater than the first threshold angle; The lifting stage division unit is used to determine that the lifting process is the acceleration lifting stage when the real-time angle difference is less than or equal to the first threshold angle, determine that the lifting process is the uniform speed lifting stage when the real-time angle difference is greater than the first threshold angle and less than or equal to the second threshold angle, and determine that the lifting process is the deceleration lifting stage when the real-time angle difference is greater than the second threshold angle.

[0009] In a possible implementation, the variable speed lifting strategy includes an acceleration lifting strategy corresponding to the acceleration lifting stage, a uniform speed lifting strategy corresponding to the uniform speed lifting stage, and a deceleration lifting strategy corresponding to the deceleration lifting stage; The accelerated lifting strategy is: increasing the lifting speed of the cargo box of the unmanned mining truck from zero to the maximum lifting speed at a preset acceleration; The uniform lifting strategy is: uniformly lifting the cargo box at the maximum lifting speed; The deceleration lifting strategy is: reducing the lifting speed of the cargo box from the maximum lifting speed to zero at a preset deceleration rate.

[0010] In a possible implementation, the maximum lifting speed is:

[0011] In the formula, is the maximum lifting speed; is the speed coefficient; is the weight of the cargo; It is the maximum lifting speed of the cargo box when it is empty.

[0012] In a possible implementation, the system further includes a road slope acquisition module and a limit value acquisition module; The road slope acquisition module is used to acquire the road slope of the road where the unmanned mining truck is located; The limit value acquisition module is used to obtain the maximum lifting angle slope limit and the maximum allowable lifting slope; The lifting control module is also used to prohibit lifting when the road slope is greater than or equal to the maximum allowable lifting slope; control the lifting angle of the cargo box to be less than the maximum lifting angle when the road slope is less than the maximum allowable lifting slope and greater than or equal to the maximum lifting angle slope limit; and adjust the maximum lifting speed based on the road slope.

[0013] In a possible implementation, the system further includes a collision detection module, which is used to detect whether the cargo box touches an obstacle, and when the cargo box touches an obstacle, a lifting stop signal is issued; The lifting control module is also used to respond to the lifting stop signal to control the cargo box to stop lifting.

[0014] In a possible implementation, the impact detection module includes an automatic reset metal dome and a proximity switch. When the automatic reset metal dome contacts the obstacle, it is deformed, and the proximity switch sends the lifting stop signal in response to the deformation.

[0015] On the other hand, the present invention also provides a method for controlling the lifting of a cargo box of an unmanned mining truck, comprising: Obtaining cargo box data of the unmanned mining truck, the cargo box data including the weight of the cargo in the cargo box and the real-time angle difference between the cargo box and the vehicle frame; Dividing the cargo box lifting process into an acceleration lifting stage, a uniform speed lifting stage and a deceleration lifting stage based on the real-time angle difference; The maximum lifting speed is determined based on the cargo weight, a variable speed lifting strategy corresponding to the acceleration lifting stage, the uniform speed lifting stage and the deceleration lifting stage is determined based on the maximum lifting speed, and the lifting of the cargo box is controlled based on the variable speed lifting strategy.

[0016] On the other hand, the present invention also provides an unmanned mining truck, including an unmanned mining truck cargo box lifting control system, wherein the unmanned mining truck cargo box lifting control system is the unmanned mining truck cargo box lifting control system described in any one of the possible implementation methods mentioned above.

[0017] The beneficial effects of the present invention are as follows: the unmanned mining truck cargo box lifting control system provided by the present invention obtains the cargo weight of the unmanned mining truck cargo box and the real-time angle difference between the cargo box and the frame by setting a lifting data acquisition module, and divides the cargo box lifting process into an acceleration lifting stage, a uniform speed lifting stage and a deceleration lifting stage based on the cargo weight and the real-time angle difference. When the cargo box lifting process is close to the top, the lifting process is set to the deceleration lifting stage, which can reduce the lifting speed, and further reduce the impact of the cargo box lifting process on the frame and hydraulic system of the unmanned mining truck, thereby achieving the purpose of increasing the service life of the unmanned mining truck.

[0018] Furthermore, in the process of determining the variable speed lifting strategy, the present invention takes into account the weight of the cargo box and the real-time angle difference between the cargo box and the frame, ensuring that the determined multiple lifting stages and variable speed lifting strategies are adapted to the actual working conditions of the cargo box, and based on the cargo box data under different working conditions, different multiple lifting stages and variable speed lifting strategies can be formulated, thereby improving the applicability of the unmanned mining truck cargo box lifting control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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 those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A schematic diagram of the structure of an embodiment of the unmanned mining truck cargo box lifting control system provided by the present invention; Figure 2 A schematic diagram of the structure of an embodiment of a collision detection module provided by the present invention; Figure 3 A schematic flow chart of an embodiment of the method for controlling the lifting of a cargo box of an unmanned mining truck provided by the present invention. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0022] It should be understood that the schematic drawings are not drawn to scale. The flowchart used in the present invention shows the operations implemented according to some embodiments of the present invention. It should be understood that the operations of the flowchart can be implemented out of order, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present invention, can add one or more other operations to the flowchart, and can also remove one or more operations from the flowchart. Some of the block diagrams shown in the accompanying drawings are functional entities, which do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor systems and / or microcontroller systems.

[0023] Reference to an "embodiment" herein means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0024] The present invention provides an unmanned mining truck cargo box lifting control system, method and unmanned mining truck, which are described below respectively.

[0025] Figure 1 A flow chart of an embodiment of the unmanned mining truck cargo box lifting control system provided by the present invention is shown as follows: Figure 1 As shown, the unmanned mining truck cargo box lifting control system 10 includes: a lifting data acquisition module 100, a lifting stage division module 200 and a lifting control module 300; The lifting data acquisition module 100 is used to acquire the cargo box data of the unmanned mining truck, and the cargo box data includes the weight of the cargo in the cargo box and the real-time angle difference between the cargo box and the frame; A lifting stage division module 200, for dividing the cargo box lifting process into an acceleration lifting stage, a uniform speed lifting stage and a deceleration lifting stage based on the real-time angle difference; The lifting control module 300 is used to determine the maximum lifting speed based on the cargo weight, determine the variable speed lifting strategy corresponding to the acceleration lifting stage, the uniform speed lifting stage and the deceleration lifting stage based on the maximum lifting speed, and control the lifting of the cargo box based on the variable speed lifting strategy.

[0026] Among them, the specific process of controlling the lifting of the cargo box based on the variable speed lifting strategy is: based on the variable speed lifting strategy, a control instruction for controlling the automated driving control unit (ADCU) is generated, and the ADCU responds to the control instruction to generate an oil return speed adjustment instruction for controlling the lifting cylinder, and controls the oil return speed of the lifting cylinder based on the oil return speed adjustment instruction to achieve the adjustment of the cargo box lifting.

[0027] It should be noted that the control principle and control flow of the cargo lowering process are the same as those of the cargo lifting process. Based on the real-time angle difference, the cargo box lowering process is divided into an accelerated descent stage, a uniform descent stage and a decelerated descent stage, and a corresponding variable speed descent strategy is generated, which will not be elaborated here.

[0028] Compared with the prior art, the unmanned mining truck cargo box lifting control system 10 provided in the embodiment of the present invention obtains the cargo weight of the unmanned mining truck cargo box and the real-time angle difference between the cargo box and the frame by setting a lifting data acquisition module 100, and divides the cargo box lifting process into an acceleration lifting stage, a uniform speed lifting stage and a deceleration lifting stage based on the cargo weight and the real-time angle difference. When the cargo box lifting process is close to the top, the lifting process is set to the deceleration lifting stage, which can reduce the lifting speed, and further reduce the impact of the cargo box lifting process on the frame and hydraulic system of the unmanned mining truck, thereby achieving the purpose of increasing the service life of the unmanned mining truck.

[0029] Furthermore, in the process of determining the variable speed lifting strategy, the present invention takes into account the weight of the cargo box and the real-time angle difference between the cargo box and the frame, ensuring that the determined multiple lifting stages and variable speed lifting strategies are adapted to the actual working conditions of the cargo box, and based on the cargo box data under different working conditions, different multiple lifting stages and variable speed lifting strategies can be formulated, thereby improving the applicability of the unmanned mining truck cargo box lifting control system 10.

[0030] In some embodiments of the present invention, Figure 1 As shown, the lifting data acquisition module 100 includes a pressure sensor 110, an angle sensor 120 and a data analysis unit 130; The pressure sensor 110 is used to collect the cargo box weight of the cargo box; The angle sensor 120 is used to collect the real-time angle of the cargo box and the real-time angle of the vehicle frame; The data analysis unit 130 is used to determine the cargo weight based on the cargo box weight and the empty cargo box weight, and to determine the real-time angle difference based on the real-time angle of the cargo box and the real-time angle of the vehicle frame.

[0031] Among them, the cargo weight is the difference between the cargo box weight and the empty cargo box weight, and the real-time angle difference is the difference between the real-time angle of the cargo box and the real-time angle of the frame.

[0032] In some embodiments of the present invention, Figure 1 As shown, the lifting stage division module 200 includes an angle threshold determination unit 210 and a lifting stage division unit 220; The angle threshold determination unit 210 is used to determine a first threshold angle and a second threshold angle, wherein the second threshold angle is greater than the first threshold angle; The lifting stage division unit 220 is used to determine that the lifting process is an accelerated lifting stage when the real-time angle difference is less than or equal to a first threshold angle, to determine that the lifting process is a uniform lifting stage when the real-time angle difference is greater than the first threshold angle and less than or equal to a second threshold angle, and to determine that the lifting process is a decelerated lifting stage when the real-time angle difference is greater than the second threshold angle.

[0033] The first angle threshold and the second angle threshold can be obtained by calibration according to actual application scenarios and vehicle roll boundary conditions.

[0034] The embodiment of the present invention divides the lifting process into an acceleration lifting stage, a uniform speed lifting stage and a deceleration lifting stage based on a first threshold angle and a second threshold angle, thereby improving the lifting efficiency while taking into account the lifting safety.

[0035] In a specific embodiment of the present invention, the variable speed lifting strategy includes an acceleration lifting strategy corresponding to the acceleration lifting stage, a uniform speed lifting strategy corresponding to the uniform speed lifting stage, and a deceleration lifting strategy corresponding to the deceleration lifting stage; The accelerated lifting strategy is: to increase the lifting speed of the cargo box of the unmanned mining truck from zero to the maximum lifting speed at a preset acceleration; The uniform lifting strategy is: lift the cargo box uniformly at the maximum lifting speed; The deceleration lifting strategy is to reduce the lifting speed of the cargo box from the maximum lifting speed to zero at a preset deceleration rate.

[0036] Among them, the preset acceleration and the preset deceleration can be set or adjusted according to the actual application scenario, and will not be described in detail here.

[0037] The embodiment of the present invention sets the accelerated lifting strategy to accelerate lifting at a constant acceleration, the uniform lifting strategy to lift at a uniform speed at a maximum lifting speed, and the decelerated lifting strategy to decelerate at a constant deceleration, thereby ensuring the stability of the cargo box during the accelerated lifting process, the uniform lifting process and the decelerated lifting process.

[0038] In some embodiments of the present invention, the maximum lifting speed is:

[0039] In the formula, is the maximum lifting speed; is the speed coefficient; is the weight of the cargo; It is the maximum lifting speed of the cargo box when it is empty.

[0040] The embodiment of the present invention can ensure the safety of the cargo box during the lifting process by setting the maximum lifting speed to be inversely proportional to the cargo weight.

[0041] When the cargo box of the unmanned mining truck is being lifted, the road slopes on the road are different. The greater the road slope, the lower the lifting safety. In order to further ensure the safety and rationality of the cargo box lifting process, in some embodiments of the present invention, such as Figure 1 As shown, the unmanned mining truck cargo box lifting control system 10 also includes a road slope acquisition module 400 and a limit value acquisition module 500; The road slope acquisition module 400 is used to acquire the road slope of the road where the unmanned mining truck is located; The limit value acquisition module 500 is used to obtain the maximum lifting angle slope limit value and the maximum lifting allowable slope; The lifting control module 300 is also used to prohibit lifting when the road slope is greater than or equal to the maximum slope allowed for lifting, control the lifting angle of the cargo box to be less than the maximum lifting angle when the road slope is less than the maximum slope allowed for lifting and greater than or equal to the maximum lifting angle slope limit, and adjust the maximum lifting speed based on the road slope when the road slope is less than the maximum lifting angle slope limit.

[0042] The maximum lifting angle slope limit refers to taking the lifting angle after the deceleration lifting is completed as the maximum lifting angle, and taking the slope limit corresponding to the maximum lifting angle as the maximum lifting angle slope limit.

[0043] The road slope is denoted as R A1 , the maximum lifting angle slope limit is recorded as R3, the maximum lifting slope is recorded as R4, and the maximum lifting angle is recorded as R2. Then the control strategy of the lifting control module 300 is: 0<R A1 When <R3, the lifting speed V and R A1 Inversely proportional; R3<R A1 When <R4, the maximum angle allowed for lifting the cargo box is less than R2; R A1＞ In R4, lifting is prohibited.

[0044] Due to the complex environment of the mine, the cargo box may hit obstacles such as the mine wall during the lifting process. In order to ensure the safety of the cargo box lifting process, this situation should be avoided. Therefore, in some embodiments of the present invention, such as Figure 1As shown, the unmanned mining truck cargo box lifting control system 10 also includes a collision detection module 600, which is used to detect whether the cargo box touches an obstacle. When the cargo box touches an obstacle, a lifting stop signal is issued; The lifting control module 300 is also used to respond to a lifting stop signal to control the cargo box to stop lifting.

[0045] The embodiment of the present invention sets up a collision detection module 600 to detect whether the cargo box hits an obstacle. When it is determined that the cargo box hits an obstacle, a lifting stop signal is issued to control the cargo box to stop lifting, thereby ensuring the safety of the cargo box during the lifting process.

[0046] The collision detection module 600 may be an ultrasonic radar or a laser radar. However, considering the high cost of ultrasonic radar or laser radar, in a preferred embodiment of the present invention, Figure 2 As shown, the impact detection module 600 includes an automatic reset metal dome 610 and a proximity switch 620. When the automatic reset metal dome 610 contacts an obstacle, it is deformed, and the proximity switch 620 sends a lifting stop signal in response to the deformation.

[0047] The collision detection module 600 in the embodiment of the present invention includes an automatic reset metal spring 610 and a proximity switch 620 , which is low-cost compared to ultrasonic radar or laser radar, thereby reducing the overall cost of the unmanned mining truck cargo box lifting control system 10 .

[0048] Among them, the proximity switch 620 is a position switch that does not require direct mechanical contact with moving parts for operation. When an object approaches the switch sensing surface to the action distance, the switch can be activated.

[0049] Specifically, in the initial state, the automatic reset metal spring 610 is located outside the sensing area of ​​the proximity switch 620. When the automatic reset metal spring 610 is deformed, the automatic reset metal spring 610 enters the sensing area of ​​the proximity switch 620. At this time, the proximity switch 620 responds to the sensing signal in the sensing area and sends a lifting stop signal.

[0050] It should be understood that when the cargo box is away from the obstacle, the automatic reset metal spring 610 is reset, and the proximity switch 620 sends a lifting reset signal to control the cargo box to continue lifting.

[0051] It should be noted that: the unmanned mining truck can be provided with multiple collision detection modules 600 at multiple positions to achieve safety detection of multiple positions of the unmanned mining truck and ensure the safety of the unmanned mining truck during the cargo box lifting process.

[0052] Correspondingly, the embodiment of the present invention also provides a method for controlling the lifting of a cargo box of an unmanned mining truck, such as Figure 3 As shown, the unmanned mining truck cargo box lifting control method includes: S301, obtaining cargo box data of the unmanned mining truck, the cargo box data including the weight of the cargo in the cargo box and the real-time angle difference between the cargo box and the frame; S302, dividing the cargo box lifting process into an acceleration lifting stage, a uniform speed lifting stage and a deceleration lifting stage based on the real-time angle difference; S303, determining a maximum lifting speed based on the cargo weight, determining a variable speed lifting strategy corresponding to an acceleration lifting stage, a uniform speed lifting stage, and a deceleration lifting stage based on the maximum lifting speed, and controlling the lifting of the cargo box based on the variable speed lifting strategy.

[0053] It should be noted that the unmanned mining truck cargo box lifting control method provided in the above embodiment can implement the technical solution described in the above unmanned mining truck cargo box lifting control method system embodiment. The principles or specific implementation details of the above steps can be found in the corresponding contents of the above unmanned mining truck cargo box lifting control system embodiment, which will not be described one by one here.

[0054] An embodiment of the present invention further provides an unmanned mining truck, including an unmanned mining truck cargo box lifting control system, and the unmanned mining truck cargo box lifting control system is the unmanned mining truck cargo box lifting control system in any one of the above embodiments.

[0055] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0056] The above is a detailed introduction to the unmanned mining truck cargo box lifting control system, method and unmanned mining truck provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. An unmanned mining truck cargo box lifting control system, characterized in that: include: A lifting data acquisition module is used to acquire the cargo box data of the unmanned mining truck, wherein the cargo box data includes the weight of the cargo in the cargo box and the real-time angle difference between the cargo box and the frame; A lifting stage division module, used for dividing the cargo box lifting process into an acceleration lifting stage, a uniform speed lifting stage and a deceleration lifting stage based on the real-time angle difference; A lifting control module is used to determine a maximum lifting speed based on the cargo weight, determine a variable speed lifting strategy corresponding to the acceleration lifting stage, the uniform speed lifting stage and the deceleration lifting stage based on the maximum lifting speed, and control the lifting of the cargo box based on the variable speed lifting strategy.

2. The unmanned mining truck cargo box lifting control system according to claim 1 is characterized in that: The lifting data acquisition module includes a pressure sensor, an angle sensor and a data analysis unit; The pressure sensor is used to collect the cargo box weight of the cargo box; The angle sensor is used to collect the real-time angle of the cargo box and the real-time angle of the vehicle frame; The data analysis unit is used to determine the cargo weight based on the cargo box weight and the empty cargo box weight, and to determine the real-time angle difference based on the real-time angle of the cargo box and the real-time angle of the vehicle frame.

3. The unmanned mining truck cargo box lifting control system according to claim 1 is characterized in that: The lifting stage division module includes an angle threshold determination unit and a lifting stage division unit; The angle threshold determination unit is used to determine a first threshold angle and a second threshold angle, wherein the second threshold angle is greater than the first threshold angle; The lifting stage division unit is used to determine that the lifting process is the acceleration lifting stage when the real-time angle difference is less than or equal to the first threshold angle, determine that the lifting process is the uniform speed lifting stage when the real-time angle difference is greater than the first threshold angle and less than or equal to the second threshold angle, and determine that the lifting process is the deceleration lifting stage when the real-time angle difference is greater than the second threshold angle.

4. The unmanned mining truck cargo box lifting control system according to claim 1 is characterized in that: The variable speed lifting strategy includes an acceleration lifting strategy corresponding to the acceleration lifting stage, a uniform speed lifting strategy corresponding to the uniform speed lifting stage, and a deceleration lifting strategy corresponding to the deceleration lifting stage; The accelerated lifting strategy is: increasing the lifting speed of the cargo box of the unmanned mining truck from zero to the maximum lifting speed at a preset acceleration; The uniform lifting strategy is: uniformly lifting the cargo box at the maximum lifting speed; The deceleration lifting strategy is: reducing the lifting speed of the cargo box from the maximum lifting speed to zero at a preset deceleration rate.

5. The unmanned mining truck cargo box lifting control system according to any one of claims 1 to 4, characterized in that: The maximum lifting speed is: In the formula, is the maximum lifting speed; is the speed coefficient; is the weight of the cargo; It is the maximum lifting speed of the cargo box when it is empty.

6. The unmanned mining truck cargo box lifting control system according to claim 1 is characterized in that: The system also includes a road slope acquisition module and a limit value acquisition module; The road slope acquisition module is used to acquire the road slope of the road where the unmanned mining truck is located; The limit value acquisition module is used to obtain the maximum lifting angle slope limit and the maximum allowable lifting slope; The lifting control module is also used to prohibit lifting when the road slope is greater than or equal to the maximum allowable lifting slope; control the lifting angle of the cargo box to be less than the maximum lifting angle when the road slope is less than the maximum allowable lifting slope and greater than or equal to the maximum lifting angle slope limit; and adjust the maximum lifting speed based on the road slope.

7. The unmanned mining truck cargo box lifting control system according to claim 1 is characterized in that: The system further includes a collision detection module, which is used to detect whether the cargo box touches an obstacle, and when the cargo box touches an obstacle, a lifting stop signal is issued; The lifting control module is also used to respond to the lifting stop signal to control the cargo box to stop lifting.

8. The unmanned mining truck cargo box lifting control system according to claim 1 is characterized in that: The impact detection module includes an automatic reset metal spring and a proximity switch. When the automatic reset metal spring contacts the obstacle, it is deformed, and the proximity switch sends the lifting stop signal in response to the deformation.

9. A method for controlling the lifting of a cargo box of an unmanned mining truck, characterized in that: include: Obtaining cargo box data of the unmanned mining truck, the cargo box data including the weight of the cargo in the cargo box and the real-time angle difference between the cargo box and the vehicle frame; Dividing the cargo box lifting process into an acceleration lifting stage, a uniform speed lifting stage and a deceleration lifting stage based on the real-time angle difference; The maximum lifting speed is determined based on the cargo weight, a variable speed lifting strategy corresponding to the acceleration lifting stage, the uniform speed lifting stage and the deceleration lifting stage is determined based on the maximum lifting speed, and the lifting of the cargo box is controlled based on the variable speed lifting strategy.

10. An unmanned mining truck, characterized in that: It comprises an unmanned mining truck cargo box lifting control system, and the unmanned mining truck cargo box lifting control system is the unmanned mining truck cargo box lifting control system as described in any one of claims 1-8.

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