Unmanned mine car hill starting control system for strip mine area and control method of unmanned mine car hill starting control system

Abstract

The invention relates to an unmanned mine car hill starting control system and a control method thereof for a strip mine area, belongs to the technical field of automatic driving mine car motion control, and improves the adaptive capacity of a vehicle to the environmental condition and the dynamic change vehicle condition of the strip mine area. The control effect of the vehicle during hill starting under the wet and slippery road surface condition is optimized, so that the driving safety and stability of the vehicle are improved; the method can adapt to characteristics of strip mine areas and unmanned mining dump trucks, can adapt to dynamically changing working and vehicle conditions by collecting the torque of the driving motor and the actual driving torque in the actual slope starting process, and reduces subjectivity and manpower cost input during parameter calibration; according to the method, the slope starting expected torque is calculated according to the road and vehicle parameters, the optimal control quantity is obtained, and the driving efficiency is considered on the basis of ensuring the driving safety; according to the method, the slip rate is kept in the optimal interval, the vehicle sliding caused by insufficient longitudinal adhesive force on the wet and slippery road surface is prevented, and the driving safety is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of motion control of an autonomous driving mine car, and in particular to a ramp starting control system and a control method thereof for an unmanned mine car in an open-pit mine area. Background Art

[0002] In open-pit mines, the environment is harsh and the work is heavy. Traditional mining dump trucks rely on manned driving, which not only leads to high labor costs, but also exposes drivers to the risk of occupational diseases for a long time. Therefore, the introduction of unmanned mining dump trucks can effectively reduce labor costs and occupational disease risks, and improve the safety and work efficiency of mining areas.

[0003] However, unmanned mining dump trucks may be affected by road restrictions or obstacles during operation, requiring start-stop operations. In addition, the road slopes in open-pit mines vary greatly, and some vehicles are in poor condition, which occasionally cause problems such as slipping, which pose a threat to driving safety. In particular, most of my country's open-pit mines are located in cold areas. Long-term low temperatures and heavy snowfall in winter will reduce the friction of the road surface, making it more likely for the vehicle to slip or fail to start during the start process. Therefore, it is particularly important to optimize the start control method of unmanned mining dump trucks.

[0004] At present, the slope start method adopted by most unmanned mining dump trucks is to calculate the overlap time of throttle and brake based on the slope information provided by the inertial measurement unit (IMU). This method determines the torque required for the mining dump truck to achieve a safe slope start through the slope information, and calculates the overlap time threshold of throttle and brake at a specific throttle opening. Before reaching this time threshold, the mining dump truck will apply the throttle and brake at the same time; once the overlap time of throttle and brake reaches the set time threshold, the braking operation will be stopped, thus completing the starting process.

[0005] The existing slope starting method has the following problems:

[0006] First, when calculating the throttle and brake overlap time threshold of a mining dump truck at a specific throttle opening, detailed parameter calibration is required according to different models. At present, this process mainly relies on manual operation, which not only makes it difficult to ensure the accuracy of parameters, but also has a certain degree of subjectivity in actual operation.

[0007] Second, due to the large temperature changes in open-pit mines, long vehicle driving time, changes in vehicle conditions caused by factors such as operating temperature changes and transmission system wear, parameters need to be adjusted frequently to adapt to them. This process is not only time-consuming and labor-intensive, but also increases complexity and reduces efficiency in actual operations.

[0008] Third, in most cases, the traditional methods do not fully consider the impact of wheel slip on the longitudinal adhesion coefficient of the vehicle. This is particularly obvious when the road is slippery, which can easily lead to problems such as vehicle slipping or starting failure when starting, thereby increasing the risk of driving safety.

[0009] The Chinese patent application with publication number CN109849683B discloses the use of sensors installed on the car to collect information about the surrounding environment and vehicle condition, and the vehicle control unit calculates the collected information and controls various actuators to overcome the backward slip problem of pure electric vehicles when starting on a slope; and according to environmental conditions and vehicle condition information, the system can be upgraded in a targeted manner to meet the performance and safety requirements of the car during use. However, the invention may lack the necessary adaptability and flexibility due to the fixed control amount, and it is difficult to ensure driving stability and safety when the vehicle condition changes greatly.

[0010] The Chinese patent with publication number CN114834266A discloses a static torque test on the electric drive system of an unmanned vehicle to record the corresponding relationship between the torque and current of the drive motor in a stalled state; and combined with the vehicle's mass parameters and transmission system parameters, the motor torque required by the unmanned vehicle under different slope conditions is calculated to determine the corresponding relationship between the slope and the starting current; when the vehicle receives a starting command, the slope is measured using the on-board inertial measurement unit, and the starting current suitable for the current slope is calculated and applied according to the preset slope-starting current correspondence, and the current of the drive motor is determined in real time to determine whether to release the electronic parking brake system. However, the invention does not consider the impact of wheel slip on the longitudinal adhesion coefficient of the vehicle, and cannot ensure driving safety when the road is slippery. Summary of the invention

[0011] In view of the above problems, the present invention provides an unmanned mine vehicle hill start control system and a control method for open-pit mines, so as to reduce labor costs, improve the vehicle's adaptability to the environmental conditions and dynamically changing vehicle conditions in open-pit mines, optimize the vehicle's control effect when starting on a slope under slippery road conditions, and thereby improve its driving safety and stability.

[0012] One object of the present invention is to provide an unmanned mine vehicle hill start control system for open-pit mines, comprising an information reading module, a hill start control module, a traction control module and a vehicle parameter update module;

[0013] The information reading module is responsible for receiving the vehicle status and posture information required by the system and passing it to other modules;

[0014] The hill start control module is responsible for calculating the vehicle's sliding torque and outputting throttle and brake control signals according to the vehicle's actual torque and target torque;

[0015] The traction control module is responsible for calculating the vehicle slip rate, adjusting the target torque according to the slip rate, and transmitting the adjusted target torque to the hill start control module;

[0016] The vehicle parameter updating module collects and calculates the vehicle parameters during the actual slope start process and dynamically adjusts them.

[0017] Another object of the present invention is to provide a method for using an unmanned mine car ramp start control system for an open-pit mine, comprising:

[0018] Step S1, let t = 1, when t = 1 is the initial time;

[0019] Step S2, receiving the vehicle status information and vehicle posture information at time t transmitted from the upstream of the system based on the information reading module;

[0020] The validity of the vehicle state information and the vehicle posture information at the time t is judged respectively; if invalid, it indicates that the data is wrong and an error message is output; if valid, the vehicle state information at the time t is transmitted to the hill start control module; the vehicle posture information at the time t is transmitted to the traction control module;

[0021] The vehicle status information at time t includes vehicle load at time t, wheel radius, pitch angle at time t, drive motor torque at time t and transmission ratio information at time t; the vehicle posture information includes actual speed at time t and wheel speed at time t;

[0022] Preferably, the judgment conditions for judging the validity of the vehicle state information and vehicle posture information at the time t include:

[0023] Check whether the data of vehicle status information at time t is complete;

[0024] Check whether the vehicle status information at time t is within a preset value range;

[0025] Check whether the relationship between the actual speed at time t and the wheel speed at time t is reasonable.

[0026] Furthermore, the specific steps of respectively judging the validity of the vehicle state information and the vehicle posture information at the time t include:

[0027] Checking whether the data of the vehicle status information at time t is complete, and if there is a missing data value, outputting the missing information; if the data is complete, transmitting the vehicle status information at time t to the hill start control module;

[0028] Check whether the vehicle status information at time t is within a preset value range, and if not, output the unsatisfied condition information; if yes, transmit the vehicle posture information at time t to the traction control module;

[0029] Check whether the relationship between the actual speed at time t and the wheel speed at time t is reasonable; if the absolute value of the actual speed at time t is less than or equal to the absolute value of the wheel speed at time t, it means that the speed relationship is reasonable, and proceed to the next step;

[0030] If the absolute value of the actual speed at time t should be greater than the absolute value of the wheel speed at time t, then the abnormal relationship between the actual speed at time t and the wheel speed at time t and its corresponding value are output.

[0031] Step S3, obtaining the sliding moment at time t according to the vehicle load at time t, the wheel radius and the pitch angle information at time t, wherein the expression of the sliding moment at time t is:

[0032] M S,t =F S,t R=m t g t sin(α)R

[0033] Among them, M S,t Indicates the sliding moment at time t; F S,t represents the sliding force at time t; R represents the wheel radius; m t Indicates the vehicle load at time t; g t Represents the acceleration due to gravity, take 9.8m / s 2 ; α represents the pitch angle.

[0034] Step S4: Obtain the slip rate at time t according to the actual speed at time t and the wheel speed at time t, expressed as:

[0035]

[0036] Among them, S t represents the slip rate at time t; v t represents the wheel speed at time t; v t ′ represents the actual vehicle speed at time t.

[0037] Step S5, judging whether the vehicle needs to enter or exit the traction control mode at time t based on the excessive slip rate threshold and the slip rate at time t, and obtaining a judgment result corresponding to time t;

[0038] It can be understood that when the slip rate at time t exceeds the excessive slip rate threshold, it means that the longitudinal adhesion coefficient of the vehicle at time t is insufficient, and the traction control mode is entered; otherwise, the traction control mode is exited;

[0039] Preferably, the specific steps of determining whether to enter or exit the traction control mode in step S5 include:

[0040] Set the time threshold t for entering traction control mode t,in and the time threshold for exiting the traction control mode t t,out ;

[0041] Set the entry timer threshold S t,in and the exit timer threshold S t,out ;

[0042] If the traction control mode is not entered at time t, determine whether the slip rate at time t is greater than the entry timer threshold S t,in If yes, then the accumulation enters the timer t in , get the updated entry timer, if not, reduce the entry timer t in , get the updated entry timer;

[0043] Determine whether the updated entry timer is greater than or equal to the time threshold t for entering the traction control mode t,in , if yes, enter traction control mode;

[0044] If the traction control mode has been entered at time t, determine whether the slip rate at time t is less than the exit timer threshold S t,out ; If so, increment the exit timer t out , get the updated exit timer; if not, reduce the exit timer t out , get the updated exit timer;

[0045] Determine whether the updated exit timer is greater than or equal to the exit traction control mode time threshold t t,out , if so, exit traction control mode.

[0046] Furthermore, the accumulating timer t in With exit timer t out Cannot be less than 0.

[0047] Step S6, obtaining the expected torque at time t based on the judgment result at time t and the sliding torque at time t;

[0048] Preferably, the specific steps of obtaining the expected torque at time t based on the judgment result at time t in step S6 include:

[0049] If the judgment result at time t is to exit the traction control mode, the downturn torque at time t is used as the expected torque at time t; if the traction control mode is entered, the torque adjustment amount at time t is calculated, and the downturn torque at time t is adjusted based on the torque adjustment amount at time t to obtain the expected torque at time t.

[0050] Preferably, the expression of the expected torque at time t is:

[0051] T d,t =M S,t +k P (S d,t -S t )

[0052] Among them, T d,t represents the expected torque at time t, N·m; k P Indicates the slip rate adjustment coefficient, which is set to 0 when there is no need to enter the traction control mode; S d,t Indicates the slip rate when the vehicle longitudinal adhesion coefficient is maximum at time t.

[0053] Step S7, characterizing the expected torque at time t as the driving motor torque at time t;

[0054] Obtaining the actual driving torque at time t, inputting the driving motor torque at time t and the actual driving torque at time t into the vehicle parameter update module, obtaining the transmission ratio at time t, and storing it;

[0055] Obtaining an updated driving torque at time t based on the transmission ratio at time t and the driving motor torque at time t, and using the updated driving torque at time t as the driving motor torque at time t+1;

[0056] Based on the updated driving torque at time t, an updated transmission ratio at time t is obtained, and the updated transmission ratio at time t is used as the transmission ratio at time t+1;

[0057] Determine whether t is greater than or equal to T, where T represents the total time. If so, take the updated transmission ratio at time t as the final transmission ratio at time t, and obtain the predicted driving torque at time t based on the final transmission ratio at time t. If not, set t=t+1 and return to step S2;

[0058] Step S8: Based on the hill start control module, the predicted driving torque at time t is compared with the driving motor torque at time t. If the predicted driving torque is less than the driving motor torque at time t, the accelerator and the brake are applied simultaneously to complete the hill start; otherwise, the brake is stopped to complete the hill start.

[0059] Preferably, the driving torque expression updated at time t is:

[0060] T′ w,t =i t T M,t

[0061] Among them, T′ w,t Indicates the updated driving torque at time t, N·m; i t Indicates the transmission ratio at time t; T M,tIt represents the driving motor torque at time t, in N·m.

[0062] Preferably, the transmission ratio expression updated at time t is:

[0063]

[0064] Among them, i′ t Indicates the transmission ratio updated at time t; μ indicates the friction coefficient; a indicates the actual acceleration, m / s 2 .

[0065] Compared with the prior art, the present invention has at least the following beneficial effects:

[0066] (1) The present invention can adapt to the characteristics of open-pit mines and unmanned mining dump trucks. By collecting the drive motor torque and actual drive torque during the actual slope start process, it can adapt to dynamically changing work and vehicle conditions and reduce the subjectivity and labor cost investment in parameter calibration;

[0067] (2) The present invention calculates the expected torque for starting on a slope based on road and vehicle parameters to obtain the optimal control amount, thereby ensuring driving safety while taking driving efficiency into consideration;

[0068] (3) The present invention maintains the slip rate in an optimal range, preventing the vehicle from slipping on a slippery road due to insufficient longitudinal adhesion, thereby ensuring the safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The drawings are only for the purpose of illustrating particular embodiments and are not to be construed as limiting the invention.

[0070] Figure 1 It is a schematic diagram of a ramp starting control method system for an unmanned mining dump truck for an open-pit mine according to an embodiment of the present invention;

[0071] Figure 2 A schematic diagram of a flow chart of a hill start control method according to an embodiment of the present invention;

[0072] Figure 3 A schematic diagram of a traction control mode entry and exit judgment flow chart in an embodiment of the present invention;

[0073] Figure 4 It is a schematic diagram of the control effect diagram of the embodiment of the present invention at a slope of 11%. DETAILED DESCRIPTION

[0074] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. In addition, the present invention can also be implemented in other ways different from those described herein, and therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0075] A specific embodiment of the present invention, as Figure 1-4 In order to illustrate the effectiveness of the method proposed in the present invention, the above technical solution of the present invention is described in detail below through a specific embodiment, and the specific implementation steps are as follows:

[0076] One object of the present invention is to provide an unmanned mine vehicle hill start control system for open-pit mines, comprising an information reading module, a hill start control module, a traction control module and a vehicle parameter update module;

[0077] The information reading module is responsible for receiving the vehicle status and posture information required by the system and passing it to other modules;

[0078] The hill start control module is responsible for calculating the vehicle's sliding torque and outputting throttle and brake control signals according to the vehicle's actual torque and target torque;

[0079] The traction control module is responsible for calculating the vehicle slip rate, adjusting the target torque according to the slip rate, and transmitting the adjusted target torque to the hill start control module;

[0080] The vehicle parameter updating module collects and calculates the vehicle parameters during the actual slope start process and dynamically adjusts them.

[0081] Another object of the present invention is to provide a method for using an unmanned mine car ramp start control system for an open-pit mine, comprising:

[0082] Step S1, let t = 1, when t = 1 is the initial time;

[0083] Step S2, receiving the vehicle status information and vehicle posture information at time t transmitted from the upstream of the system based on the information reading module;

[0084] The validity of the vehicle state information and the vehicle posture information at the time t is judged respectively; if invalid, it indicates that the data is wrong and an error message is output; if valid, the vehicle state information at the time t is transmitted to the hill start control module; the vehicle posture information at the time t is transmitted to the traction control module;

[0085] The vehicle status information at time t includes vehicle load at time t, wheel radius, pitch angle at time t, drive motor torque at time t and transmission ratio information at time t; the vehicle posture information includes actual speed at time t and wheel speed at time t;

[0086] Preferably, the judgment conditions for judging the validity of the vehicle state information and vehicle posture information at the time t include:

[0087] Check whether the data of vehicle status information at time t is complete;

[0088] Check whether the vehicle status information at time t is within a preset value range;

[0089] Check whether the relationship between the actual speed at time t and the wheel speed at time t is reasonable.

[0090] Furthermore, the specific steps of respectively judging the validity of the vehicle state information and the vehicle posture information at the time t include:

[0091] Checking whether the data of the vehicle status information at time t is complete, and if there is a missing data value, outputting the missing information; if the data is complete, transmitting the vehicle status information at time t to the hill start control module;

[0092] Check whether the vehicle status information at time t is within a preset value range, and if not, output the unsatisfied condition information; if yes, transmit the vehicle posture information at time t to the traction control module;

[0093] Check whether the relationship between the actual speed at time t and the wheel speed at time t is reasonable; if the absolute value of the actual speed at time t is less than or equal to the absolute value of the wheel speed at time t, it means that the speed relationship is reasonable, and proceed to the next step;

[0094] If the absolute value of the actual speed at time t should be greater than the absolute value of the wheel speed at time t, then the abnormal relationship between the actual speed at time t and the wheel speed at time t and its corresponding value are output.

[0095] Step S3, obtaining the sliding moment at time t according to the vehicle load at time t, the wheel radius and the pitch angle information at time t, wherein the expression of the sliding moment at time t is:

[0096] M S,t =F S,t R=m t g t sin(α)R

[0097] Among them, M S,t Indicates the sliding moment at time t; F S,t represents the sliding force at time t; R represents the wheel radius; m t Indicates the vehicle load at time t; gt Represents the acceleration due to gravity, take 9.8m / s 2 ; α represents the pitch angle.

[0098] Step S4: Obtain the slip rate at time t according to the actual speed at time t and the wheel speed at time t, expressed as:

[0099]

[0100] Among them, S t represents the slip rate at time t; v t represents the wheel speed at time t; v t ′ represents the actual vehicle speed at time t.

[0101] Step S5, judging whether the vehicle needs to enter or exit the traction control mode at time t based on the excessive slip rate threshold and the slip rate at time t, and obtaining a judgment result corresponding to time t;

[0102] It can be understood that when the slip rate at time t exceeds the excessive slip rate threshold, it means that the longitudinal adhesion coefficient of the vehicle at time t is insufficient, and the traction control mode is entered; otherwise, the traction control mode is exited;

[0103] Preferably, the specific steps of determining whether to enter or exit the traction control mode in step S5 include:

[0104] Set the time threshold t for entering traction control mode t,in and exit traction control mode time threshold t t,out ;

[0105] Set the entry timer threshold S t,in and the exit timer threshold S t,out ;

[0106] If the traction control mode is not entered at time t, determine whether the slip rate at time t is greater than the entry timer threshold S t,in If so, then the accumulation enters the timer t in , get the updated entry timer, if not, reduce the entry timer t in , get the updated entry timer;

[0107] Determine whether the updated entry timer is greater than or equal to the time threshold t for entering the traction control mode t,in , if yes, enter traction control mode;

[0108] If the traction control mode has been entered at time t, determine whether the slip rate at time t is less than the exit timer threshold S t,out ; If so, increment the exit timer t out , get the updated exit timer; if not, reduce the exit timer tout , get the updated exit timer;

[0109] Determine whether the updated exit timer is greater than or equal to the exit traction control mode time threshold t t,out , if so, exit traction control mode.

[0110] Furthermore, the accumulating timer t in With exit timer t out Cannot be less than 0.

[0111] Step S6, obtaining the expected torque at time t based on the judgment result at time t and the sliding torque at time t;

[0112] Preferably, the specific steps of obtaining the expected torque at time t based on the judgment result at time t in step S6 include:

[0113] If the judgment result at time t is to exit the traction control mode, the downturn torque at time t is used as the expected torque at time t; if the traction control mode is entered, the torque adjustment amount at time t is calculated, and the downturn torque at time t is adjusted based on the torque adjustment amount at time t to obtain the expected torque at time t.

[0114] Preferably, the expression of the expected torque at time t is:

[0115] T d,t =M S,t +k P (S d,t -S t )

[0116] Among them, T d,t represents the expected torque at time t, N·m; k P Indicates the slip rate adjustment coefficient, which is set to 0 when there is no need to enter the traction control mode; S d,t Indicates the slip rate when the vehicle longitudinal adhesion coefficient is maximum at time t.

[0117] Step S7, characterizing the expected torque at time t as the driving motor torque at time t;

[0118] Obtaining the actual driving torque at time t, inputting the driving motor torque at time t and the actual driving torque at time t into the vehicle parameter update module, obtaining the transmission ratio at time t, and storing it;

[0119] Obtaining an updated driving torque at time t based on the transmission ratio at time t and the driving motor torque at time t, and using the updated driving torque at time t as the driving motor torque at time t+1;

[0120] Based on the updated driving torque at time t, an updated transmission ratio at time t is obtained, and the updated transmission ratio at time t is used as the transmission ratio at time t+1;

[0121] Determine whether t is greater than or equal to T, where T represents the total time. If so, take the updated transmission ratio at time t as the final transmission ratio at time t, and obtain the predicted driving torque at time t based on the final transmission ratio at time t. If not, set t=t+1 and return to step S2;

[0122] Step S8: Based on the hill start control module, the predicted driving torque at time t is compared with the driving motor torque at time t. If the predicted driving torque is less than the driving motor torque at time t, the accelerator and the brake are applied simultaneously to complete the hill start; otherwise, the brake is stopped to complete the hill start.

[0123] Preferably, the driving torque expression updated at time t is:

[0124] T′ w,t =i t T M,t

[0125] Among them, T′ w,t Indicates the updated driving torque at time t, N·m; i t Indicates the transmission ratio at time t; T M,t It represents the driving motor torque at time t, in N·m.

[0126] Preferably, the transmission ratio expression updated at time t is:

[0127]

[0128] Among them, i′ t Indicates the transmission ratio updated at time t; μ indicates the friction coefficient; a indicates the actual acceleration, m / s 2 .

[0129] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for using an unmanned mine car ramp start control system for an open-pit mine, characterized in that: include: Step S1, let t = 1, when t = 1 is the initial time; Step S2, receiving the vehicle state information at time t and the vehicle posture information at time t based on the information reading module; The validity of the vehicle state information at time t and the vehicle posture information at time t are judged respectively; if invalid, it indicates that the data is wrong, and an error message is output; if valid, the vehicle state information at time t is transmitted to the hill start control module, and the vehicle posture information at time t is transmitted to the traction control module, and the next step is continued; the vehicle state information at time t includes the vehicle load at time t, the wheel radius at time t, the pitch angle at time t, the drive motor torque at time t and the transmission ratio information at time t; The vehicle posture information at time t includes the actual speed at time t and the wheel speed at time t; Step S3, obtaining the sliding moment at time t according to the vehicle load at time t, the wheel radius at time t and the pitch angle information at time t; Step S4, obtaining the slip rate at time t according to the actual speed at time t and the wheel speed at time t; Step S5, judging whether the vehicle needs to enter or exit the traction control mode at time t based on the excessive slip rate threshold and the slip rate at time t, and obtaining a judgment result corresponding to time t; Step S6, obtaining the expected torque at time t based on the judgment result at time t and the sliding torque at time t; Step S7, characterizing the expected torque at time t as the driving motor torque at time t; Obtaining the actual driving torque at time t, inputting the driving motor torque at time t and the actual driving torque at time t into the vehicle parameter update module, obtaining the transmission ratio at time t, and storing it; Obtaining an updated driving torque at time t based on the transmission ratio at time t and the driving motor torque at time t, and using the updated driving torque at time t as the driving motor torque at time t+1; Determine whether t is greater than or equal to T, where T represents the total time. If so, take the updated transmission ratio at time t as the final transmission ratio at time t, and obtain the predicted driving torque at time t based on the final transmission ratio at time t. If not, set t=t+1 and return to step S2; Step S8: Based on the hill start control module, the predicted driving torque at time t is compared with the driving motor torque at time t. If the predicted driving torque is less than the driving motor torque at time t, the accelerator and the brake are applied simultaneously to complete the hill start; otherwise, the brake is stopped to complete the hill start.

2. The method for using the hill start control system for unmanned mine vehicles in open-pit mines according to claim 1 is characterized in that: The criteria for determining effectiveness include: Check whether the data of vehicle status information at time t is complete; Check whether the vehicle status information at time t is within a preset value range; Check whether the relationship between the actual speed at time t and the wheel speed at time t is reasonable.

3. The method for using the unmanned mine vehicle hill start control system for open-pit mines according to claim 1, characterized in that: The expression of the sliding moment at the time t is: M S,t =F S,t R=m t g t syn(α)R Among them, M S,t Indicates the sliding moment at time t; F S,t represents the sliding force at time t; R represents the wheel radius; m t Indicates the vehicle load at time t; g t represents the acceleration due to gravity; α represents the pitch angle.

4. The method for using the unmanned mine vehicle hill start control system for open-pit mines according to claim 1, characterized in that: The slip rate at time t is expressed as: Among them, S t represents the slip rate at time t; v t represents the wheel speed at time t; v t ′ represents the actual vehicle speed at time t.

5. The method for using the hill start control system for unmanned mine vehicles in open-pit mines according to claim 1, characterized in that: The specific steps of determining whether to enter or exit the traction control mode in step S5 include: Set the time threshold t for entering traction control mode t,in and exit traction control mode time threshold t t,out ; Set the entry timer threshold S t,in and the exit timer threshold S t,out ; If the traction control mode is not entered at time t, determine whether the slip rate at time t is greater than the entry timer threshold S t,in If so, then the accumulation enters the timer t in , get the updated entry timer, if not, reduce the entry timer t in , get the updated entry timer; Determine whether the updated entry timer is greater than or equal to the time threshold t for entering the traction control mode t,in , if yes, enter traction control mode; If the traction control mode has been entered at time t, determine whether the slip rate at time t is less than the exit timer threshold S t,out ; If so, increment the exit timer t out , get the updated exit timer; if not, reduce the exit timer t out , get the updated exit timer; Determine whether the updated exit timer is greater than or equal to the exit traction control mode time threshold t t,out , if so, exit traction control mode.

6. The method for using the hill start control system for unmanned mine vehicles in open-pit mines according to claim 1, characterized in that: The specific steps of obtaining the expected torque at time t based on the judgment result at time t in step S6 include: If the judgment result at time t is to exit the traction control mode, the downturn torque at time t is used as the expected torque at time t; if the traction control mode is entered, the torque adjustment amount at time t is calculated, and the downturn torque at time t is adjusted based on the torque adjustment amount at time t to obtain the expected torque at time t.

7. The method for using the hill start control system for unmanned mine vehicles in open-pit mines according to claim 1, characterized in that: The expression of the expected torque at the time t is: T d,t =M S,t +k P (S d,t -S t ) Among them, T d,t represents the expected torque at time t; k P Indicates the slip rate adjustment coefficient; S d,t It represents the slip rate when the longitudinal adhesion coefficient of the vehicle is the largest at time t, M S,t S represents the sliding moment at time t; t Represents the slip rate at time t.

8. The method for using the hill start control system for unmanned mine vehicles in open-pit mines according to claim 1, characterized in that: The transmission ratio expression updated at time t is: Among them, i′ t Indicates the updated transmission ratio at time t, T′ w,t Indicates the updated driving torque at time t, T M,t represents the torque of the driving motor at time t; μ represents the friction coefficient; a represents the actual acceleration, m / s 2， m t Indicates the vehicle load at time t; g t represents the acceleration due to gravity; α represents the pitch angle, and R represents the wheel radius.

9. An unmanned mine car ramp start control system for open-pit mines, characterized in that: It includes an information reading module, a hill start control module, a traction control module and a vehicle parameter update module; The information reading module is responsible for receiving the vehicle status and posture information required by the system and passing it to other modules; The hill start control module is responsible for calculating the vehicle's sliding torque and outputting throttle and brake control signals according to the vehicle's actual torque and target torque; The traction control module is responsible for calculating the vehicle slip rate, adjusting the target torque according to the slip rate, and transmitting the adjusted target torque to the hill start control module; The vehicle parameter updating module collects and calculates the vehicle parameters during the actual slope start process and dynamically adjusts them.

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