Lifting angle monitoring method, system, electronic device and readable storage medium

Abstract

The present invention provides a lifting angle monitoring method, system, electronic device and readable storage medium, which relates to the technical field of unmanned mining vehicles. The method includes: determining the lifting angle of the cargo box based on the cargo box pitch angle and the body pitch angle; determining whether the cargo box is lifted or dropped in place based on the lifting angle, the lifting angle threshold and the output signal of the lifting-in-place sensor or the dropping-in-place sensor; determining whether there is a risk in the lifting posture of the cargo box based on the cargo box roll angle and / or the body roll angle and / or the body pitch angle; when there is a risk in the lifting posture, controlling the cargo box to stop lifting or controlling the cargo box to drop. In the technical solution of the present invention, the lifting angle of the cargo box can be accurately obtained through the cargo box pitch angle and the body pitch angle, which is conducive to realizing accurate control of the cargo box; by increasing the redundant check of the sensor, it can effectively identify whether the sensor fails. If a single sensor fails, it will not affect the normal operation of the vehicle, which is conducive to improving work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned mining vehicles, and in particular to a lifting angle monitoring method, system, electronic equipment and readable storage medium. Background Art

[0002] In the related art, the unmanned mine car only uses the lifting position sensor and the falling position sensor to determine whether the cargo box of the unmanned mine car is lifted or dropped. This method cannot accurately obtain the current lifting angle of the cargo box, and when the lifting position sensor and the falling position sensor fail, the unmanned mine car cannot continue to operate, affecting work efficiency. Summary of the invention

[0003] In order to solve or improve at least one of the above technical problems, an object of the present invention is to provide a lifting angle monitoring method.

[0004] Another object of the present invention is to provide a lifting angle monitoring system.

[0005] Another object of the present invention is to provide an electronic device.

[0006] Another object of the present invention is to provide a readable storage medium.

[0007] To achieve the above-mentioned object, a first aspect of the present invention provides a lifting angle monitoring method for an unmanned mining vehicle, wherein the unmanned mining vehicle comprises a cargo box and a vehicle body that are rotatably connected.

[0008] The steps of the lifting angle monitoring method include:

[0009] In the first step, first angle data is acquired through a sensor component, and second angle data is acquired through a combined navigation device.

[0010] In the second step, the cargo box pitch angle and the cargo box roll angle are determined according to the first angle data, and the vehicle body pitch angle and the vehicle body roll angle are determined according to the second angle data.

[0011] The third step is to obtain the lifting angle of the cargo box based on the pitch angle of the cargo box and the pitch angle of the vehicle body.

[0012] The fourth step is to determine whether the cargo box is lifted into place based on the lifting angle, the first lifting angle threshold and the output signal from the lifting into place sensor.

[0013] The fifth step is to determine whether the cargo box has fallen into place based on the lifting angle, the second lifting angle threshold and the output signal from the falling into place sensor.

[0014] The sixth step is to determine whether there is a risk in the lifting posture of the cargo box based on the cargo box roll angle and / or the body roll angle and / or the body pitch angle; if it is determined that there is a risk in the lifting posture, control the cargo box to stop the lifting action or control the cargo box to fall.

[0015] The present invention aims to provide a method for monitoring a lifting angle. On the one hand, the lifting angle of the cargo box can be accurately obtained through the pitch angle of the cargo box and the pitch angle of the vehicle body, which is conducive to realizing accurate control of the cargo box; on the other hand, according to the lifting angle, the lifting angle threshold (including the first lifting angle threshold and the second lifting angle threshold) and the output signal from the lifting position sensor or the falling position sensor, it is determined whether the cargo box is lifted or dropped. In this way, by increasing the redundant check of the sensor, it is possible to effectively identify whether the sensor fails, which is conducive to improving safety performance; in the case of failure of the lifting position sensor and the falling position sensor, it is still possible to determine whether the cargo box is lifted or dropped by the lifting angle and the lifting angle threshold, which will not affect the normal operation of the unmanned mine car, and is conducive to improving work efficiency; on the third hand, by real-time monitoring of the rolling angle of the cargo box, the rolling angle of the vehicle body and the pitch angle of the vehicle body, it is possible to effectively prevent the unmanned mine car from rolling over or overturning, which is conducive to improving safety performance.

[0016] In addition, the above technical solution provided by the present invention may also have the following additional technical features:

[0017] In some technical schemes, optionally, whether the cargo box is lifted into place is determined based on the lifting angle, a first lifting angle threshold and an output signal from a lift-in-place sensor, and the steps include: when the lifting angle is greater than or equal to the first lifting angle threshold, determining that the cargo box is lifted into place; when the output signal from the lift-in-place sensor is received, determining that the cargo box is lifted into place; when the lifting angle is greater than or equal to the first lifting angle threshold and no output signal from the lift-in-place sensor is received, determining that the lift-in-place sensor has failed.

[0018] In this technical solution, when determining whether the cargo box is lifted into place, the sensor assembly (lifting angle sensor) and the lifting into place sensor are mutually redundantly checked.

[0019] When the lifting angle is greater than or equal to the first lifting angle threshold and no output signal is received from the lifting position sensor, it indicates that the lifting position sensor cannot correctly feedback the lifting position status and feedback the first fault information, i.e., reporting that the lifting position sensor is damaged or faulty.

[0020] When the lifting sensor determines that the cargo box has been lifted into place, if the lifting angle is less than the first lifting angle threshold, the second fault information is fed back, that is, the lifting sensor abnormality is reported. At this time, the value of the lifting angle A is regarded as an invalid value, and the anti-rollover and anti-rearward rollover strategies in the subsequent steps are not executed.

[0021] In some technical schemes, optionally, whether the cargo box has fallen into place is determined based on the lifting angle, the second lifting angle threshold and the output signal from the drop-in-place sensor, and the steps include: when the lifting angle is less than or equal to the second lifting angle threshold, determining that the cargo box has fallen into place; when the output signal from the drop-in-place sensor is received, determining that the cargo box has fallen into place; when the lifting angle is less than or equal to the second lifting angle threshold and no output signal from the drop-in-place sensor is received, determining that the drop-in-place sensor has failed.

[0022] In this technical solution, when determining whether the cargo box has been lowered into place, the sensor assembly (lifting angle sensor) and the lowering into place sensor are mutually redundantly checked.

[0023] When the lifting angle is less than or equal to the second lifting angle threshold and no output signal is received from the descent into place sensor, it indicates that the descent into place sensor cannot correctly feedback the descent into place status and feedback the third fault information, i.e., reporting that the descent into place sensor is damaged or faulty.

[0024] When the cargo box is determined to have fallen into place through the drop-in-place sensor, if the lifting angle is greater than the second lifting angle threshold, the fourth fault information is fed back, that is, the lifting sensor abnormality is reported. At this time, the value of the lifting angle A is regarded as an invalid value, and the anti-rollover and anti-rearward rollover strategies in the subsequent steps are not executed.

[0025] In some technical solutions, optionally, based on the roll angle of the cargo box and / or the roll angle of the vehicle body and / or the pitch angle of the vehicle body, it is determined whether the lifting posture of the cargo box is risky; when it is determined that the lifting posture is risky, the cargo box is controlled to stop the lifting action or the cargo box is controlled to fall, and the steps include: based on the roll angle of the cargo box and the first roll angle threshold, it is determined whether the lifting posture of the cargo box is risky; when it is determined that the lifting posture is risky, the cargo box is controlled to stop the lifting action or the cargo box is controlled to fall to prevent the unmanned mine car from rolling over; wherein the first roll angle threshold is the maximum roll angle of the cargo box that the unmanned mine car can allow when the cargo box is lifted into place.

[0026] In this technical solution, the first safety threshold is determined according to the first roll angle threshold, wherein the first safety threshold is the product of the first roll angle threshold and the first safety factor, and the first safety factor is greater than 0 and less than 1. The first safety factor is flexibly set according to the on-site road conditions.

[0027] According to the rolling angle of the cargo box and the first safety threshold, determine whether the lifting posture of the cargo box is risky.

[0028] In response to the lifting command (when the lifting command is received), the rolling angle of the cargo box is continuously compared with the first safety threshold during the lifting process of the cargo box. When the rolling angle of the cargo box is less than the first safety threshold, the cargo box is allowed to continue to be lifted; when the rolling angle of the cargo box is greater than or equal to the first safety threshold, the cargo box is controlled to stop the lifting action or control the cargo box to fall, and the first risk information is fed back, that is, the lifting posture is risky (the unmanned mining car is at risk of rollover).

[0029] In some technical solutions, optionally, based on the roll angle of the cargo box and / or the roll angle of the vehicle body and / or the pitch angle of the vehicle body, it is determined whether the lifting posture of the cargo box is risky; when it is determined that the lifting posture is risky, the cargo box is controlled to stop the lifting action or the cargo box is controlled to fall. The steps include: based on the rate of change of the roll angle of the vehicle body within a first time period, it is determined whether the lifting posture of the cargo box is risky; when it is determined that the lifting posture is risky, the cargo box is controlled to stop the lifting action or the cargo box is controlled to fall, so as to prevent the unmanned mining car from rolling over.

[0030] In this technical solution, whether there is a risk in the lifting posture of the cargo box is determined based on the rate of change of the vehicle body roll angle within the first time period and the second safety threshold.

[0031] When the rate of change of the roll angle of the vehicle body within the first time period is less than or equal to the second safety threshold, the cargo box is allowed to continue to be lifted; when the rate of change of the roll angle of the vehicle body within the first time period is greater than the second safety threshold, the cargo box is controlled to stop lifting or to fall, and the second risk information is fed back, that is, there is a risk in the lifting posture (the unmanned mining car is at risk of rollover).

[0032] In some technical solutions, optionally, based on the roll angle of the cargo box and / or the roll angle of the vehicle body and / or the pitch angle of the vehicle body, it is determined whether the lifting posture of the cargo box is at risk; when it is determined that the lifting posture is at risk, the cargo box is controlled to stop the lifting action or the cargo box is controlled to fall, and the steps include: based on the pitch angle of the vehicle body and a first pitch angle threshold, it is determined whether the lifting posture of the cargo box is at risk; when it is determined that the lifting posture is at risk, the cargo box is controlled to stop the lifting action or the cargo box is controlled to fall to prevent the unmanned mine car from tipping over; wherein the first pitch angle threshold is the maximum body pitch angle that the unmanned mine car can allow when the cargo box is lifted into place.

[0033] In this technical solution, the third safety threshold is determined according to the first pitch angle threshold, wherein the third safety threshold is the product of the first pitch angle threshold and the second safety factor, and the second safety factor is greater than 0 and less than 1. The second safety factor is flexibly set according to the on-site road conditions.

[0034] Based on the pitch angle of the vehicle body and the third safety threshold, determine whether there is a risk in the lifting posture of the cargo box.

[0035] In response to the lifting command (when the lifting command is received), the pitch angle of the vehicle body is continuously compared with the third safety threshold during the lifting of the cargo box. When the pitch angle of the vehicle body is less than the third safety threshold, the cargo box is allowed to continue to be lifted; when the pitch angle of the vehicle body is greater than or equal to the third safety threshold, the cargo box is controlled to stop lifting or to fall, and the third risk information is fed back, that is, there is a risk in the lifting posture (the unmanned mining car has the risk of overturning).

[0036] In some technical solutions, optionally, based on the roll angle of the cargo box and / or the roll angle of the vehicle body and / or the pitch angle of the vehicle body, it is determined whether the lifting posture of the cargo box is risky; when it is determined that the lifting posture is risky, the cargo box is controlled to stop the lifting action or the cargo box is controlled to fall, and the steps include: based on the rate of change of the pitch angle of the vehicle body within the second time period, it is determined whether the lifting posture of the cargo box is risky; when it is determined that the lifting posture is risky, the cargo box is controlled to stop the lifting action or the cargo box is controlled to fall, so as to prevent the unmanned mining car from tipping over.

[0037] In this technical solution, in response to a lifting instruction (when a lifting instruction is received), during the process of lifting the cargo box, the rate of change of the vehicle body pitch angle within the second time period is monitored in real time.

[0038] According to the rate of change of the vehicle body pitch angle in the second time period and the fourth safety threshold, it is determined whether there is a risk in the lifting posture of the cargo box.

[0039] When the rate of change of the pitch angle of the vehicle body within the second time period is less than or equal to the fourth safety threshold, it is allowed to continue lifting the cargo box; when the rate of change of the pitch angle of the vehicle body within the second time period is greater than the fourth safety threshold, the cargo box is controlled to stop lifting or to fall, and the fourth risk information is fed back, that is, there is a risk in the lifting posture (the unmanned mining car is at risk of overturning).

[0040] A second aspect of the present invention provides a lifting angle monitoring system for an unmanned mining vehicle, wherein the unmanned mining vehicle comprises a cargo box and a vehicle body that are rotatably connected.

[0041] The lifting angle monitoring system includes a data acquisition module, a first angle determination module, a second angle determination module, a first data analysis module, a second data analysis module and a third data analysis module.

[0042] The data acquisition module is used to acquire first angle data through the sensor component and acquire second angle data through the combined navigation device.

[0043] The first angle determination module is used to determine the cargo box pitch angle and the cargo box roll angle according to the first angle data, and to determine the vehicle body pitch angle and the vehicle body roll angle according to the second angle data.

[0044] The second angle determination module is used to obtain the lifting angle of the cargo box based on the cargo box pitch angle and the vehicle body pitch angle.

[0045] The first data analysis module is used to determine whether the cargo box is lifted into place based on the lifting angle, the first lifting angle threshold and the output signal from the lifting into place sensor.

[0046] The second data analysis module is used to determine whether the cargo box has fallen into place based on the lifting angle, the second lifting angle threshold and the output signal from the falling into place sensor.

[0047] The third data analysis module is used to determine whether there is a risk in the lifting posture of the cargo box based on the cargo box roll angle and / or the body roll angle and / or the body pitch angle; if it is determined that the lifting posture is risky, control the cargo box to stop the lifting action or control the cargo box to fall.

[0048] The present invention aims to provide a lifting angle monitoring system. On the one hand, the lifting angle of the cargo box can be accurately obtained through the pitch angle of the cargo box and the pitch angle of the vehicle body, which is conducive to realizing accurate control of the cargo box; on the other hand, according to the lifting angle, the lifting angle threshold (including the first lifting angle threshold and the second lifting angle threshold) and the output signal from the lifting position sensor or the falling position sensor, it is determined whether the cargo box is lifted or dropped. In this way, by increasing the redundant check of the sensor, it is possible to effectively identify whether the sensor fails, which is conducive to improving safety performance; in the case of failure of the lifting position sensor and the falling position sensor, it is still possible to determine whether the cargo box is lifted or dropped by the lifting angle and the lifting angle threshold, which will not affect the normal operation of the unmanned mine car, and is conducive to improving work efficiency; on the third hand, by real-time monitoring of the rolling angle of the cargo box, the rolling angle of the vehicle body and the pitch angle of the vehicle body, it is possible to effectively prevent the unmanned mine car from rolling over or overturning, which is conducive to improving safety performance.

[0049] The third aspect of the present invention provides an electronic device, comprising a memory and a processor. The memory stores a program or instruction that can be run on the processor, and the processor implements the steps of the lifting angle monitoring method in any of the above technical solutions when executing the program or instruction. The electronic device has the beneficial effects of any of the above technical solutions, which will not be repeated here.

[0050] In a fourth aspect, the present invention provides a readable storage medium, which stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the lifting angle monitoring method in any of the above technical solutions are implemented. The readable storage medium has the beneficial effects of any of the above technical solutions, which will not be repeated here.

[0051] Additional aspects and advantages of the technical solutions of the present invention will become apparent in the following description or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A flow chart of a method for monitoring a lifting angle according to an embodiment of the present invention is shown;

[0053] Figure 2 A flowchart of a lifting angle monitoring method according to another embodiment of the present invention is shown;

[0054] Figure 3 A flowchart of a lifting angle monitoring method according to another embodiment of the present invention is shown;

[0055] Figure 4 A flowchart of a lifting angle monitoring method according to another embodiment of the present invention is shown;

[0056] Figure 5 A flowchart of a lifting angle monitoring method according to another embodiment of the present invention is shown;

[0057] Figure 6 A flowchart of a lifting angle monitoring method according to another embodiment of the present invention is shown;

[0058] Figure 7 A flowchart of a lifting angle monitoring method according to another embodiment of the present invention is shown;

[0059] Figure 8 A structural block diagram of a lifting angle monitoring system according to an embodiment of the present invention is shown;

[0060] Fig. 9 A structural block diagram of an electronic device according to an embodiment of the present invention is shown;

[0061] Fig.10 A schematic diagram of an unmanned mining vehicle according to an embodiment of the present invention is shown;

[0062] Fig.11 A schematic diagram of an unmanned mining vehicle according to another embodiment of the present invention is shown;

[0063] Fig.12 A structural block diagram of an unmanned mining vehicle according to an embodiment of the present invention is shown.

[0064] in, Figures 8 to 11 The corresponding relationship between the reference numerals and the component names is as follows:

[0065] 200: lifting angle monitoring system; 210: data acquisition module; 220: first angle determination module; 230: second angle determination module; 240: first data analysis module; 250: second data analysis module; 260: third data analysis module; 300: electronic device; 310: memory; 320: processor; 400: unmanned mining vehicle; 410: cargo box; 420: vehicle body; 430: sensor assembly; 440: combined navigation device; 451: unmanned driving controller; 452: sub-controller; 461: drop-in-place sensor; 462: lift-in-place sensor; 470: lift solenoid valve. DETAILED DESCRIPTION

[0066] In order to more clearly understand the above-mentioned purposes, features and advantages of the embodiments of the present invention, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0067] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the embodiments of the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0068] Refer to the following Figures 1 to 12 The present invention describes a lifting angle monitoring method, system, electronic device and readable storage medium provided according to some embodiments of the present invention.

[0069] In one embodiment of the present invention, the lifting angle monitoring method is used for an unmanned mining vehicle 400. The unmanned mining vehicle 400 is a vehicle used in mining scenarios, which can perform tasks such as transportation in an unmanned state.

[0070] like Fig.10 and Fig.11 As shown, the unmanned mining vehicle 400 includes a cargo box 410 and a vehicle body 420 that are rotatably connected. The vehicle body 420 here can be understood as a chassis or a frame. The cargo box 410 is used to load materials. The cargo box 410 can rotate relative to the vehicle body 420.

[0071] Alternatively, if Fig.10 and Fig.11As shown, the unmanned mining vehicle 400 further includes a sensor assembly 430. The sensor assembly 430 includes a lifting angle sensor. The lifting angle sensor includes a first IMU (Inertial Measurement Unit) sensor. The first IMU sensor is a device capable of measuring the acceleration and angular velocity of an object (i.e., the cargo box 410) in three-dimensional space.

[0072] Optionally, the first IMU sensor is composed of a first accelerometer and a first gyroscope. The first accelerometer is used to measure the acceleration of the cargo box 410, and the first gyroscope is used to measure the angular velocity of the cargo box 410. By processing and integrating these measurement data (acceleration and angular velocity), the attitude (such as pitch angle, roll angle, etc.), speed, position and other information of the cargo box 410 can be calculated.

[0073] It should be noted that the sensor assembly 430 can be arranged at any position of the cargo box 410, such as the head, the tail, and the side wall, etc. The position of the sensor assembly 430 can be flexibly arranged according to actual needs.

[0074] In a specific embodiment, the sensor assembly 430 includes a lift angle sensor. The lift angle sensor is installed at the rear of the cargo box 410. Through the built-in first IMU sensor, the current pitch angle of the cargo box 410 (i.e., the cargo box pitch angle P1) and the current roll angle of the cargo box 410 (i.e., the cargo box roll angle R1) can be fed back in real time. Fig.10 The "P1" in the figure indicates the pitch angle of the cargo box; Fig.11 The "R1" in the figure represents the roll angle of the cargo box.

[0075] Optionally, the unmanned mining vehicle 400 further includes a combined navigation device 440. Optionally, the combined navigation device 440 includes an inertial navigation device and a GPS (Global Positioning System).

[0076] Optionally, the integrated navigation device 440 includes a second IMU sensor. The second IMU sensor is composed of a second accelerometer and a second gyroscope. The second accelerometer is used to measure the acceleration of the vehicle body 420, and the second gyroscope is used to measure the angular velocity of the vehicle body 420. By processing and integrating these measurement data (acceleration and angular velocity), information such as the attitude (such as pitch angle, roll angle, etc.), speed and position of the vehicle body 420 can be calculated.

[0077] In a specific embodiment, the integrated navigation device 440 is installed inside the electric control cabinet in the cab. Through the built-in second IMU sensor, the current pitch angle of the vehicle body 420 (i.e., the vehicle body pitch angle P2) and the current roll angle of the vehicle body 420 (i.e., the vehicle body roll angle R2) can be fed back in real time. Fig.10 The "P2" in the figure indicates the vehicle body pitch angle; Fig.11 The "R2" in the figure represents the vehicle body roll angle.

[0078] It should be noted that the pitch angle is the angle describing the rotation of an object around a lateral (left-right) axis. The cargo box pitch angle is used to reflect the tilt of the cargo box 410 in the front-to-back direction; the vehicle body pitch angle is used to reflect the tilt of the vehicle body 420 in the front-to-back direction. The cargo box pitch angle and the vehicle body pitch angle reflect the tilt of the vehicle (unmanned mining vehicle 400) in the front-to-back direction.

[0079] The roll angle is the angle that describes the rotation of an object around the longitudinal (front-to-back) axis. The cargo box roll angle is used to reflect the tilt angle of the cargo box 410 in the left-right direction; the vehicle body roll angle is used to reflect the tilt angle of the vehicle body 420 in the left-right direction. The cargo box roll angle and the vehicle body roll angle reflect the tilt angle of the vehicle in the left-right direction.

[0080] In a specific embodiment, Fig.10 and Fig.12 As shown, the unmanned mining vehicle 400 includes an unmanned driving controller 451, a sub-controller 452, a sensor assembly 430, a combined navigation device 440, a drop-in-place sensor 461, a lift-in-place sensor 462, and a lift solenoid valve 470. Among them, the sensor assembly 430 is electrically connected to the unmanned driving controller 451; the combined navigation device 440 is electrically connected to the unmanned driving controller 451; the sub-controller 452 is electrically connected to the unmanned driving controller 451. The drop-in-place sensor 461 is electrically connected to the sub-controller 452; the lift-in-place sensor 462 is electrically connected to the sub-controller 452; and the lift solenoid valve 470 is electrically connected to the sub-controller 452.

[0081] It should be noted that in Fig.12 In the figure, “combined navigation” refers to the combined navigation device 440; “body pitch angle, roll angle” refers to the body pitch angle and the body roll angle; “cargo box pitch angle, roll angle” refers to the cargo box pitch angle and the cargo box roll angle; “BCM or VCU” refers to the sub-controller 452; “cargo box falling into place sensor” refers to the falling into place sensor 461; and “cargo box lifting into place sensor” refers to the lifting into place sensor 462.

[0082] Among them, the unmanned driving controller 451 can be understood as the master controller of the unmanned mining car 400, which is used to perform the unmanned driving control function. Specifically, the unmanned driving controller 451 is used to obtain the first angle data through the sensor component 430, and determine the cargo box pitch angle and the cargo box roll angle according to the first angle data. The unmanned driving controller 451 is used to obtain the second angle data through the combined navigation device 440, and determine the vehicle body pitch angle and the vehicle body roll angle according to the second angle data. The unmanned driving controller 451 is also used to send control instructions to the sub-controller 452 based on the cargo box pitch angle, cargo box roll angle, vehicle body pitch angle and vehicle body roll angle, such as lifting instructions and descending instructions.

[0083] Optionally, the unmanned driving controller 451 is arranged at a console in a cab. The cab is usually arranged at the front end of the vehicle body 420.

[0084] The integrated navigation device 440 is installed inside the electric control cabinet in the cab. The integrated navigation device 440 is used to feed back information such as the real-time position, attitude angle, pitch angle, acceleration and yaw rate of the unmanned mining vehicle 400.

[0085] It should be noted that the attitude angle here can be understood as a roll angle. The yaw rate refers to the angular velocity of the unmanned mining vehicle 400 rotating around a vertical axis (i.e., the Z axis, which is perpendicular to the plane where the vehicle is located). The yaw rate is used to describe the turning rate of the vehicle on a horizontal plane, and the unit is usually degrees / second or radians / second.

[0086] The sub-controller 452 is a BCM (Body Control Module) or a VCU (Vehicle Control Unit). The sub-controller 452 is used to control the lifting solenoid valve 470 according to the control signal or control instruction from the unmanned driving controller 451. The sub-controller 452 is used to obtain the output signal of the lifting sensor 462 and the output signal of the falling sensor 461 to determine whether the cargo box 410 is lifted or dropped. When the output signal of the lifting sensor 462 is received, it indicates that the cargo box 410 has been lifted; when the output signal of the falling sensor 461 is received, it indicates that the cargo box 410 has been dropped.

[0087] It should be noted that the lifting position sensor 462 is generally a non-contact Hall sensor, which is used to monitor whether the cargo box 410 is lifted to the position, and outputs a signal to the BCM or VCU when the cargo box 410 is lifted to the position. The falling position sensor 461 is generally a non-contact Hall sensor, which is used to monitor whether the cargo box 410 is dropped to the position, and outputs a signal to the BCM or VCU when the cargo box 410 is dropped to the position.

[0088] Optionally, the sub-controller 452 is disposed on a control console in the cab. The lift-to-position sensor 462 is disposed on the vehicle body 420 or the cargo box 410. The drop-to-position sensor 461 is disposed on the vehicle body 420 or the cargo box 410.

[0089] The lifting solenoid valve 470 is an actuator of the wire-controlled lifting system, and is used to control the lifting valve group to achieve the lifting and lowering of the cargo box 410. The lifting solenoid valve 470 is disposed on the vehicle body 420.

[0090] The sensor assembly 430 includes a lifting angle sensor. The lifting angle sensor is installed at the bottom of the cargo box 410 and can provide real-time feedback of the current lifting angle of the cargo box 410.

[0091] like Figure 1 As shown, the steps of the lifting angle monitoring method include:

[0092] S102, acquiring first angle data through a sensor component, and acquiring second angle data through a combined navigation device.

[0093] Optionally, the sensor assembly includes a lift angle sensor, which includes a first IMU sensor, and the first angle data is acquired through the first IMU sensor.

[0094] Optionally, the integrated navigation device includes a second IMU sensor. The second angle data is acquired through the second IMU sensor.

[0095] The purpose of this step is to obtain angle data or information so as to determine the cargo box pitch angle, cargo box roll angle, vehicle body pitch angle and vehicle body roll angle based on the angle data or information, thereby providing a data basis for data analysis.

[0096] S104, determining a cargo box pitch angle and a cargo box roll angle according to the first angle data, and determining a vehicle body pitch angle and a vehicle body roll angle according to the second angle data.

[0097] The pitch angle describes the angle of rotation of an object around its lateral (left-right) axis. The roll angle describes the angle of rotation of an object around its longitudinal (front-back) axis.

[0098] The cargo box pitch angle is used to reflect the tilt degree of the cargo box in the front and rear directions. The cargo box roll angle is used to reflect the tilt angle of the cargo box in the left and right directions.

[0099] The vehicle body pitch angle is used to reflect the tilt angle of the vehicle body in the front and rear directions. The vehicle body roll angle is used to reflect the tilt angle of the vehicle body in the left and right directions.

[0100] S106, obtaining a lifting angle of the cargo box based on the cargo box pitch angle and the vehicle body pitch angle.

[0101] The lifting angle of the cargo box is determined according to the cargo box pitch angle and the vehicle body pitch angle, wherein the lifting angle of the cargo box is the difference between the cargo box pitch angle and the vehicle body pitch angle.

[0102] Optionally, the lifting angle A of the cargo box is calculated by the cargo box pitch angle P1 fed back by the lifting angle sensor installed on the cargo box and the vehicle body pitch angle P2 fed back by the integrated navigation device installed inside the cab. The calculation formula is: A=P1-P2.

[0103] S108, determining whether the cargo box is lifted into position based on the lifting angle, the first lifting angle threshold and the output signal from the lift-in-place sensor.

[0104] A first lifting angle threshold is set, and whether the cargo box is lifted into place is determined based on the lifting angle and the first lifting angle threshold; whether the cargo box is lifted into place is determined based on whether an output signal from a lifting into place sensor can be received.

[0105] The maximum lifting angle B of the cargo box is determined according to the vehicle parameters. The first lifting angle threshold is less than the maximum lifting angle B. Specifically, the first lifting angle threshold A' is the difference between the maximum lifting angle B and the first parameter.

[0106] In a specific embodiment, the first parameter is 2°. The relationship between the first lifting angle threshold A' and the maximum lifting angle B is: A'=B-2°.

[0107] When the cargo box is continuously lifted and the lifting angle is greater than or equal to the first lifting angle threshold (A≥B-2°), it is determined that the cargo box is lifted to the designated position. If the output signal from the lifting position sensor can be received, it means that the lifting position sensor can correctly feedback the lifting position status. It is determined that the system has no faults, otherwise it reports that the lifting position sensor is damaged or faulty.

[0108] During the process of lifting the cargo box, if the lifting sensor can normally feedback the output signal within the first set time, but when it is lifted, the lifting angle is less than the first lifting angle threshold (A is less than B-2°), the lifting sensor abnormality is reported. At this time, the value of the lifting angle A is regarded as an invalid value, and the anti-rollover and anti-rearward rollover strategies in the subsequent steps are not executed.

[0109] Optionally, the first set duration is 35s to 60s.

[0110] In a specific embodiment, the first set time length is 40 seconds.

[0111] It should be noted that when determining whether the cargo box is lifted into place, the sensor assembly (lifting angle sensor) and the lift-in-place sensor are mutually redundantly checked. By increasing the redundant check of the sensor, it is possible to effectively identify whether the sensor has failed, which is beneficial to improving safety performance. In the event that the lift-in-place sensor fails, it is still possible to determine whether the cargo box has been lifted into place by the lifting angle and the first lifting angle threshold, which will not affect the normal operation of the unmanned mining vehicle and is beneficial to improving work efficiency.

[0112] S110, determining whether the cargo box has fallen into place based on the lifting angle, the second lifting angle threshold, and the output signal from the falling into place sensor.

[0113] A second lifting angle threshold is set, and whether the cargo box has fallen into place is determined based on the lifting angle and the second lifting angle threshold; whether the cargo box has fallen into place is determined based on whether an output signal from a falling-in-place sensor can be received.

[0114] The second lifting angle threshold is determined according to the vehicle parameters. Optionally, the second lifting angle threshold is 2°.

[0115] When the cargo box continues to descend and the lifting angle is less than or equal to the second lifting angle threshold (A≤2°), it is determined that the cargo box has descended into place. If the output signal from the descending into place sensor can be received, it means that the descending into place sensor can correctly feedback the descending into place state. It is determined that the system has no fault, otherwise it reports that the descending into place sensor is damaged or faulty.

[0116] During the process of lowering the cargo box, if the sensor can normally feedback the output signal within the first set time, but when it is lowered into place, the lifting angle is greater than the second lifting angle threshold (A>2°), the lifting sensor abnormality is reported. At this time, the value of the lifting angle A is regarded as an invalid value, and the anti-rollover and anti-rearward rollover strategies in the subsequent steps are not executed.

[0117] Optionally, the first set duration is 35s to 60s.

[0118] In a specific embodiment, the first set time length is 40 seconds.

[0119] It should be noted that when determining whether the cargo box has been lowered into place, the sensor assembly (lifting angle sensor) and the lowering sensor are mutually redundantly checked. By increasing the redundant check of the sensor, it is possible to effectively identify whether the sensor has failed, which is beneficial to improving safety performance. In the event that the lowering sensor fails, it is still possible to determine whether the cargo box has been lowered into place by the lifting angle and the second lifting angle threshold, which will not affect the normal operation of the unmanned mining vehicle and is beneficial to improving work efficiency.

[0120] The first judgment condition is that the lifting angle A is a valid value. The second judgment condition is that the lifting position sensor and the falling position sensor are not invalid. In the above two conditions, if any one of the conditions is met, the unmanned mine car can operate normally. When one of the conditions is not met, the corresponding sensor fault is reported, and the unmanned mine car can operate normally. This method can effectively avoid the problem of a single sensor failure and the unmanned mine car being unable to operate.

[0121] S112, based on the cargo box roll angle and / or the vehicle body roll angle and / or the vehicle body pitch angle, determine whether there is a risk in the lifting posture of the cargo box; if it is determined that the lifting posture is risky, control the cargo box to stop the lifting action or control the cargo box to fall.

[0122] When lifting or lowering the cargo box, the lifting angle of the cargo box and the position of the center of mass of the vehicle can be calculated based on the cargo box pitch angle, cargo box roll angle, vehicle body pitch angle and vehicle body roll angle.

[0123] Data analysis is performed based on the lifting angle, vehicle center of mass position, pitch angle and roll angle change rate to determine whether the unmanned mining vehicle has the risk of rolling over or overturning. When it is determined that the unmanned mining vehicle has the risk of rolling over or overturning, the cargo box is controlled to stop lifting or fall.

[0124] The cargo box roll angle is used as the first reference condition for judging whether the lifting posture has risks; the vehicle body roll angle is used as the second reference condition for judging whether the lifting posture has risks; and the vehicle body pitch angle is used as the third reference condition for judging whether the lifting posture has risks.

[0125] According to any one or a combination of the above three reference conditions, determine whether there is a risk in the lifting posture of the cargo box, that is, determine whether the unmanned mining car has a risk of rolling over or overturning. If it is determined that the unmanned mining car has a risk of rolling over or overturning, control the cargo box to stop lifting or control the cargo box to fall.

[0126] The present invention aims to provide a method for monitoring a lifting angle. On the one hand, the lifting angle of the cargo box can be accurately obtained through the pitch angle of the cargo box and the pitch angle of the vehicle body, which is conducive to realizing accurate control of the cargo box; on the other hand, according to the lifting angle, the lifting angle threshold (including the first lifting angle threshold and the second lifting angle threshold) and the output signal from the lifting position sensor or the falling position sensor, it is determined whether the cargo box is lifted or dropped. In this way, by increasing the redundant check of the sensor, it is possible to effectively identify whether the sensor fails, which is conducive to improving safety performance; in the case of failure of the lifting position sensor and the falling position sensor, it is still possible to determine whether the cargo box is lifted or dropped by the lifting angle and the lifting angle threshold, which will not affect the normal operation of the unmanned mine car, and is conducive to improving work efficiency; on the third hand, by real-time monitoring of the rolling angle of the cargo box, the rolling angle of the vehicle body and the pitch angle of the vehicle body, it is possible to effectively prevent the unmanned mine car from rolling over or overturning, which is conducive to improving safety performance.

[0127] In some embodiments, optionally, before S104 (determining the cargo box pitch angle and the cargo box roll angle according to the first angle data, and determining the vehicle body pitch angle and the vehicle body roll angle according to the second angle data), the steps of the lifting angle monitoring method further include:

[0128] S103, performing data cleaning on the first angle data and the second angle data.

[0129] When the sensor acquires angle data, it may be affected by various interference factors, such as electromagnetic interference and vibration during the operation of the mine car. These interferences may cause noise, deviation or abnormal values ​​in the acquired angle data.

[0130] Data cleaning is used to identify and correct outliers in the first angle data and the second angle data, thereby providing a more reliable data basis for subsequent data analysis.

[0131] In some embodiments, optionally, Figure 2 As shown, the step S108 (determining whether the cargo box is lifted into position based on the lifting angle, the first lifting angle threshold and the output signal from the lifting into position sensor) includes:

[0132] S1082, when the lifting angle is greater than or equal to the first lifting angle threshold, determine that the cargo box is lifted into place; when an output signal from a lifting into place sensor is received, determine that the cargo box is lifted into place.

[0133] A first lifting angle threshold is set, and whether the cargo box is lifted into place is determined based on the lifting angle and the first lifting angle threshold; whether the cargo box is lifted into place is determined based on whether an output signal from a lifting into place sensor can be received.

[0134] The maximum lifting angle B of the cargo box is determined according to the vehicle parameters. The first lifting angle threshold is less than the maximum lifting angle B. Specifically, the first lifting angle threshold A' is the difference between the maximum lifting angle B and the first parameter.

[0135] In a specific embodiment, the first parameter is 2°. The relationship between the first lifting angle threshold A' and the maximum lifting angle B is: A'=B-2°.

[0136] When determining whether the cargo box is lifted into place, the sensor assembly (lifting angle sensor) and the lift-in-place sensor are mutually redundantly checked.

[0137] S1084: When the lifting angle is greater than or equal to the first lifting angle threshold and no output signal is received from the lifting-to-position sensor, determine that the lifting-to-position sensor is failed.

[0138] When the cargo box is continuously lifted and the lifting angle is greater than or equal to the first lifting angle threshold (A≥B-2°), it is determined that the cargo box is lifted into place. If an output signal from the lifting sensor can be received, it means that the lifting sensor can correctly feedback the lifting state. When the lifting angle is greater than or equal to the first lifting angle threshold and no output signal from the lifting sensor is received, it means that the lifting sensor cannot correctly feedback the lifting state and feedbacks the first fault information, that is, reporting that the lifting sensor is damaged or faulty.

[0139] In the event that the lifting-in-place sensor fails, it is still possible to determine whether the cargo box is lifted into place through the lifting angle and the first lifting angle threshold, which will not affect the normal operation of the unmanned mining vehicle and is conducive to improving work efficiency.

[0140] S1086: When it is determined that the lift-to-position sensor is not invalid, an output signal from the lift-to-position sensor is received, and the lift angle is less than a first lift angle threshold, the lift angle is an invalid value.

[0141] During the process of lifting the cargo box, if the lifting-to-position sensor can normally feedback an output signal within the first set time period, it is determined that the lifting-to-position sensor is not invalid.

[0142] After determining that the lift-in-place sensor has not failed, an output signal from the lift-in-place sensor is received to determine that the cargo box has been lifted into place.

[0143] When the lifting sensor determines that the cargo box has been lifted into place, if the lifting angle is less than the first lifting angle threshold (A is less than B-2°), the second fault information is fed back, that is, the lifting sensor abnormality is reported. At this time, the value of the lifting angle A is regarded as an invalid value, and the anti-rollover and anti-rearward rollover strategies in the subsequent steps are not executed.

[0144] Optionally, the first set duration is 35s to 60s.

[0145] In a specific embodiment, the first set time length is 40 seconds.

[0146] In some embodiments, optionally, Figure 3 As shown, the step S110 (determining whether the cargo box has fallen into place based on the lifting angle, the second lifting angle threshold and the output signal from the falling into place sensor) includes:

[0147] S1102, when the lifting angle is less than or equal to the second lifting angle threshold, determine that the cargo box has fallen into place; when an output signal from a falling into place sensor is received, determine that the cargo box has fallen into place.

[0148] A second lifting angle threshold is set, and whether the cargo box has fallen into place is determined based on the lifting angle and the second lifting angle threshold; whether the cargo box has fallen into place is determined based on whether an output signal from a falling-in-place sensor can be received.

[0149] The second lifting angle threshold is determined according to the vehicle parameters. Optionally, the second lifting angle threshold is 2°.

[0150] When determining whether the cargo box has been lowered into place, the sensor assembly (lifting angle sensor) and the lowering position sensor are mutually redundantly checked.

[0151] S1104: When the lifting angle is less than or equal to the second lifting angle threshold and no output signal is received from the drop-in-place sensor, it is determined that the drop-in-place sensor is failed.

[0152] When the cargo box continues to descend and the lifting angle is less than or equal to the second lifting angle threshold (A≤2°), it is determined that the cargo box has descended into place. If the output signal from the descending into place sensor can be received, it means that the descending into place sensor can correctly feedback the descending into place state, and it is determined that the system has no fault. When the lifting angle is less than or equal to the second lifting angle threshold, and the output signal from the descending into place sensor is not received, it means that the descending into place sensor cannot correctly feedback the descending into place state, and the third fault information is fed back, that is, the descending into place sensor is reported to be damaged or faulty.

[0153] In the event that the sensor for lowering into position fails, it is still possible to determine whether the cargo box has been lowered into position through the lifting angle and the second lifting angle threshold, which will not affect the normal operation of the unmanned mining vehicle and is conducive to improving work efficiency.

[0154] S1106: When it is determined that the drop-in-place sensor is not invalid, an output signal from the drop-in-place sensor is received, and the lifting angle is greater than a second lifting angle threshold, the lifting angle is an invalid value.

[0155] During the process of lowering the cargo box, if the sensor for lowering to the position can normally feedback the output signal within the first set time period, it is determined that the sensor for lowering to the position is not invalid.

[0156] After determining that the drop-in-place sensor is not failed, an output signal from the drop-in-place sensor is received to determine that the cargo box has dropped into place.

[0157] When the cargo box is determined to have fallen into place through the drop-in-place sensor, if the lifting angle is greater than the second lifting angle threshold (A>2°), the fourth fault information is fed back, that is, the lifting sensor abnormality is reported. At this time, the value of the lifting angle A is regarded as an invalid value, and the anti-rollover and anti-rearward rollover strategies in the subsequent steps are not executed.

[0158] The first judgment condition is that the lifting angle A is a valid value. The second judgment condition is that the lifting position sensor and the falling position sensor are not invalid. In the above two conditions, if any one of the conditions is met, the unmanned mine car can operate normally. When one of the conditions is not met, the corresponding sensor fault is reported, and the unmanned mine car can operate normally. This method can effectively avoid the problem of a single sensor failure and the unmanned mine car being unable to operate.

[0159] In some embodiments, optionally, Figure 4 As shown, the step of S112 (determining whether the lifting posture of the cargo box is risky based on the rolling angle of the cargo box and / or the rolling angle of the vehicle body and / or the pitch angle of the vehicle body; if it is determined that the lifting posture is risky, controlling the cargo box to stop the lifting action or controlling the cargo box to fall) includes:

[0160] S1122, based on the rolling angle of the cargo box and the first rolling angle threshold, determine whether there is a risk in the lifting posture of the cargo box; when it is determined that the lifting posture is risky, control the cargo box to stop the lifting action or control the cargo box to fall to prevent the unmanned mine car from overturning; wherein, the first rolling angle threshold is the maximum rolling angle of the cargo box that the unmanned mine car can allow when the cargo box is in the lifted position.

[0161] The first roll angle threshold is determined according to the vehicle parameters. The first roll angle threshold R3 is the maximum roll angle of the cargo box that the unmanned mining vehicle can allow when the cargo box is lifted into place. In other words, when the cargo box is lifted into place, if the roll angle R1 of the cargo box is greater than the first roll angle threshold R3, the unmanned mining vehicle will roll over.

[0162] The first safety threshold is determined according to the first roll angle threshold, wherein the first safety threshold is the product of the first roll angle threshold and the first safety factor, and the first safety factor is greater than 0 and less than 1. The first safety factor is flexibly set according to the on-site road conditions.

[0163] By setting the first safety factor, the safety performance can be effectively improved and the possibility of the unmanned mining car rolling over due to misjudgment can be avoided.

[0164] Optionally, the first safety factor is 0.8.

[0165] In other words, the first safety threshold is 0.8 times the first roll angle threshold.

[0166] According to the rolling angle of the cargo box and the first safety threshold, determine whether the lifting posture of the cargo box is risky.

[0167] In response to the lifting command (when the lifting command is received), the rolling angle of the cargo box is continuously compared with the first safety threshold during the lifting process of the cargo box. When the rolling angle of the cargo box is less than the first safety threshold (R1<0.8×R3), the cargo box is allowed to continue to be lifted; when the rolling angle of the cargo box is greater than or equal to the first safety threshold (R1≥0.8×R3), the cargo box is controlled to stop the lifting action or control the cargo box to fall, and the first risk information is fed back, that is, there is a risk in the lifting posture (the unmanned mining car has the risk of rollover).

[0168] When it is determined that the unmanned mining vehicle is at risk of overturning, the cargo box is controlled to stop lifting or to fall.

[0169] In some embodiments, optionally, Figure 5 As shown, the step of S112 (determining whether the lifting posture of the cargo box is risky based on the rolling angle of the cargo box and / or the rolling angle of the vehicle body and / or the pitch angle of the vehicle body; if it is determined that the lifting posture is risky, controlling the cargo box to stop the lifting action or controlling the cargo box to fall) includes:

[0170] S1124, based on the rate of change of the body roll angle within the first time period, determine whether there is a risk in the lifting posture of the cargo box; if it is determined that the lifting posture is risky, control the cargo box to stop the lifting action or control the cargo box to fall to prevent the unmanned mining car from rolling over.

[0171] Based on the rate of change of the body roll angle within the first time period, determine whether the unmanned mining vehicle has a risk of rollover; when it is determined that the unmanned mining vehicle has a risk of rollover, control the cargo box to stop lifting or control the cargo box to fall.

[0172] In response to the lifting command (when the lifting command is received), during the process of lifting the cargo box, the rate of change of the vehicle body roll angle within the first time period is monitored in real time.

[0173] It is determined whether there is a risk in the lifting posture of the cargo box based on the rate of change of the vehicle body roll angle within the first time period and the second safety threshold.

[0174] When the rate of change of the roll angle of the vehicle body within the first time period is less than or equal to the second safety threshold, the cargo box is allowed to continue to be lifted; when the rate of change of the roll angle of the vehicle body within the first time period is greater than the second safety threshold, the cargo box is controlled to stop lifting or to fall, and the second risk information is fed back, that is, there is a risk in the lifting posture (the unmanned mining car is at risk of rollover).

[0175] Optionally, the second safety threshold is 3° / s. The first time period is 2s.

[0176] When it is determined that the unmanned mining vehicle is at risk of overturning, the cargo box is controlled to stop lifting or to fall.

[0177] In some embodiments, optionally, Figure 6 As shown, the step of S112 (determining whether the lifting posture of the cargo box is risky based on the rolling angle of the cargo box and / or the rolling angle of the vehicle body and / or the pitch angle of the vehicle body; if it is determined that the lifting posture is risky, controlling the cargo box to stop the lifting action or controlling the cargo box to fall) includes:

[0178] S1126, based on the pitch angle of the cargo box and the first pitch angle threshold, determine whether there is a risk in the lifting posture of the cargo box; when it is determined that there is a risk in the lifting posture, control the cargo box to stop lifting or control the cargo box to fall to prevent the unmanned mine car from overturning; wherein, the first pitch angle threshold is the maximum body pitch angle that the unmanned mine car can allow when the cargo box is in the lifted position.

[0179] Based on the pitch angle of the vehicle body and the first pitch angle threshold, determine whether the unmanned mining vehicle has a risk of overturning; if it is determined that the unmanned mining vehicle has a risk of overturning, control the cargo box to stop lifting or control the cargo box to fall.

[0180] The first pitch angle threshold is determined according to the vehicle parameters. The first pitch angle threshold P3 is the maximum body pitch angle that the unmanned mining vehicle can allow when the cargo box is lifted into place. In other words, when the cargo box is lifted into place, if the body pitch angle P2 is greater than the first pitch angle threshold P3, the unmanned mining vehicle will overturn.

[0181] The third safety threshold is determined according to the first pitch angle threshold, wherein the third safety threshold is the product of the first pitch angle threshold and the second safety factor, and the second safety factor is greater than 0 and less than 1. The second safety factor is flexibly set according to the on-site road conditions.

[0182] By setting the second safety factor, the safety performance can be effectively improved to avoid the possibility of the unmanned mining car overturning due to misjudgment.

[0183] Optionally, the second safety factor is 0.8.

[0184] In other words, the third safety threshold is 0.8 times the first pitch angle threshold.

[0185] Based on the pitch angle of the vehicle body and the third safety threshold, determine whether there is a risk in the lifting posture of the cargo box.

[0186] In response to the lifting command (when the lifting command is received), the pitch angle of the vehicle body is continuously compared with the third safety threshold during the lifting of the cargo box. When the pitch angle of the vehicle body is less than the third safety threshold (P2<0.8×P3), the cargo box is allowed to continue to be lifted; when the pitch angle of the vehicle body is greater than or equal to the third safety threshold (P2≥0.8×P3), the cargo box is controlled to stop lifting or fall, and the third risk information is fed back, that is, there is a risk in the lifting posture (the unmanned mining car has the risk of overturning).

[0187] When it is determined that the unmanned mining vehicle is at risk of overturning, the lifting action of the cargo box is stopped or the cargo box is controlled to fall.

[0188] In some embodiments, optionally, Figure 7 As shown, the step of S112 (determining whether the lifting posture of the cargo box is risky based on the rolling angle of the cargo box and / or the rolling angle of the vehicle body and / or the pitch angle of the vehicle body; if it is determined that the lifting posture is risky, controlling the cargo box to stop the lifting action or controlling the cargo box to fall) includes:

[0189] S1128, based on the rate of change of the pitch angle of the vehicle body within the second time period, determine whether there is a risk in the lifting posture of the cargo box; if it is determined that the lifting posture is risky, control the cargo box to stop the lifting action or control the cargo box to fall to prevent the unmanned mining car from overturning.

[0190] Based on the rate of change of the pitch angle of the vehicle body within the second time period, determine whether the unmanned mining vehicle has a risk of overturning; if it is determined that the unmanned mining vehicle has a risk of overturning, control the cargo box to stop lifting or control the cargo box to fall.

[0191] In response to the lifting command (when the lifting command is received), during the process of lifting the cargo box, the rate of change of the vehicle body pitch angle within the second time period is monitored in real time.

[0192] According to the rate of change of the vehicle body pitch angle in the second time period and the fourth safety threshold, it is determined whether there is a risk in the lifting posture of the cargo box.

[0193] When the rate of change of the pitch angle of the vehicle body within the second time period is less than or equal to the fourth safety threshold, it is allowed to continue lifting the cargo box; when the rate of change of the pitch angle of the vehicle body within the second time period is greater than the fourth safety threshold, the cargo box is controlled to stop lifting or to fall, and the fourth risk information is fed back, that is, there is a risk in the lifting posture (the unmanned mining car is at risk of overturning).

[0194] Optionally, the fourth safety threshold is 3° / s. The second time period is 2s.

[0195] When it is determined that the unmanned mining vehicle is at risk of overturning, the lifting action of the cargo box is stopped or the cargo box is controlled to fall.

[0196] In one embodiment of the present invention, the lifting angle monitoring system 200 is used for an unmanned mining vehicle 400. Fig.10 and Fig.11 As shown, the unmanned mining vehicle 400 includes a cargo box 410 and a vehicle body 420 which are rotatably connected.

[0197] like Figure 8 As shown, the lifting angle monitoring system 200 includes a data acquisition module 210 , a first angle determination module 220 , a second angle determination module 230 , a first data analysis module 240 , a second data analysis module 250 and a third data analysis module 260 .

[0198] The data acquisition module 210 is used to acquire first angle data through the sensor component 430 , and acquire second angle data through the integrated navigation device 440 .

[0199] Optionally, the sensor assembly 430 includes a lift angle sensor, which includes a first IMU sensor, and obtains first angle data through the first IMU sensor.

[0200] Optionally, the integrated navigation device 440 includes a second IMU sensor. The second angle data is acquired through the second IMU sensor.

[0201] The data acquisition module 210 acquires angle data or information so as to determine the cargo box pitch angle, cargo box roll angle, vehicle body pitch angle and vehicle body roll angle according to the angle data or information, thereby providing a data basis for data analysis.

[0202] The first angle determination module 220 is used to determine the cargo box pitch angle and the cargo box roll angle according to the first angle data, and to determine the vehicle body pitch angle and the vehicle body roll angle according to the second angle data.

[0203] The pitch angle describes the angle of rotation of an object around its lateral (left-right) axis. The roll angle describes the angle of rotation of an object around its longitudinal (front-back) axis.

[0204] The cargo box pitch angle is used to reflect the tilt degree of the cargo box 410 in the front-to-back direction. The cargo box roll angle is used to reflect the tilt angle of the cargo box 410 in the left-to-right direction.

[0205] The vehicle body pitch angle is used to reflect the tilt angle of the vehicle body 420 in the front-rear direction. The vehicle body roll angle is used to reflect the tilt angle of the vehicle body 420 in the left-right direction.

[0206] The second angle determination module 230 is used to obtain the lifting angle of the cargo box 410 based on the cargo box pitch angle and the vehicle body pitch angle.

[0207] The lifting angle of the cargo box 410 is determined according to the cargo box pitch angle and the vehicle body pitch angle. The lifting angle of the cargo box 410 is the difference between the cargo box pitch angle and the vehicle body pitch angle.

[0208] Optionally, the lifting angle A of the cargo box 410 is calculated by the cargo box pitch angle P1 fed back by the lifting angle sensor installed on the cargo box 410 and the vehicle body pitch angle P2 fed back by the combined navigation device 440 installed inside the cab. The calculation formula is: A=P1-P2.

[0209] The first data analysis module 240 is used to determine whether the cargo box 410 is lifted into place based on the lifting angle, the first lifting angle threshold, and the output signal from the lifting into place sensor 462 .

[0210] A first lifting angle threshold is set, and whether the cargo box 410 is lifted into place is determined based on the lifting angle and the first lifting angle threshold; whether the cargo box 410 is lifted into place is determined based on whether an output signal from the lifting into place sensor 462 can be received.

[0211] The maximum lifting angle B of the cargo box 410 is determined according to the vehicle parameters. The first lifting angle threshold is less than the maximum lifting angle B. Specifically, the first lifting angle threshold A' is the difference between the maximum lifting angle B and the first parameter.

[0212] In a specific embodiment, the first parameter is 2°. The relationship between the first lifting angle threshold A' and the maximum lifting angle B is: A'=B-2°.

[0213] When the cargo box 410 is continuously lifted and the lifting angle is greater than or equal to the first lifting angle threshold (A≥B-2°), it is determined that the cargo box 410 is lifted to the designated position. If an output signal from the lifting position sensor 462 can be received, it means that the lifting position sensor 462 can correctly feedback the lifting position state. It is determined that the system has no fault, otherwise it is reported that the lifting position sensor 462 is damaged or faulty.

[0214] During the process of lifting the cargo box 410, if the lifting sensor 462 can normally feedback the output signal within the first set time period, but when it is lifted, the lifting angle is less than the first lifting angle threshold (A is less than B-2°), the lifting sensor abnormality is reported. At this time, the value of the lifting angle A is regarded as an invalid value, and the anti-rollover and anti-rearward rollover strategies in the subsequent steps are not executed.

[0215] Optionally, the first set duration is 35s to 60s.

[0216] In a specific embodiment, the first set time length is 40 seconds.

[0217] It should be noted that when determining whether the cargo box 410 is lifted into place, the sensor assembly 430 (lifting angle sensor) and the lift-in-place sensor 462 are mutually redundantly checked. By increasing the redundant check of the sensor, it is possible to effectively identify whether the sensor fails, which is beneficial to improving safety performance. In the case where the lift-in-place sensor 462 fails, it is still possible to determine whether the cargo box 410 is lifted into place by the lifting angle and the first lifting angle threshold, which will not affect the normal operation of the unmanned mining vehicle 400 and is beneficial to improving work efficiency.

[0218] The second data analysis module 250 is used to determine whether the cargo box 410 has fallen into place based on the lifting angle, the second lifting angle threshold and the output signal from the falling into place sensor 461.

[0219] A second lifting angle threshold is set, and whether the cargo box 410 has fallen into place is determined based on the lifting angle and the second lifting angle threshold; whether the cargo box 410 has fallen into place is determined based on whether an output signal from the falling-in-place sensor 461 can be received.

[0220] The second lifting angle threshold is determined according to the vehicle parameters. Optionally, the second lifting angle threshold is 2°.

[0221] When the cargo box 410 continues to descend and the lifting angle is less than or equal to the second lifting angle threshold (A≤2°), it is determined that the cargo box 410 has descended to the proper position. If an output signal from the descending proper position sensor can be received, it means that the descending proper position sensor can correctly feedback the descending proper position state. It is determined that the system has no fault, otherwise it is reported that the descending proper position sensor is damaged or faulty.

[0222] During the process of lowering the cargo box 410, if the sensor can normally feedback the output signal when it is lowered into place within the first set time, but when it is lowered into place, the lifting angle is greater than the second lifting angle threshold (A>2°), the lifting sensor abnormality is reported. At this time, the value of the lifting angle A is regarded as an invalid value, and the anti-rollover and anti-rearward rollover strategies in the subsequent steps are not executed.

[0223] Optionally, the first set duration is 35s to 60s.

[0224] In a specific embodiment, the first set time length is 40 seconds.

[0225] It should be noted that when determining whether the cargo box 410 has been lowered into place, the sensor assembly 430 (lifting angle sensor) and the lowered into place sensor are mutually redundantly checked. By increasing the redundant check of the sensor, it is possible to effectively identify whether the sensor has failed, which is beneficial to improving safety performance. In the case where the lowered into place sensor fails, it is still possible to determine whether the cargo box 410 has been lowered into place by the lifting angle and the second lifting angle threshold, which will not affect the normal operation of the unmanned mining vehicle 400 and is beneficial to improving work efficiency.

[0226] The first judgment condition is that the lifting angle A is a valid value. The second judgment condition is that the lifting position sensor 462 and the falling position sensor 461 are not invalid. In the above two conditions, if any one of the conditions is met, the unmanned mine car 400 can operate normally. When one of the conditions is not met, the corresponding sensor failure is reported, and the unmanned mine car 400 can operate normally. This method can effectively avoid the problem that a single sensor fails and the unmanned mine car 400 cannot operate.

[0227] The third data analysis module 260 is used to determine whether there is a risk in the lifting posture of the cargo box 410 based on the cargo box roll angle and / or the body roll angle and / or the body pitch angle; when it is determined that the lifting posture is risky, control the cargo box 410 to stop the lifting action or control the cargo box 410 to fall.

[0228] During the process of lifting or lowering the cargo box 410, the lifting angle of the cargo box 410 and the position of the center of mass of the vehicle can be calculated based on the cargo box pitch angle, the cargo box roll angle, the vehicle body pitch angle and the vehicle body roll angle.

[0229] Data analysis is performed based on the lifting angle, the position of the vehicle's center of mass, the pitch angle, and the rate of change of the roll angle to determine whether the driverless mining vehicle 400 has a risk of rolling over or overturning. When it is determined that the driverless mining vehicle 400 has a risk of rolling over or overturning, the cargo box 410 is controlled to stop the lifting action or to drop.

[0230] The cargo box roll angle is used as the first reference condition for judging whether the lifting posture has risks; the vehicle body roll angle is used as the second reference condition for judging whether the lifting posture has risks; and the vehicle body pitch angle is used as the third reference condition for judging whether the lifting posture has risks.

[0231] According to any one or a combination of the above three reference conditions, it is determined whether there is a risk in the lifting posture of the cargo box 410, that is, it is determined whether there is a risk of rollover or backward rollover of the unmanned mining vehicle 400. When it is determined that the unmanned mining vehicle 400 has a risk of rollover or backward rollover, the cargo box 410 is controlled to stop the lifting action or the cargo box 410 is controlled to fall.

[0232] The present invention aims to provide a lifting angle monitoring system 200. Firstly, the lifting angle of the cargo box 410 can be accurately obtained through the cargo box pitch angle and the body pitch angle, which is conducive to realizing accurate control of the cargo box 410; secondly, according to the lifting angle, the lifting angle threshold (including the first lifting angle threshold and the second lifting angle threshold) and the output signal from the lifting position sensor 462 or the falling position sensor 461, it is determined whether the cargo box 410 is lifted or dropped. In this way, by increasing the redundant check of the sensor, it is possible to effectively identify whether the sensor fails, which is conducive to improving safety performance; in the case of failure of the lifting position sensor 462 and the falling position sensor 461, it is still possible to determine whether the cargo box 410 is lifted or dropped by the lifting angle and the lifting angle threshold, which will not affect the normal operation of the unmanned mine car 400, and is conducive to improving work efficiency; thirdly, by real-time monitoring of the cargo box roll angle, the body roll angle and the body pitch angle, it is possible to effectively prevent the unmanned mine car 400 from rolling over or overturning, which is conducive to improving safety performance.

[0233] In one embodiment according to the present invention, Fig. 9 As shown, the electronic device 300 includes a memory 310 and a processor 320. The memory 310 stores a program or instruction that can be run on the processor 320, and the processor 320 implements the steps of the lifting angle monitoring method in any of the above embodiments when executing the program or instruction. The electronic device 300 has the beneficial effects of any of the above embodiments, which will not be repeated here.

[0234] In one embodiment of the present invention, the readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the lifting angle monitoring method in any of the above embodiments are implemented. The readable storage medium has the beneficial effects of any of the above embodiments, which will not be repeated here.

[0235] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0236] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front” and “back” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0237] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0238] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A lifting angle monitoring method, characterized in that: For an unmanned mining vehicle, the unmanned mining vehicle comprises a cargo box and a vehicle body connected in rotation, and the lifting angle monitoring method comprises: Acquire first angle data through the sensor component, and acquire second angle data through the combined navigation device; Determine a cargo box pitch angle and a cargo box roll angle according to the first angle data, and determine a vehicle body pitch angle and a vehicle body roll angle according to the second angle data; Based on the cargo box pitch angle and the vehicle body pitch angle, obtaining a lifting angle of the cargo box; Determining whether the cargo box is lifted into position based on the lifting angle, a first lifting angle threshold, and an output signal from a lift-in-place sensor; Determining whether the cargo box has fallen into place based on the lifting angle, the second lifting angle threshold and the output signal from the falling into place sensor; Based on the cargo box roll angle and / or the vehicle body roll angle and / or the vehicle body pitch angle, determine whether there is a risk in the lifting posture of the cargo box; if it is determined that the lifting posture is risky, control the cargo box to stop the lifting action or control the cargo box to fall.

2. The lifting angle monitoring method according to claim 1, characterized in that: The determining whether the cargo box is lifted into position based on the lifting angle, the first lifting angle threshold and the output signal from the lifting into position sensor comprises: In the case where the lifting angle is greater than or equal to the first lifting angle threshold, determining that the cargo box is lifted into place; in the case where an output signal from the lifting into place sensor is received, determining that the cargo box is lifted into place; When the lifting angle is greater than or equal to the first lifting angle threshold and no output signal is received from the lift-to-position sensor, it is determined that the lift-to-position sensor fails.

3. The lifting angle monitoring method according to claim 1, characterized in that: The determining whether the cargo box has fallen into place based on the lifting angle, the second lifting angle threshold and the output signal from the falling into place sensor comprises: In the case where the lifting angle is less than or equal to the second lifting angle threshold, determining that the cargo box has fallen into place; in the case where an output signal from the falling into place sensor is received, determining that the cargo box has fallen into place; When the lifting angle is less than or equal to the second lifting angle threshold and no output signal is received from the drop-in-place sensor, it is determined that the drop-in-place sensor fails.

4. The lifting angle monitoring method according to any one of claims 1 to 3, characterized in that: The determining whether there is a risk in the lifting posture of the cargo box based on the cargo box roll angle and / or the vehicle body roll angle and / or the vehicle body pitch angle; and controlling the cargo box to stop the lifting action or control the cargo box to fall when it is determined that there is a risk in the lifting posture, includes: Based on the rolling angle of the cargo box and the first rolling angle threshold, determine whether the lifting posture of the cargo box has risks; when it is determined that the lifting posture has risks, control the cargo box to stop lifting or control the cargo box to fall, so as to prevent the unmanned mining car from overturning; wherein, the first rolling angle threshold is the maximum rolling angle of the cargo box that can be allowed by the unmanned mining car when the cargo box is lifted into place.

5. The lifting angle monitoring method according to any one of claims 1 to 3, characterized in that: The determining whether there is a risk in the lifting posture of the cargo box based on the cargo box roll angle and / or the vehicle body roll angle and / or the vehicle body pitch angle; and controlling the cargo box to stop the lifting action or control the cargo box to fall when it is determined that there is a risk in the lifting posture, includes: Based on the rate of change of the body roll angle within the first time period, determine whether the lifting posture of the cargo box has risks; if it is determined that the lifting posture has risks, control the cargo box to stop lifting or control the cargo box to fall, so as to prevent the unmanned mining car from rolling over.

6. The lifting angle monitoring method according to any one of claims 1 to 3, characterized in that: The determining whether there is a risk in the lifting posture of the cargo box based on the cargo box roll angle and / or the vehicle body roll angle and / or the vehicle body pitch angle; and controlling the cargo box to stop the lifting action or control the cargo box to fall when it is determined that there is a risk in the lifting posture, includes: Based on the body pitch angle and the first pitch angle threshold, determine whether the lifting posture of the cargo box has risks; when it is determined that the lifting posture has risks, control the cargo box to stop lifting or control the cargo box to fall, so as to prevent the unmanned mine car from overturning; wherein, the first pitch angle threshold is the maximum body pitch angle that the unmanned mine car can allow when the cargo box is lifted into place.

7. The lifting angle monitoring method according to any one of claims 1 to 3, characterized in that: The determining whether there is a risk in the lifting posture of the cargo box based on the cargo box roll angle and / or the vehicle body roll angle and / or the vehicle body pitch angle; and controlling the cargo box to stop the lifting action or control the cargo box to fall when it is determined that there is a risk in the lifting posture, includes: Based on the rate of change of the pitch angle of the vehicle body within the second time period, determine whether the lifting posture of the cargo box has risks; if it is determined that the lifting posture has risks, control the cargo box to stop lifting or control the cargo box to fall, so as to prevent the unmanned mining car from tipping over.

8. A lifting angle monitoring system, characterized in that: For an unmanned mining vehicle (400), the unmanned mining vehicle (400) comprises a cargo box (410) and a vehicle body (420) which are rotatably connected, and the lifting angle monitoring system comprises: A data acquisition module (210), used for acquiring first angle data through a sensor component, and acquiring second angle data through a combined navigation device; A first angle determination module (220) is used to determine a cargo box pitch angle and a cargo box roll angle according to the first angle data, and to determine a vehicle body pitch angle and a vehicle body roll angle according to the second angle data; A second angle determination module (230) is used to obtain a lifting angle of the cargo box based on the cargo box pitch angle and the vehicle body pitch angle; A first data analysis module (240) is used to determine whether the cargo box is lifted into position based on the lifting angle, a first lifting angle threshold and an output signal from a lifting into position sensor; A second data analysis module (250) is used to determine whether the cargo box has fallen into place based on the lifting angle, the second lifting angle threshold and the output signal from the falling into place sensor; The third data analysis module (260) is used to determine whether there is a risk in the lifting posture of the cargo box based on the rolling angle of the cargo box and / or the rolling angle of the vehicle body and / or the pitch angle of the vehicle body; if it is determined that the lifting posture is risky, control the cargo box to stop the lifting action or control the cargo box to fall.

9. An electronic device, characterized in that: include: A memory (310) and a processor (320), wherein the memory (310) stores a program or instruction that can be run on the processor (320), and the processor (320) implements the steps of the lifting angle monitoring method as described in any one of claims 1 to 7 when executing the program or the instruction.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by a processor, the steps of the lifting angle monitoring method according to any one of claims 1 to 7 are implemented.

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