Electric mine truck unloading control method and system

Abstract

The invention discloses an electric mine truck unloading control method and system, and relates to the technical field of engineering machinery, and the electric mine truck unloading control system comprises an automatic unloading switch which is electrically connected with the signal input end of a vehicle controller and is used for starting and closing an automatic unloading program; the weighing sensor is electrically connected with the signal input end of the controller and is used for feeding back the mass of materials in the container; and the gradient sensor is electrically connected with the input end of the controller of the vehicle, and the gradient sensor is combined with data fed back to the controller by the weighing sensor to calculate the required torque and is matched with an automatic unloading program to control the unloading amount. By means of the automatic discharging mode, the dependence on operation of a driver in the operation process is reduced, accurate lifting action switching can be conducted according to the material quality, the operation efficiency is improved, the operation energy consumption is reduced, and meanwhile when discharging is insufficient, under the permissible condition of the driver, an advancing crawling mode can be entered, and automatic advancing is conducted to complete discharging.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to an electric mining truck unloading control method and system. Background Art

[0002] Mining trucks are often used for loading and unloading in mining areas. They can unload materials by tilting the car body. With the gradual acceleration of electrification of construction machinery, electric mining trucks have become an increasingly common product in major mines and gravel aggregate yards. Compared with fuel vehicles, electric mining trucks have obvious advantages: first, they have the functions of electric retarding and electric braking, which reduces the wear of tires and brakes of the vehicle; second, they have low maintenance costs, reducing the maintenance costs of the engine; third, they have low energy consumption, especially under heavy load conditions, the energy consumption cost is greatly reduced; fourth, they have low noise, which improves driving comfort.

[0003] As the main equipment for material transportation, mining trucks perform earthwork operations in mines. The typical workflow is to load in the designated loading area, transport to the unloading area after being full, complete unloading, and then return to the loading area for the next loading cycle. Therefore, unloading actions need to be performed frequently. At present, the unloading action of mining trucks is completely dependent on the driver's operation, resulting in high labor intensity for the driver and low unloading efficiency. Summary of the invention

[0004] The object of the present invention is to provide an electric mining truck unloading control method and system to solve the current market problems raised by the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: an electric mining truck unloading control system, comprising: An automatic unloading switch, which is electrically connected to the signal input terminal of the vehicle controller and is used to start and stop the automatic unloading program; A weighing sensor, the weighing sensor being electrically connected to the signal input terminal of the controller and used for feeding back the mass of the material in the cargo box; and A slope sensor is electrically connected to the input terminal of the controller of the vehicle, and is used to calculate the required torque in conjunction with the data fed back to the controller by the weighing sensor, and to control the unloading amount in coordination with the automatic unloading program.

[0006] Preferably, the signal input end of the controller is also electrically connected to the shift handle, the accelerator pedal, the power take-off switch, the cargo box control switch, the parking switch, the electric drive assembly, the power unit and the display screen; The signal output end of the controller is electrically connected to the power take-off engagement control unit, the electric drive assembly, the lifting hydraulic valve control unit, the lowering hydraulic valve control unit, the parking control system and the display screen respectively.

[0007] Preferably, the electric drive assembly, the power take-off body and the hydraulic pump are sequentially connected in transmission, and the power unit is electrically connected to the electric drive assembly as a power source to convert electrical energy into mechanical energy of the output shaft; The power take-off engagement control unit is electrically connected to the power take-off body to control the power take-off to engage or disengage with the output shaft of the electric drive assembly, and drives the hydraulic pump to operate in the engaged state, and the hydraulic pump drives the hydraulic cylinder to extend and retract to perform the cargo box lifting action; wherein, the extension and retraction of the hydraulic cylinder are respectively controlled by the opening / closing of the lifting hydraulic valve body and the lowering hydraulic valve body; The lifting hydraulic valve body and the lowering hydraulic valve body are controlled by the lifting hydraulic valve control unit and the lowering hydraulic valve control unit, respectively.

[0008] An electric mining truck unloading control method is used for the above-mentioned electric mining truck unloading control system, including a manual control mode and an automatic control mode; the specific method is as follows: Manual control mode: S1 manually opens the power take-off switch to control the power take-off engagement connection; S2 waits for the S1 power take-off to engage and then switches the cargo box control switch to the lifting state to lift the cargo box; S3 unloading is completed and the cargo box control switch is switched to the descending state to complete unloading; Automatic control mode: A1 turns on the automatic unloading switch to execute the start and exit judgment of the automatic unloading mode, the lifting and lowering control of the cargo box, and executes the automatic travel control module when it is detected that the unloading is insufficient and there is material accumulation; The A2 automatic driving control module determines whether automatic driving is allowed, disengages the power take-off, switches to D gear, releases parking, and enters the forward creeping mode when the driving conditions are met; The A3 forward creep mode applies drive torque based on the set target vehicle speed, combined with material quality and slope closed-loop control to control the vehicle forward.

[0009] Preferably, in the automatic control mode A1 includes: A10 Automatic unloading mode activation judgment: The controller maintains real-time monitoring of the automatic unloading switch status. When it detects that the automatic unloading switch is pressed and whether it is in automatic unloading mode, it is judged to be in automatic unloading mode and executes A19 to exit automatic unloading mode; A11 Material quality detection and judgment: When A10 automatic unloading mode is enabled and it is judged that it is not in automatic unloading mode, the controller analyzes the current material quality in real time through the weighing sensor and judges whether the current material quality is lower than the set minimum lifting weight threshold W1; A12 Cargo box descent start: When the current material quality is judged to be lower than the set minimum lifting weight threshold W1 in A11 material quality detection and judgment, the controller sends a lifting hydraulic valve closing and a lowering hydraulic valve opening command, and the electric drive assembly torque command is 0 to control the cargo box to descend; A13 detects the opening time of the descending hydraulic valve. If the opening time of the descending hydraulic valve is greater than the descending time threshold T1, the controller sends a descending hydraulic valve closing command to stop the descending action and executes A19 to exit the automatic unloading mode. When the opening time of the descending hydraulic valve is less than the descending time threshold T1, the A18 automatic unloading mode exit judgment is executed; A14 cargo box lifting detection: When the current material quality is judged to be higher than the set minimum lifting weight threshold W1 in A11 material quality detection and judgment, the controller detects that the torque control command sent in this automatic unloading cycle remains unchanged, and the electric drive assembly feedback torque suddenly drops, and it is judged to be lifted in place; A15 cargo box lifting stops: After the A14 cargo box lifting detection determines that the lifting is in place, the controller sends a closing command to the lifting hydraulic valve, the torque command of the electric drive assembly is 0, the lifting action is stopped, and the lifting hydraulic valve closing time is detected; among them, When the lifting hydraulic valve closing time is less than the threshold value T2, it is determined that there is no material accumulation, and the A18 automatic unloading mode exit judgment is executed; A16 cargo box lifting start: After the A14 cargo box lifting detection determines that the lifting is not in place, the power take-off status is detected. When it is in the engaged state, the lifting hydraulic valve is opened and a fixed torque command is sent to the electric drive assembly; A17 PTO engagement control: When the PTO is not in engagement state, it determines whether the PTO engagement command has been sent in this automatic unloading cycle; and executes A18 automatic unloading mode exit judgment or executes A19 automatic unloading mode exit; A18 Automatic unloading mode exit judgment: When in automatic unloading mode, if it is detected that the automatic unloading switch is pressed, execute A19 automatic unloading mode exit, if it is not detected that the automatic unloading switch is pressed, execute step A11; A19 Automatic unloading mode exit: restore the vehicle to parking and N gear status.

[0010] Preferably, in A17 power take-off engagement control, whether the power take-off engagement instruction has been sent is determined as follows: When it is detected that the power take-off engagement command has been sent, the execution time of the engagement command is accumulated. When the execution time of the engagement command reaches the set threshold value T3, the display prompts that the power take-off engagement fails, and the automatic unloading mode exit A19 is executed. If the set threshold value T3 is not reached, the automatic unloading mode exit judgment A18 is executed; When the power take-off engagement command has not been sent in this cycle, and the parking, N gear and vehicle speed are less than the set threshold V1, the engagement command is sent to the power take-off engagement control unit and the A18 automatic unloading mode exit judgment is executed; when the parking, N gear and vehicle speed are not less than the set threshold V1, the A19 automatic unloading mode exit is executed.

[0011] Preferably, when the closing time of the lifting hydraulic valve is greater than the threshold value T2 during the A15 cargo box lifting stop, it is determined that there is material accumulation, and the A2 automatic travel control module is executed under the material accumulation state.

[0012] Preferably, in the automatic control mode A2 includes: A21 Driver selection detection: When the forward movement is not allowed in this automatic unloading cycle, the display prompts that the material is piled up, and you can choose whether to allow the vehicle to move forward automatically; A22 Power take-off disengagement control: When the driver selects the detection option A21 to allow automatic forward movement, the power take-off status is read. When the power take-off is not in the disengaged state, it is confirmed whether to send the power take-off disengagement command, and the A18 automatic unloading mode exit judgment or the A19 automatic unloading mode exit is executed; A23D gear switching control: when the power take-off is in the disengaged state, read the current gear state. When the gear is not in the D gear, confirm whether to send the D gear switching command, and execute the A18 automatic unloading mode exit judgment or the A19 automatic unloading mode exit; A24 parking brake release: when the gear is in D gear, read the current parking state. When in the parking state, confirm whether to send the parking release command, and execute A18 automatic unloading mode exit judgment or A19 automatic unloading mode exit; A25 Vehicle forward control: When parking is released, determine whether the vehicle forward distance exceeds L1, and execute A18 automatic unloading mode exit judgment or A19 automatic unloading mode exit.

[0013] Preferably, the driver selects A21 to prohibit automatic forward movement in the detection, closes the pop-up window, and executes A19 to exit the automatic unloading mode; No selection is made. When the pop-up window time exceeds the threshold value T4, execute A19 to exit the automatic unloading mode. When the pop-up window time does not exceed the threshold value T4, execute A18 to exit the automatic unloading mode. A22 PTO disengagement control. A PTO disengagement command has been sent in this automatic unloading cycle. It is determined whether the cumulative execution time of the disengagement command exceeds the threshold value T5. If the threshold value T5 is exceeded, the display screen prompts that the PTO disengagement fails, and A19 automatic unloading mode exit is executed. If the threshold value T5 is not exceeded, A18 automatic unloading mode exit judgment is executed; In this automatic unloading cycle, no power take-off disengagement command is sent, a disengagement command is sent to the power take-off engagement control unit, and the A18 automatic unloading mode exit judgment is executed; In A23D gear switching control, the D gear switching command has been sent in this automatic unloading cycle. It is determined whether the execution time of this gear shift command exceeds the threshold value T6. If the threshold value T6 is exceeded, the display screen prompts that the D gear switching fails, and A19 is executed to exit the automatic unloading mode. If the threshold value T6 is not exceeded, A18 is executed to exit the automatic unloading mode. In this automatic unloading cycle, no D-shift command is sent, and a D-shift command is sent to the electric drive assembly to execute the A18 automatic unloading mode exit judgment; A24 parking brake release. The parking release command has been sent in this automatic unloading cycle. It is determined whether the execution time of this parking release command exceeds the threshold value T7. If the threshold value T7 is exceeded, the display screen prompts that the parking release fails. A19 automatic unloading mode exit is executed. If the threshold value T7 is not exceeded, A18 automatic unloading mode exit judgment is executed. In this automatic unloading cycle, no parking release command is sent, a switch parking release command is sent to the parking brake system, and the A18 automatic unloading mode exit judgment is executed; A25 The vehicle forward control does not exceed L1 to read the forward driving time. When the driving time exceeds T8, the display prompts that the forward driving fails, executes A19 to exit the automatic unloading mode or enters the A3 forward creeping mode, and executes A18 to exit the automatic unloading mode; When the forward distance exceeds L1, the driving torque is set to 0. When the forward arrival time exceeds T9, the display prompts that the unloading is not completed, and A19 is executed to exit the automatic unloading mode. When it does not exceed T9, A18 is executed to exit the automatic unloading mode.

[0014] Preferably, in the automatic control mode A3 includes: A31 creep speed difference calculation: estimates the vehicle speed based on the output speed of the electric drive assembly, and calculates the difference between the current vehicle speed and the set creep speed; A32PID parameter selection: select PID parameters according to material quality and slope sensor feedback parameters; A33 Required torque calculation: Based on the vehicle speed difference and the PID control parameters selected in A32 PID parameter selection as input, the required torque is calculated through PID closed-loop control.

[0015] A34 determines the required torque limit amplitude and sends it to the electric drive assembly for execution.

[0016] Preferably, the manual control mode is specifically as follows: S1 manually turns on the power take-off switch. When the parking, N and vehicle speed are less than the set threshold V1, the power take-off engagement control unit controls the power take-off engagement connection; S2 switches the cargo box control switch to the lifting state after the S1 power take-off is engaged, the lifting hydraulic valve is opened, the required torque is analyzed according to the accelerator pedal opening and sent to the electric drive assembly for execution, and the cargo box is controlled to perform the lifting action; When S3 unloading is completed, the cargo box control switch is switched to the descending state, the descending hydraulic valve is opened, and the cargo box is controlled to perform the descending action. When the cargo box is lowered into place, the cargo box control switch is reset to complete the unloading action.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The present invention is divided into two modes: manual control and automatic control. The mode switching can be achieved through the automatic unloading switch. The two modes complement each other. This method takes into account the flexibility of manual unloading control and the convenience of automatic unloading control. At the same time, through the automatic unloading mode, the dependence of the operation process on the driver's operation is reduced, and the lifting action can be accurately switched according to the material quality, which improves the operation efficiency and reduces the operation energy consumption.

[0018] When unloading is insufficient in automatic unloading mode, the vehicle can enter forward creep mode with the driver's permission, automatically moving forward to complete unloading. The forward creep mode calculates the required torque based on different material qualities and slopes, avoiding problems such as excessive starting impact or slow response speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the accompanying drawings described below are only some embodiments. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0020] Figure 1 This is a schematic diagram of the structure of an electric mining truck unloading control system of the present invention; Figure 2 This is a power take-off control flow chart of an electric mining truck unloading control method of the present invention; Figure 3 This is a manual control lifting flow chart of an electric mining truck unloading control method of the present invention; Figure 4 This is a manual control descent flow chart of an electric mining truck unloading control method of the present invention; Figure 5 This is an automatic unloading control flow chart of an electric mining truck unloading control method of the present invention; Figure 6 This is a flow chart of automatic walking control in a material accumulation state of an electric mining truck unloading control method of the present invention; Figure 7The present invention provides a forward creeping mode control flow chart of an electric mining truck unloading control method. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] like Figure 1 As shown, an electric mining truck unloading control system, the automatic unloading switch of the system is electrically connected to the signal input terminal of the vehicle controller, and is used to start and close the automatic unloading program.

[0023] The weighing sensor is electrically connected to the signal input terminal of the controller to provide feedback on the mass of the material in the cargo box.

[0024] The slope sensor is electrically connected to the input terminal of the vehicle controller, and the required torque is calculated in combination with the data fed back to the controller by the weighing sensor, and the unloading amount is controlled in conjunction with the automatic unloading program.

[0025] The signal input end of the controller is also electrically connected to a shift handle for controlling the gear state of the vehicle, an accelerator pedal for collecting the driver's demand for output power, a power take-off switch for transmitting the driver's request to engage or disengage the power take-off, a cargo box control switch for transmitting the driver's request to control the cargo box movement, a parking switch for transmitting the driver's parking request, an electric drive assembly for feedback of the operating status, a power unit and a display screen for issuing command signals; the signal output end of the controller is electrically connected to a power take-off engagement control unit for receiving control signals, an electric drive assembly, a lifting hydraulic valve control unit, a lowering hydraulic valve control unit, a parking control system and a display screen for displaying information.

[0026] It should be noted that the shift handle has D gear - forward gear, N gear - neutral gear, and R gear - reverse gear; the cargo box control switch has three states: lifting, stationary, and lowering; the display screen has a button operation function, which can display information and issue control commands at the same time.

[0027] The electric drive assembly, the power take-off body and the hydraulic pump are sequentially connected in transmission, and the power unit as a power source is electrically connected to the electric drive assembly to convert electrical energy into mechanical energy of the output shaft.

[0028] The power take-off engagement control unit is electrically connected to the power take-off body to control the engagement or disengagement of the power take-off with the output shaft of the electric drive assembly. In the engaged state, it drives the hydraulic pump to run, and the hydraulic pump drives the hydraulic cylinder to extend and retract to perform the cargo box lifting and lowering action; among which, the extension and retraction of the hydraulic cylinder are controlled by the opening / closing of the lifting hydraulic valve body and the lowering hydraulic valve body respectively.

[0029] The lifting hydraulic valve body is controlled by the lifting hydraulic valve control unit, and the lowering hydraulic valve body is controlled by the lowering hydraulic valve control unit.

[0030] See also Figure 2-Figure 7 , an electric mining truck unloading control method, used for the above-mentioned electric mining truck unloading control system, the control method is divided into manual control mode and automatic control mode; in specific implementation: Manual control mode: S1 manually opens the power take-off switch to control the power take-off engagement connection; S2 waits for the S1 power take-off to engage and then switches the cargo box control switch to the lifting state to lift the cargo box; S3 unloading is completed and the cargo box control switch is switched to the descending state to complete the unloading.

[0031] Manual control mode is further explained: like Figure 2 As shown, when the power take-off switch is manually turned on in S1, the parking, N, and vehicle speed must be met at the same time, and the power take-off engagement control unit controls the power take-off engagement connection; like Figure 3 As shown, after switching to the lifting state in S2, the lifting hydraulic valve opens, analyzes the required torque according to the accelerator pedal opening and sends it to the electric drive assembly for execution, controlling the cargo box to perform the lifting action; like Figure 4 As shown, after switching to the descending state in S3, the descending hydraulic valve opens to control the cargo box to perform the descending action. When the cargo box is lowered into place, the cargo box control switch is reset to complete the unloading action.

[0032] Automatic control mode: A1 turns on the automatic unloading switch to execute the start and exit judgment of the automatic unloading mode, the lifting and lowering control of the cargo box, and executes the automatic travel control module when it is detected that the unloading is insufficient and there is material accumulation.

[0033] like Figure 5 As shown, the above A1 is further explained as follows: A10 Automatic unloading mode activation judgment: The controller maintains real-time monitoring of the automatic unloading switch status. When it detects that the automatic unloading switch is pressed and whether it is in automatic unloading mode, it is judged to be in automatic unloading mode and executes A19 to exit automatic unloading mode.

[0034] A11 Material quality detection and judgment: When A10 automatic unloading mode is enabled and it is judged that it is not in automatic unloading mode, the controller analyzes the current material quality in real time through the weighing sensor, and judges whether the current material quality is lower than the set minimum lifting weight threshold W1.

[0035] A12 Cargo box descent start: When the current material quality is judged to be lower than the set minimum lifting weight threshold W1 in A11 material quality detection and judgment, the controller sends the lifting hydraulic valve closing and lowering hydraulic valve opening instructions, and the electric drive assembly torque instruction is 0 to control the cargo box to descend.

[0036] A13 detects the opening time of the descending hydraulic valve. If the opening time of the descending hydraulic valve is greater than the descending time threshold T1, the controller sends a descending hydraulic valve closing command to stop the descending action and executes A19 to exit the automatic unloading mode. When the opening time of the descending hydraulic valve is less than the descending time threshold T1, the A18 automatic unloading mode exit judgment is executed.

[0037] A14 cargo box lifting detection: When the current material quality is determined to be higher than the set minimum lifting weight threshold W1 in the A11 material quality detection and judgment, the controller detects that the torque control command sent in this automatic unloading cycle remains unchanged, and the feedback torque of the electric drive assembly suddenly drops, and it is determined to be lifted into place.

[0038] It should be noted that when the cargo box is lifted into place, the hydraulic cylinder stops moving. When the lifting hydraulic valve continues to open and the torque command remains unchanged, the output speed of the electric drive assembly remains unchanged, but the output torque will drop suddenly due to the reduction of the hydraulic system load. This can be used to detect whether the cargo box has been lifted into place.

[0039] A15 cargo box lifting stop: After the A14 cargo box lifting detection determines that the lifting is in place, the controller sends a closing command to the lifting hydraulic valve, the torque command of the electric drive assembly is 0, the lifting action is stopped, and the lifting hydraulic valve closing time is detected; where: When the closing time of the lifting hydraulic valve is less than the threshold value T2, it is determined that there is no material accumulation, and the A18 automatic unloading mode exit judgment is executed.

[0040] When the closing time of the lifting hydraulic valve is greater than the threshold value T2, it is determined that there is material accumulation, and the A2 automatic travel control module is executed under the material accumulation state.

[0041] A16 cargo box lifting start: After the A14 cargo box lifting detection determines that it is not lifted into place, the power take-off status is detected. When it is in the engaged state, the lifting hydraulic valve is opened and a fixed torque command is sent to the electric drive assembly.

[0042] A17 PTO engagement control: When the PTO is not engaged, it determines whether the PTO engagement command has been sent in this automatic unloading cycle.

[0043] It should be noted that the A17 power take-off engagement control determines whether the power take-off engagement command has been sent: When it is detected that the power take-off engagement command has been sent, the engagement command execution time is accumulated. When the engagement command execution time reaches the set threshold value T3, the display prompts that the power take-off engagement fails, and the A19 automatic unloading mode exit is executed. If the set threshold value T3 is not reached, the A18 automatic unloading mode exit judgment is executed.

[0044] When the power take-off engagement command has not been sent in this cycle, and the parking, N gear and vehicle speed are met, the engagement command is sent to the power take-off engagement control unit and the A18 automatic unloading mode exit judgment is executed; when the parking, N gear and vehicle speed are not met, the A19 automatic unloading mode exit is executed.

[0045] A18 Automatic unloading mode exit judgment: When in automatic unloading mode, if it is detected that the automatic unloading switch is pressed, execute A19 automatic unloading mode exit; if the automatic unloading switch is not detected to be pressed, execute step A11.

[0046] A19 Automatic unloading mode exit: restore the vehicle to parking and N gear status.

[0047] The A2 automatic driving control module determines whether automatic advancement is allowed, executes power take-off disengagement, switches to D gear, releases parking, and enters forward creep mode when the forward conditions are met.

[0048] like Figure 6 As shown, the above A2 is further explained as follows: A21 Driver selection test: When the forward movement is not allowed in this automatic unloading cycle, the display prompts that the material is piled up, and you can choose whether to allow the vehicle to move forward automatically; among which: Select Disable automatic forward movement, close the pop-up window, and execute A19 to exit the automatic unloading mode; No selection is made. When the pop-up window time exceeds the threshold value T4, execute A19 to exit the automatic unloading mode. When the pop-up window time does not exceed the threshold value T4, execute A18 to exit the automatic unloading mode.

[0049] A22 Power take-off disengagement control: When the driver selects the detection option A21 to allow automatic forward movement, the power take-off status is read. When the power take-off is not in the disengaged state, it is confirmed whether to send the power take-off disengagement command. The specific sending and not sending of the power take-off disengagement command are as follows: A power take-off disengagement command has been sent in this automatic unloading cycle. It is determined whether the cumulative execution time of the disengagement command exceeds the threshold value T5. If the threshold value T5 is exceeded, the display screen prompts that the power take-off disengagement fails and A19 automatic unloading mode exit is executed. If the threshold value T5 is not exceeded, A18 automatic unloading mode exit judgment is executed.

[0050] No power take-off disengagement command was sent in this automatic unloading cycle, and a disengagement command was sent to the power take-off engagement control unit to execute the A18 automatic unloading mode exit judgment.

[0051] A23D gear switching control: When the power take-off is in the disengaged state, read the current gear state. When the gear is not in the D gear, confirm whether to send the D gear switching command. The specific information of sending and not sending the D gear switching command is as follows: The D gear switch command has been sent in this automatic unloading cycle. It is determined whether the execution time of this gear shift command exceeds the threshold value T6. If the threshold value T6 is exceeded, the display screen prompts that the D gear switch fails, and A19 is executed to exit the automatic unloading mode. If the threshold value T6 is not exceeded, A18 is executed to exit the automatic unloading mode.

[0052] No D-gear switching command was sent in this automatic unloading cycle, and a D-gear switching command was sent to the electric drive assembly to execute the A18 automatic unloading mode exit judgment.

[0053] A24 Parking brake release: When the gear is in D gear, read the current parking state. When in the parking state, confirm whether to send the parking release command. The specific sending and not sending of the parking release command are as follows: A parking release command has been sent in this automatic unloading cycle. It is determined whether the execution time of this parking release command exceeds the threshold value T7. If the threshold value T7 is exceeded, the display screen prompts that the parking release fails, and A19 is executed to exit the automatic unloading mode. If the threshold value T7 is not exceeded, A18 is executed to exit the automatic unloading mode.

[0054] No release parking command is sent in this automatic unloading cycle, a switch release parking command is sent to the parking brake system, and the A18 automatic unloading mode exit judgment is executed.

[0055] A25 Vehicle forward control: When the parking is released, it is determined whether the vehicle's forward distance exceeds L1. The specific information of sending and not sending the parking release command is as follows: The forward driving time read before L1 is exceeded, and when the driving time exceeds T8, the display prompts that the forward driving fails, executes A19 to exit the automatic unloading mode or enters the A3 forward creeping mode, and executes A18 to exit the automatic unloading mode.

[0056] When the forward distance exceeds L1, the driving torque is set to 0. When the forward arrival time exceeds T9, the display prompts that the unloading is not completed, and A19 is executed to exit the automatic unloading mode. When it does not exceed T9, A18 is executed to exit the automatic unloading mode.

[0057] The A3 forward creep mode applies drive torque based on the set target vehicle speed, combined with material quality and slope closed-loop control to control the vehicle forward.

[0058] like Figure 7 As shown, the above A3 is further explained as follows: A31 Creep speed difference calculation: Estimate the vehicle speed based on the output speed of the electric drive assembly and calculate the difference between the current vehicle speed and the set creep speed.

[0059] A32PID parameter selection: Select PID parameters according to material quality and slope sensor feedback parameters.

[0060] A33 Required torque calculation: Based on the vehicle speed difference and the PID control parameters selected in A32 PID parameter selection as input, the required torque is calculated through PID closed-loop control.

[0061] A34 determines the required torque limit amplitude and sends it to the electric drive assembly for execution.

[0062] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An electric mining truck unloading control system, characterized in that: include: An automatic unloading switch, which is electrically connected to the signal input terminal of the vehicle controller and is used to start and stop the automatic unloading program; A weighing sensor, the weighing sensor is electrically connected to the signal input terminal of the controller and is used to feedback the mass of the material in the cargo box; and A slope sensor is electrically connected to the input terminal of the controller of the vehicle, and is used to calculate the required torque in conjunction with the data fed back to the controller by the weighing sensor, and to control the unloading amount in coordination with the automatic unloading program.

2. The electric mining truck unloading control system according to claim 1 is characterized in that: The signal input end of the controller is also electrically connected to the shift handle, the accelerator pedal, the power take-off switch, the cargo box control switch, the parking switch, the electric drive assembly, the power unit and the display screen; The signal output end of the controller is electrically connected to the power take-off engagement control unit, the electric drive assembly, the lifting hydraulic valve control unit, the lowering hydraulic valve control unit, the parking control system and the display screen respectively.

3. The electric mining truck unloading control system according to claim 2 is characterized in that: The electric drive assembly, the power take-off body and the hydraulic pump are sequentially connected in transmission, and the power unit is electrically connected to the electric drive assembly as a power source to convert electrical energy into mechanical energy of the output shaft; The power take-off engagement control unit is electrically connected to the power take-off body to control the power take-off to engage or disengage with the output shaft of the electric drive assembly, and drives the hydraulic pump to operate in the engaged state, and the hydraulic pump drives the hydraulic cylinder to extend and retract to perform the cargo box lifting action; wherein, the extension and retraction of the hydraulic cylinder are respectively controlled by the opening / closing of the lifting hydraulic valve body and the lowering hydraulic valve body; The lifting hydraulic valve body and the lowering hydraulic valve body are controlled by the lifting hydraulic valve control unit and the lowering hydraulic valve control unit, respectively.

4. An electric mining truck unloading control method, used in the electric mining truck unloading control system according to any one of claims 1 to 3, characterized in that: Including manual control mode and automatic control mode; the details are as follows: Manual control mode: S1 manually opens the power take-off switch to control the power take-off engagement connection; S2 waits for the S1 power take-off to engage and then switches the cargo box control switch to the lifting state to lift the cargo box; S3 unloading is completed and the cargo box control switch is switched to the descending state to complete unloading; Automatic control mode: A1 turns on the automatic unloading switch to execute the start and exit judgment of the automatic unloading mode, the lifting and lowering control of the cargo box, and executes the automatic travel control module when it is detected that the unloading is insufficient and there is material accumulation; The A2 automatic driving control module determines whether automatic driving is allowed, disengages the power take-off, switches to D gear, releases parking, and enters the forward creeping mode when the driving conditions are met; The A3 forward creep mode applies drive torque based on the set target vehicle speed, combined with material quality and slope closed-loop control to control the vehicle forward.

5. The electric mining truck unloading control method according to claim 4 is characterized in that: In automatic control mode, A1 includes: A10 Automatic unloading mode activation judgment: The controller maintains real-time monitoring of the automatic unloading switch status. When it detects that the automatic unloading switch is pressed and whether it is in automatic unloading mode, it is judged to be in automatic unloading mode and executes A19 to exit automatic unloading mode; A11 Material quality detection and judgment: When A10 automatic unloading mode is enabled and it is judged that it is not in automatic unloading mode, the controller analyzes the current material quality in real time through the weighing sensor and judges whether the current material quality is lower than the set minimum lifting weight threshold W1; A12 Cargo box descent start: When the current material quality is judged to be lower than the set minimum lifting weight threshold W1 in A11 material quality detection and judgment, the controller sends a lifting hydraulic valve closing and a lowering hydraulic valve opening command, and the electric drive assembly torque command is 0 to control the cargo box to descend; A13 detects the opening time of the descending hydraulic valve. If the opening time of the descending hydraulic valve is greater than the descending time threshold T1, the controller sends a descending hydraulic valve closing command to stop the descending action and executes A19 to exit the automatic unloading mode. When the opening time of the descending hydraulic valve is less than the descending time threshold T1, the A18 automatic unloading mode exit judgment is executed; A14 cargo box lifting detection: When the current material quality is judged to be higher than the set minimum lifting weight threshold W1 in A11 material quality detection and judgment, the controller detects that the torque control command sent in this automatic unloading cycle remains unchanged, and the electric drive assembly feedback torque suddenly drops, and it is judged to be lifted in place; A15 cargo box lifting stops: After the A14 cargo box lifting detection determines that the lifting is in place, the controller sends a closing command to the lifting hydraulic valve, the torque command of the electric drive assembly is 0, the lifting action is stopped, and the lifting hydraulic valve closing time is detected; among them, When the lifting hydraulic valve closing time is less than the threshold value T2, it is determined that there is no material accumulation, and the A18 automatic unloading mode exit judgment is executed; A16 cargo box lifting start: After the A14 cargo box lifting detection determines that the lifting is not in place, the power take-off status is detected. When it is in the engaged state, the lifting hydraulic valve is opened and a fixed torque command is sent to the electric drive assembly; A17 PTO engagement control: When the PTO is not in engagement state, it determines whether the PTO engagement command has been sent in this automatic unloading cycle; and executes A18 automatic unloading mode exit judgment or executes A19 automatic unloading mode exit; A18 Automatic unloading mode exit judgment: When in automatic unloading mode, if it is detected that the automatic unloading switch is pressed, execute A19 automatic unloading mode exit, if it is not detected that the automatic unloading switch is pressed, execute step A11; A19 Automatic unloading mode exit: restore the vehicle to parking and N gear status.

6. The electric mining truck unloading control method according to claim 5 is characterized in that: In A17 power take-off engagement control, whether the power take-off engagement command has been sent is determined as follows: When it is detected that the power take-off engagement command has been sent, the execution time of the engagement command is accumulated. When the execution time of the engagement command reaches the set threshold value T3, the display prompts that the power take-off engagement fails, and the automatic unloading mode exit A19 is executed. If the set threshold value T3 is not reached, the automatic unloading mode exit judgment A18 is executed; When the power take-off engagement command has not been sent in this cycle, and the parking, N gear and vehicle speed are met, the engagement command is sent to the power take-off engagement control unit and the A18 automatic unloading mode exit judgment is executed; when the parking, N gear and vehicle speed are not met, the A19 automatic unloading mode exit is executed.

7. The electric mining truck unloading control method according to claim 6 is characterized in that: When the lifting hydraulic valve closing time of A15 cargo box is greater than the threshold value T2, it is determined that there is material accumulation, and the A2 automatic travel control module under the material accumulation state is executed.

8. The electric mining truck unloading control method according to claim 7 is characterized in that: A2 in automatic control mode includes: A21 Driver selection detection: When the forward movement is not allowed in this automatic unloading cycle, the display prompts that the material is piled up, and you can choose whether to allow the vehicle to move forward automatically; A22 Power take-off disengagement control: When the driver selects the detection option A21 to allow automatic forward movement, the power take-off status is read. When the power take-off is not in the disengaged state, it is confirmed whether to send the power take-off disengagement command, and the A18 automatic unloading mode exit judgment or the A19 automatic unloading mode exit is executed; A23D gear switching control: when the power take-off is in the disengaged state, read the current gear state. When the gear is not in the D gear, confirm whether to send the D gear switching command, and execute the A18 automatic unloading mode exit judgment or the A19 automatic unloading mode exit; A24 parking brake release: when the gear is in D gear, read the current parking state. When in the parking state, confirm whether to send the parking release command, and execute A18 automatic unloading mode exit judgment or A19 automatic unloading mode exit; A25 Vehicle forward control: When parking is released, determine whether the vehicle forward distance exceeds L1, and execute A18 automatic unloading mode exit judgment or A19 automatic unloading mode exit.

9. The electric mining truck unloading control method according to claim 8 is characterized in that: A21 The driver selects to prohibit automatic forward movement during detection, closes the pop-up window, and executes A19 to exit the automatic unloading mode; No selection is made. When the pop-up window time exceeds the threshold value T4, execute A19 to exit the automatic unloading mode. When the pop-up window time does not exceed the threshold value T4, execute A18 to exit the automatic unloading mode. A22 PTO disengagement control. A PTO disengagement command has been sent in this automatic unloading cycle. It is determined whether the cumulative execution time of the disengagement command exceeds the threshold value T5. If the threshold value T5 is exceeded, the display screen prompts that the PTO disengagement fails, and A19 automatic unloading mode exit is executed. If the threshold value T5 is not exceeded, A18 automatic unloading mode exit judgment is executed; In this automatic unloading cycle, no power take-off disengagement command is sent, a disengagement command is sent to the power take-off engagement control unit, and the A18 automatic unloading mode exit judgment is executed; In A23D gear switching control, the D gear switching command has been sent in this automatic unloading cycle. It is determined whether the execution time of this gear shift command exceeds the threshold value T6. If the threshold value T6 is exceeded, the display screen prompts that the D gear switching fails, and A19 is executed to exit the automatic unloading mode. If the threshold value T6 is not exceeded, A18 is executed to exit the automatic unloading mode. In this automatic unloading cycle, no command to switch to D gear is sent, and a command to switch to D gear is sent to the electric drive assembly to execute the A18 automatic unloading mode exit judgment; A24 parking brake release. The parking release command has been sent in this automatic unloading cycle. It is determined whether the execution time of this parking release command exceeds the threshold value T7. If the threshold value T7 is exceeded, the display screen prompts that the parking release fails. A19 automatic unloading mode exit is executed. If the threshold value T7 is not exceeded, A18 automatic unloading mode exit judgment is executed. In this automatic unloading cycle, no parking release command is sent, a switch parking release command is sent to the parking brake system, and the A18 automatic unloading mode exit judgment is executed; A25 The vehicle forward control does not exceed L1 to read the forward driving time. When the driving time exceeds T8, the display prompts that the forward driving fails, executes A19 to exit the automatic unloading mode or enters the A3 forward creeping mode, and executes A18 to exit the automatic unloading mode; When the forward distance exceeds L1, the driving torque is set to 0. When the forward arrival time exceeds T9, the display prompts that the unloading is not completed, and A19 is executed to exit the automatic unloading mode. When it does not exceed T9, A18 is executed to exit the automatic unloading mode.

10. The electric mining truck unloading control method according to claim 9, characterized in that: A3 in automatic control mode includes: A31 creep speed difference calculation: estimates the vehicle speed based on the output speed of the electric drive assembly, and calculates the difference between the current vehicle speed and the set creep speed; A32PID parameter selection: select PID parameters according to material quality and slope sensor feedback parameters; A33 Required torque calculation: Calculates the required torque through PID closed-loop control based on the vehicle speed difference and the PID control parameters selected in A32 PID parameter selection as input; A34 determines the required torque limit amplitude and sends it to the electric drive assembly for execution.

11. The electric mining truck unloading control method according to any one of claims 4 to 10, characterized in that: The manual control mode is as follows: S1 manually turns on the power take-off switch. When the parking, N and vehicle speed are less than the set threshold V1, the power take-off engagement control unit controls the power take-off engagement connection; S2 switches the cargo box control switch to the lifting state after the S1 power take-off is engaged, the lifting hydraulic valve is opened, the required torque is analyzed according to the accelerator pedal opening and sent to the electric drive assembly for execution, and the cargo box is controlled to perform the lifting action; When S3 unloading is completed, the cargo box control switch is switched to the descending state, the descending hydraulic valve is opened, and the cargo box is controlled to perform the descending action. When the cargo box is lowered into place, the cargo box control switch is reset to complete the unloading action.

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