SOC (system on chip) planning method of extended-range mine truck and related device

Abstract

The invention discloses an SOC planning method of a range-extended mine truck and a related device, and relates to the field of range-extended mine trucks, and the method comprises the steps: determining an initial SOC of the range-extended mine truck at a starting point position and a theoretical SOC of the range-extended mine truck at a final point position, determining an SOC change rate based on the initial SOC, the theoretical SOC and the actual total driving distance of the range-extended mine truck, and determining the SOC change rate of the range-extended mine truck. According to the SOC change rate and the gradient of the extended-range mine truck in the running process, the original SOC of the extended-range mine truck in the running process is determined, and the original SOC of the extended-range mine truck in the running process is corrected based on the deviation between the end point SOC and the theoretical SOC when the extended-range mine truck runs to the end point position to obtain the target SOC. According to the method, the original SOC is planned according to the SOC change rate of the actual operation condition of the extended-range mine truck in combination with the gradient in the operation process, and the original SOC is corrected by using the deviation between the terminal SOC and the theoretical SOC, so that the purpose of reasonably planning the SOC according to the actual operation condition of the extended-range mine truck is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of extended-range mining trucks, and more specifically, to a SOC planning method and related devices for extended-range mining trucks. Background Art

[0002] An extended-range mining truck is a mining transport truck suitable for open-pit mines, which uses an extended-range system and a power battery as its power source. The typical operating conditions of an extended-range mining truck are usually loading-full-load uphill-unloading-empty-load downhill. Limited by the power generation power of the installed extended-range system and the capacity of the power battery, an extended-range mining truck is prone to the situation where the SOC (State of Charge) is too low during the uphill process, resulting in insufficient power, and / or the SOC is too high during the downhill process, resulting in no braking recovery.

[0003] Therefore, how to provide a SOC planning method for an extended-range mining truck, which can reasonably plan the SOC of the extended-range mining truck during driving according to the actual operating conditions of the extended-range mining truck, has become a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] In view of this, the present invention discloses a SOC planning method and related devices for an extended-range mining truck, so as to achieve the purpose of reasonably planning the SOC of the extended-range mining truck during driving according to the actual operating conditions of the extended-range mining truck.

[0005] A SOC planning method for an extended-range mining truck, comprising:

[0006] Determine the initial SOC of the extended-range mining truck at the starting position and the theoretical SOC at the end position;

[0007] Determine the SOC change rate based on the initial SOC, the theoretical SOC, and the actual total travel distance of the extended-range mining truck;

[0008] Determining the original SOC of the extended-range mining truck during the driving process according to the SOC change rate and the slope of the extended-range mining truck during the operation process;

[0009] Taking the original SOC when the extended-range mining truck reaches the terminal position as the terminal SOC, and calculating the deviation between the terminal SOC and the theoretical SOC;

[0010] The deviation is used to correct the original SOC of the extended-range mining truck during driving to obtain a target SOC.

[0011] Optionally, determining the original SOC of the extended-range mining truck during driving according to the SOC change rate and the slope of the extended-range mining truck during operation includes:

[0012] The actual total travel distance of the extended-range mining truck from the starting position to the end position is discretized into N discrete distances at equal distances to obtain the length of each discrete distance, where N is a positive integer;

[0013] Determining a slope correction coefficient based on the slope during the operation of the extended-range mining truck;

[0014] Obtaining an SOC increment based on the SOC change rate, the length of each discrete distance, and the slope correction coefficient;

[0015] The raw SOC is determined based on the SOC increment.

[0016] Optionally, determining the original SOC based on the SOC increment includes:

[0017] If i=1, the sum of the initial SOC and the SOC increment is determined as the original SOC;

[0018] If i∈[2, N], the sum of the original SOC when the extended-range mining truck travels the i-1th discrete distance and the SOC increment is determined as the original SOC, and i represents the segment number after the actual total travel distance of the extended-range mining truck is spatially discretized.

[0019] Optionally, determining the slope correction coefficient based on the slope during the operation of the extended-range mining truck includes:

[0020] Determine the horizontal travel distance and the vertical travel distance of the extended-range mining truck from the starting position to the end position;

[0021] Based on the horizontal driving distance and the vertical driving distance, an average slope of the entire road condition of the extended-range mining truck is obtained;

[0022] The slope correction coefficient is obtained based on the slope during the operation of the extended-range mining truck, the average slope and the friction coefficient of the extended-range mining truck.

[0023] Optionally, determining the initial SOC of the extended-range mining truck at the starting position includes:

[0024] Based on the load state and / or slope change of the extended-range mining truck, determining whether the extended-range mining truck is in an uphill or downhill state;

[0025] If the extended-range mining truck is in an uphill or downhill state, the SOC of the extended-range mining truck when switching between the uphill state and the downhill state is determined as the initial SOC.

[0026] Optionally, determining the SOC change rate based on the initial SOC, the theoretical SOC and the actual total travel distance of the extended-range mining truck includes:

[0027] determining an SOC difference between the theoretical SOC and the initial SOC;

[0028] Determine the actual total travel distance of the extended-range mining truck from the starting position to the end position;

[0029] Based on the SOC difference and the actual total driving distance, the SOC change rate is obtained.

[0030] A SOC planning device for an extended-range mining truck, comprising:

[0031] A first SOC determination unit is used to determine an initial SOC of the extended-range mining truck at a starting position and a theoretical SOC at an end position;

[0032] An SOC change rate determination unit, configured to determine the SOC change rate based on the initial SOC, the theoretical SOC, and the actual total travel distance of the extended-range mining truck;

[0033] A second SOC determination unit is used to determine the original SOC of the extended-range mining truck during the driving process according to the SOC change rate and the slope of the extended-range mining truck during the operation process;

[0034] a deviation determination unit, configured to use the original SOC when the extended-range mining truck reaches the terminal position as the terminal SOC, and calculate the deviation between the terminal SOC and the theoretical SOC;

[0035] The correction unit is used to correct the original SOC of the extended-range mining truck during driving by using the deviation to obtain a target SOC.

[0036] A storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, any SOC planning method for an extended-range mining truck is implemented.

[0037] A controller, comprising: a memory and a processor;

[0038] The memory is used to store at least one instruction;

[0039] The processor is used to execute the at least one instruction to implement any SOC planning method for an extended-range mining truck.

[0040] A SOC planning system for an extended-range mining truck, comprising: a power battery, a slope sensor, a mass sensor, a storage medium and a controller connected to each other;

[0041] The power battery is used to provide electric energy for the driving motor of the extended-range mining truck;

[0042] The slope sensor is used to collect the slope during the operation of the extended-range mining truck;

[0043] The mass sensor is used to collect the mass of the extended-range mining truck during operation.

[0044] From the above technical scheme, it can be known that the present invention discloses a SOC planning method and related devices for an extended-range mining truck, determining the initial SOC of the extended-range mining truck at the starting position and the theoretical SOC at the terminal position, determining the SOC change rate based on the initial SOC, the theoretical SOC and the actual total travel distance of the extended-range mining truck, determining the original SOC of the extended-range mining truck during driving according to the SOC change rate and the slope during the operation of the extended-range mining truck, taking the original SOC when the extended-range mining truck travels to the terminal position as the terminal SOC, calculating the deviation between the terminal SOC and the theoretical SOC, and using the deviation to correct the original SOC of the extended-range mining truck during driving to obtain the target SOC. The present application first determines the SOC change rate according to the actual operation of the extended-range mining truck, and uses the SOC change rate and the slope during the operation of the extended-range mining truck to preliminarily plan the original SOC of the extended-range mining truck during driving, and then uses the deviation between the terminal SOC and the theoretical SOC to correct the original SOC to improve the accuracy of the SOC, so as to achieve the purpose of reasonable planning of the SOC of the extended-range mining truck during driving according to the actual operation of the extended-range mining truck. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the disclosed drawings without paying creative work.

[0046] Figure 1 A flow chart of a SOC planning method for an extended-range mining truck disclosed in an embodiment of the present invention;

[0047] Figure 2 A flow chart of a method for determining the original SOC of an extended-range mining truck during driving disclosed in an embodiment of the present invention;

[0048] Figure 3 A schematic diagram of an extended-range mining truck going uphill disclosed in an embodiment of the present invention;

[0049] Figure 4 It is a structural schematic diagram of a SOC planning device for an extended-range mining truck disclosed in an embodiment of the present invention;

[0050] Figure 5 A schematic diagram of the structure of an electronic device disclosed in an embodiment of the present invention;

[0051] Figure 6The present invention discloses a topological diagram of the SOC planning system for an extended-range mining truck according to an embodiment of the present invention. DETAILED DESCRIPTION

[0052] 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.

[0053] The embodiment of the present invention discloses a SOC planning method and related devices for an extended-range mining truck. Firstly, the SOC change rate is determined according to the actual operation status of the extended-range mining truck, and the original SOC of the extended-range mining truck during the driving process is preliminarily planned by using the SOC change rate and the slope during the operation of the extended-range mining truck. Then, the original SOC is corrected by using the deviation between the terminal SOC and the theoretical SOC to improve the accuracy of the SOC, so as to achieve the purpose of reasonably planning the SOC of the extended-range mining truck during the driving process according to the actual operation status of the extended-range mining truck.

[0054] See also Figure 1 , a flow chart of a SOC planning method for an extended-range mining truck disclosed in an embodiment of the present application, the method comprising:

[0055] Step S101: determining an initial SOC of the extended-range mining truck at a starting position and a theoretical SOC at an end position.

[0056] When the extended-range mining truck is in an uphill state, the starting position of the extended-range mining truck is the bottom of the slope, and the end position is the top of the slope; when the extended-range mining truck is in a downhill state, the starting position of the extended-range mining truck is the top of the slope, and the end position is the bottom of the slope.

[0057] For the convenience of subsequent discussion, the initial SOC of the extended-range mining truck at the starting point is Indicates that the theoretical SOC of the extended-range mine stuck at the end position is express.

[0058] In practical applications, It is a calibration value, and the specific value can be determined according to the SOC range of the power battery provided by the manufacturer.

[0059] Step S102: determining an SOC change rate based on the initial SOC, the theoretical SOC, and the actual total travel distance of the extended-range mining truck.

[0060] Specifically, determining the SOC difference between the theoretical SOC and the initial SOC;

[0061] Determine the actual total distance traveled by the extended-range mining truck from the starting position to the end position;

[0062] The SOC change rate is obtained based on the SOC difference and the actual total driving distance.

[0063] Among them, the expression of SOC change rate is as follows:

[0064] (1);

[0065] In the formula, represents the SOC change rate, Indicates the actual total distance traveled by the extended-range mining truck from the starting point to the end point.

[0066] Actual total distance traveled The expression is as follows:

[0067] (2);

[0068] In the formula, represents the speed at time t, t∈[0,end], and end represents the total driving time of the extended-range mining truck.

[0069] Step S103: determining the original SOC of the extended-range mining truck during the driving process according to the SOC change rate and the slope of the extended-range mining truck during the operation process.

[0070] In practical applications, the slope sensor installed on the extended-range mining truck can collect the slope θ of the extended-range mining truck in real time during the entire operation process from the starting position to the end position, and record the actual driving distance of the extended-range mining truck corresponding to different slopes θ, so as to obtain a curve of the change of slope θ with the actual driving distance of the extended-range mining truck.

[0071] From formula (1), we can see that the SOC change rate is the rate of change of SOC with the actual driving distance of the extended-range mining truck. Therefore, there is a corresponding relationship between the SOC change rate and the slope during the operation of the extended-range mining truck and the actual driving distance of the extended-range mining truck. Therefore, the original SOC of the extended-range mining truck at different actual driving distances during driving can be determined based on the SOC change rate and the slope during the operation of the extended-range mining truck.

[0072] Step S104: taking the original SOC when the extended-range mining truck reaches the terminal position as the terminal SOC, and calculating the deviation between the terminal SOC and the theoretical SOC.

[0073] The original SOC values ​​corresponding to the extended-range mining truck at different actual driving positions are different. In other words, the original SOC value changes with the actual driving position of the extended-range mining truck. In this application, the original SOC when the extended-range mining truck reaches the terminal position is used as the terminal SOC. By calculating the deviation of the terminal SOC relative to the theoretical SOC of the extended-range mining truck at the terminal position, the various original SOCs of the extended-range mining truck during driving can be corrected according to the deviation, thereby obtaining a target SOC with higher accuracy.

[0074] Step S105: using the deviation to correct the original SOC of the extended-range mining truck during driving to obtain a target SOC.

[0075] In summary, the present application discloses a SOC planning method for an extended-range mining truck, which determines the initial SOC of the extended-range mining truck at the starting position and the theoretical SOC at the terminal position, determines the SOC change rate based on the initial SOC, the theoretical SOC and the actual total travel distance of the extended-range mining truck, determines the original SOC of the extended-range mining truck during driving according to the SOC change rate and the slope during the operation of the extended-range mining truck, takes the original SOC when the extended-range mining truck travels to the terminal position as the terminal SOC, calculates the deviation between the terminal SOC and the theoretical SOC, and uses the deviation to correct the original SOC of the extended-range mining truck during driving to obtain the target SOC. The present application first determines the SOC change rate according to the actual operation of the extended-range mining truck, and uses the SOC change rate and the slope during the operation of the extended-range mining truck to preliminarily plan the original SOC of the extended-range mining truck during driving, and then uses the deviation between the terminal SOC and the theoretical SOC to correct the original SOC to improve the accuracy of the SOC, so as to achieve the purpose of reasonable planning of the SOC of the extended-range mining truck during driving according to the actual operation of the extended-range mining truck.

[0076] In one embodiment, the process of determining the initial SOC of the extended-range mining truck at the starting position may specifically include:

[0077] Based on the load state and / or slope change of the extended-range mining truck, it is determined whether the extended-range mining truck is in an uphill or downhill state; if the extended-range mining truck is in an uphill or downhill state, the SOC of the extended-range mining truck when switching between the uphill state and the downhill state is determined as the initial SOC.

[0078] In actual applications, the extended-range mining truck usually goes uphill with full load after loading, and then goes downhill empty after unloading on the slope. Based on this, the load status of the extended-range mining truck can be collected by the mass sensor set on the extended-range mining truck to determine whether the extended-range mining truck is in the uphill state or the downhill state.

[0079] The slope of an extended-range mining truck usually increases gradually when going uphill, and decreases gradually when going downhill. Therefore, the slope of the extended-range mining truck is collected by a slope sensor installed on the extended-range mining truck, and whether the extended-range mining truck is in an uphill or downhill state can be determined based on the change in slope.

[0080] When the extended-range mining truck is converted from an uphill state to a downhill state, this application determines the SOC at this time as the initial SOC, and the extended-range mining truck is in a state of about to go downhill. When the extended-range mining truck is converted from a downhill state to an uphill state, this application determines the SOC at this time as the initial SOC, and the extended-range mining truck is in a state of about to go uphill.

[0081] In one embodiment, see Figure 2 , a flow chart of a method for determining the original SOC of an extended-range mining truck during driving disclosed in an embodiment of the present application, that is, step S103 may specifically include:

[0082] Step S201: discretize the actual total travel distance of the extended-range mining truck from the starting position to the end position into N discrete distances at equal distances to obtain the length of each discrete distance.

[0083] Specifically, the actual total distance traveled by the extended-range mining truck from the starting point to the end point The equidistant distance is discretized into N discrete distances, where N is a positive integer, and the length of each discrete distance is obtained. .

[0084] Step S202: determining a slope correction coefficient based on the slope during the operation of the extended-range mining truck.

[0085] Specifically, ① determine the horizontal driving distance and vertical driving distance of the extended-range mining truck from the starting position to the end position.

[0086] See also Figure 3 Taking the extended-range mining truck going uphill as an example, the extended-range mining truck travels from the starting point a to the end point b. The slope during the driving process is θ, which is the angle between the tangent direction of the extended-range mining truck and the horizontal plane. The horizontal driving distance can be calculated based on the speed of the extended-range mining truck. and vertical travel distance .

[0087] Horizontal driving distance The expression is as follows:

[0088] (3);

[0089] Vertical driving distance The expression is as follows:

[0090] (4);

[0091] During the driving process of the extended-range mining truck, the actual driving distance of the extended-range mining truck at time t The expression is as follows:

[0092] (5);

[0093] In the formula, Indicates the travel speed of the extended-range mining truck at time t.

[0094] Substituting formula (5) into formula (3), we get the horizontal travel distance The expression is as follows:

[0095] (6);

[0096] Substituting formula (5) into formula (4), we get the vertical travel distance The expression is as follows:

[0097] (7);

[0098] ②. Based on the horizontal driving distance and the vertical driving distance, the average slope of the entire road condition of the extended-range mining truck is obtained.

[0099] The average slope The expression is as follows:

[0100] (8).

[0101] ③. Based on the slope during the operation of the extended-range mining truck, the average slope and the friction coefficient of the extended-range mining truck, the slope correction coefficient is obtained.

[0102] Slope correction factor The expression is as follows:

[0103] (9).

[0104] In the formula, Indicates the friction coefficient of the extended-range mining truck, It represents the total distance traveled by the extended-range mining truck from the starting point after completing the i-th discrete distance.

[0105] Step S203: Obtain an SOC increment based on the SOC change rate, the length of each discrete distance, and the slope correction coefficient.

[0106] The expression of SOC increment is as follows:

[0107] (10).

[0108] Step S204: determining an original SOC based on the SOC increment.

[0109] Specifically, if i=1, the sum of the initial SOC and the SOC increment is determined as the original SOC;

[0110] If i∈[2, N], the sum of the original SOC when the extended-range mining truck travels the i-1th discrete distance and the SOC increment is determined as the original SOC, and i represents the segment number after the actual total travel distance of the extended-range mining truck is spatially discretized.

[0111] The expression of the original SOC is as follows:

[0112] (11).

[0113] In the formula, It represents the original SOC of the extended-range mining truck when it has traveled the i-th discrete distance. represents the initial SOC, It represents the original SOC when the extended-range mining truck completes the i-1th discrete distance.

[0114] In the present application, the original SOC in formula (11) is corrected by using the deviation between the endpoint SOC and the theoretical SOC to obtain the target SOC.

[0115] The expression of target SOC is as follows:

[0116] (12);

[0117] In the formula, It represents the target SOC corrected by the original SOC when the extended-range mining truck completes the i-th discrete distance. It indicates the original SOC when the extended-range mining truck completes the Nth discrete distance, that is, the final SOC. represents the theoretical SOC, It represents the total distance traveled by the extended-range mining truck from the starting point after completing the i-th discrete distance. Indicates the actual total distance traveled by the extended-range mining truck from the starting point to the end point.

[0118] Corresponding to the above method embodiments, the present application also discloses a SOC planning device for an extended-range mining truck.

[0119] See also Figure 4 , a schematic diagram of the structure of a SOC planning device for an extended-range mining truck disclosed in an embodiment of the present application, the device comprising:

[0120] The first SOC determination unit 301 is used to determine the initial SOC of the extended-range mining truck at the starting position and the theoretical SOC at the end position.

[0121] When the extended-range mining truck is in an uphill state, the starting position of the extended-range mining truck is the bottom of the slope, and the end position is the top of the slope; when the extended-range mining truck is in a downhill state, the starting position of the extended-range mining truck is the top of the slope, and the end position is the bottom of the slope.

[0122] For the convenience of subsequent discussion, the initial SOC of the extended-range mining truck at the starting point is Indicates that the theoretical SOC of the extended-range mine stuck at the end position is express.

[0123] In practical applications, It is a calibration value, and the specific value can be determined according to the SOC range of the power battery provided by the manufacturer.

[0124] The SOC change rate determining unit 302 is used to determine the SOC change rate based on the initial SOC, the theoretical SOC and the actual total travel distance of the extended-range mining truck.

[0125] The SOC change rate determination unit 302 may be specifically used for:

[0126] determining an SOC difference between the theoretical SOC and the initial SOC;

[0127] Determine the actual total travel distance of the extended-range mining truck from the starting position to the end position;

[0128] Based on the SOC difference and the actual total driving distance, the SOC change rate is obtained.

[0129] The second SOC determination unit 303 is used to determine the original SOC of the extended-range mining truck during the driving process according to the SOC change rate and the slope of the extended-range mining truck during the running process.

[0130] In practical applications, the slope sensor set on the extended-range mining truck can collect the slope θ of the extended-range mining truck in real time during the entire operation from the starting position to the end position, and record the actual travel distance of the extended-range mining truck corresponding to different slopes θ, so as to obtain a curve of the slope θ changing with the actual travel distance of the extended-range mining truck. The change curve can be stored in the storage module of the extended-range mining truck.

[0131] From formula (1), we can see that the SOC change rate is the rate of change of SOC with the actual driving distance of the extended-range mining truck. Therefore, there is a corresponding relationship between the SOC change rate and the slope during the operation of the extended-range mining truck and the actual driving distance of the extended-range mining truck. Therefore, the original SOC of the extended-range mining truck at different actual driving distances during driving can be determined based on the SOC change rate and the slope during the operation of the extended-range mining truck.

[0132] The deviation determination unit 304 is configured to use the original SOC when the extended-range mining truck reaches the terminal position as the terminal SOC, and calculate the deviation between the terminal SOC and the theoretical SOC.

[0133] The original SOC values ​​corresponding to the extended-range mining truck at different actual driving positions are different. In other words, the original SOC value changes with the actual driving position of the extended-range mining truck. In this application, the original SOC when the extended-range mining truck reaches the terminal position is used as the terminal SOC. By calculating the deviation of the terminal SOC relative to the theoretical SOC of the extended-range mining truck at the terminal position, the various original SOCs of the extended-range mining truck during driving can be corrected according to the deviation, thereby obtaining a target SOC with higher accuracy.

[0134] The correction unit 305 is used to correct the original SOC of the extended-range mining truck during driving by using the deviation to obtain a target SOC.

[0135] In summary, the present application discloses a SOC planning device for an extended-range mining truck, which determines the initial SOC of the extended-range mining truck at the starting position and the theoretical SOC at the terminal position, determines the SOC change rate based on the initial SOC, the theoretical SOC and the actual total travel distance of the extended-range mining truck, determines the original SOC of the extended-range mining truck during driving according to the SOC change rate and the slope during the operation of the extended-range mining truck, takes the original SOC when the extended-range mining truck travels to the terminal position as the terminal SOC, calculates the deviation between the terminal SOC and the theoretical SOC, and uses the deviation to correct the original SOC of the extended-range mining truck during driving to obtain the target SOC. The present application first determines the SOC change rate according to the actual operation of the extended-range mining truck, and uses the SOC change rate and the slope during the operation of the extended-range mining truck to preliminarily plan the original SOC of the extended-range mining truck during driving, and then uses the deviation between the terminal SOC and the theoretical SOC to correct the original SOC to improve the accuracy of the SOC, so as to achieve the purpose of reasonable planning of the SOC of the extended-range mining truck during driving according to the actual operation of the extended-range mining truck.

[0136] In one embodiment, the second SOC determination unit 303 may be specifically configured to:

[0137] The actual total travel distance of the extended-range mining truck from the starting position to the end position is discretized into N discrete distances at equal distances to obtain the length of each discrete distance, where N is a positive integer;

[0138] Determining a slope correction coefficient based on the slope during the operation of the extended-range mining truck;

[0139] Obtaining an SOC increment based on the SOC change rate, the length of each discrete distance, and the slope correction coefficient;

[0140] The raw SOC is determined based on the SOC increment.

[0141] In one embodiment, the second SOC determination unit 303 may be further configured to:

[0142] If i=1, the sum of the initial SOC and the SOC increment is determined as the original SOC;

[0143] If i∈[2, N], the sum of the original SOC when the extended-range mining truck travels the i-1th discrete distance and the SOC increment is determined as the original SOC, and i represents the segment number after the actual total travel distance of the extended-range mining truck is spatially discretized.

[0144] In one embodiment, the second SOC determination unit 303 may be further configured to:

[0145] Determine the horizontal travel distance and the vertical travel distance of the extended-range mining truck from the starting position to the end position;

[0146] Based on the horizontal driving distance and the vertical driving distance, an average slope of the entire road condition of the extended-range mining truck is obtained;

[0147] The slope correction coefficient is obtained based on the slope during the operation of the extended-range mining truck, the average slope and the friction coefficient of the extended-range mining truck.

[0148] In one embodiment, the first SOC determination unit 301 may be specifically configured to:

[0149] Based on the load state and / or slope change of the extended-range mining truck, determining whether the extended-range mining truck is in an uphill or downhill state;

[0150] If the extended-range mining truck is in an uphill or downhill state, the SOC of the extended-range mining truck when switching between the uphill state and the downhill state is determined as the initial SOC.

[0151] It should be noted that, for the specific working principles of each component in the device embodiment, please refer to the corresponding part of the method embodiment, which will not be repeated here.

[0152] Corresponding to the above embodiment, the present application also discloses a storage medium, which stores at least one instruction. When the at least one instruction is executed by a processor, the steps shown in the embodiment of the SOC planning method for an extended-range mining truck are implemented.

[0153] As a computer-readable storage medium, the storage medium can be used to store software programs, computer executable programs and modules, data, etc., such as the slope change curve with horizontal distance and the program instructions / modules corresponding to the target SOC planning method in the embodiment of the present application. The controller runs the software programs, instructions and modules stored in the storage medium, reads the change curve data therein, and thus executes the SOC planning method of the above embodiment.

[0154] The storage medium mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function; the data storage area can store data created according to the use of the terminal, etc. In addition, the storage medium may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage, a flash memory device, or other non-volatile solid-state storage device. In some examples, the storage medium may further include a storage medium remotely located relative to the controller, and these remote storage media may be connected to the vehicle via a network, including but not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0155] Corresponding to the above embodiment, Figure 5 As shown, the present invention also provides an electronic device, which may include: a processor 1 and a memory 2;

[0156] The processor 1 and the memory 2 communicate with each other via a communication bus 3;

[0157] Processor 1, configured to execute at least one instruction;

[0158] Memory 2, used to store at least one instruction;

[0159] The processor 1 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0160] The memory 2 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0161] The processor executes at least one instruction to implement the steps shown in the embodiment of the SOC planning method for an extended-range mining truck.

[0162] Corresponding to the above embodiment, see Figure 6, a topological diagram of a SOC planning system for an extended-range mining truck disclosed in an embodiment of the present application, the system includes: a power battery 401, a slope sensor 402, a quality sensor 403, a storage medium 404 and a controller 405 connected to each other.

[0163] The power battery 401 is used to provide electric energy for the driving motor of the extended-range mining truck.

[0164] The slope sensor 402 is used to collect the slope during the operation of the extended-range mining truck.

[0165] The mass sensor 403 is used to collect the mass of the extended-range mining truck during operation.

[0166] The working principles of the storage medium 404 and the controller 405 can be found in the corresponding parts of the above embodiments, which will not be described again here.

[0167] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0168] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0169] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A SOC planning method for an extended-range mining truck, characterized in that: include: Determine the initial SOC of the extended-range mining truck at the starting position and the theoretical SOC at the end position; Determine the SOC change rate based on the initial SOC, the theoretical SOC, and the actual total travel distance of the extended-range mining truck; Determining the original SOC of the extended-range mining truck during the driving process according to the SOC change rate and the slope of the extended-range mining truck during the operation process; Taking the original SOC when the extended-range mining truck reaches the terminal position as the terminal SOC, and calculating the deviation between the terminal SOC and the theoretical SOC; The deviation is used to correct the original SOC of the extended-range mining truck during driving to obtain a target SOC.

2. The SOC planning method according to claim 1, characterized in that: Determining the original SOC of the extended-range mining truck during the driving process according to the SOC change rate and the slope of the extended-range mining truck during the operation process includes: The actual total travel distance of the extended-range mining truck from the starting position to the end position is discretized into N discrete distances at equal distances to obtain the length of each discrete distance, where N is a positive integer; Determining a slope correction coefficient based on the slope during the operation of the extended-range mining truck; Obtaining an SOC increment based on the SOC change rate, the length of each discrete distance, and the slope correction coefficient; The raw SOC is determined based on the SOC increment.

3. The SOC planning method according to claim 2, characterized in that: The determining the original SOC based on the SOC increment includes: If i=1, the sum of the initial SOC and the SOC increment is determined as the original SOC; If i∈[2, N], the sum of the original SOC when the extended-range mining truck travels the i-1th discrete distance and the SOC increment is determined as the original SOC, and i represents the segment number after the actual total travel distance of the extended-range mining truck is spatially discretized.

4. The SOC planning method according to claim 2, characterized in that: The step of determining the slope correction coefficient based on the slope during the operation of the extended-range mining truck includes: Determine the horizontal travel distance and the vertical travel distance of the extended-range mining truck from the starting position to the end position; Based on the horizontal driving distance and the vertical driving distance, an average slope of the entire road condition of the extended-range mining truck is obtained; The slope correction coefficient is obtained based on the slope during the operation of the extended-range mining truck, the average slope and the friction coefficient of the extended-range mining truck.

5. The SOC planning method according to any one of claims 1 to 4, characterized in that: Determining the initial SOC of the extended-range mining truck at the starting position includes: Based on the load state and / or slope change of the extended-range mining truck, determining whether the extended-range mining truck is in an uphill or downhill state; If the extended-range mining truck is in an uphill or downhill state, the SOC of the extended-range mining truck when switching between the uphill state and the downhill state is determined as the initial SOC.

6. The SOC planning method according to any one of claims 1 to 4, characterized in that: The determining of the SOC change rate based on the initial SOC, the theoretical SOC and the actual total travel distance of the extended-range mining truck includes: determining an SOC difference between the theoretical SOC and the initial SOC; Determine the actual total travel distance of the extended-range mining truck from the starting position to the end position; Based on the SOC difference and the actual total driving distance, the SOC change rate is obtained.

7. A SOC planning device for an extended-range mining truck, characterized in that: include: A first SOC determination unit is used to determine an initial SOC of the extended-range mining truck at a starting position and a theoretical SOC at an end position; An SOC change rate determination unit, configured to determine the SOC change rate based on the initial SOC, the theoretical SOC, and the actual total travel distance of the extended-range mining truck; A second SOC determination unit is used to determine the original SOC of the extended-range mining truck during the driving process according to the SOC change rate and the slope of the extended-range mining truck during the operation process; a deviation determination unit, configured to use the original SOC when the extended-range mining truck reaches the terminal position as the terminal SOC, and calculate the deviation between the terminal SOC and the theoretical SOC; The correction unit is used to correct the original SOC of the extended-range mining truck during driving by using the deviation to obtain a target SOC.

8. A storage medium, characterized in that: The storage medium stores at least one instruction, and when the at least one instruction is executed by the processor, the SOC planning method for the extended-range mining truck according to any one of claims 1 to 6 is implemented.

9. A controller, characterized in that: The controller includes: a memory and a processor; The memory is used to store at least one instruction; The processor is used to execute the at least one instruction to implement the SOC planning method for the extended-range mining truck as described in any one of claims 1 to 6.

10. A SOC planning system for an extended-range mining truck, characterized in that: include: A connected power battery, a slope sensor, a mass sensor, a storage medium as claimed in claim 8, and a controller as claimed in claim 9; The power battery is used to provide electric energy for the driving motor of the extended-range mining truck; The slope sensor is used to collect the slope during the operation of the extended-range mining truck; The mass sensor is used to collect the mass of the extended-range mining truck during operation.

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