A soc planning method for a range-extended mine truck and related device

Abstract

The application discloses a SOC planning method and related device of a range-extended mine truck, relates to the field of range-extended mine trucks, and comprises the following steps: determining an initial SOC of the range-extended mine truck at a starting point and a theoretical SOC of the range-extended mine truck at an ending point; determining a SOC change rate based on the initial SOC, the theoretical SOC and an actual total driving distance of the range-extended mine truck; determining an original SOC of the range-extended mine truck in a driving process according to the SOC change rate and a slope in the driving process of the range-extended mine truck; and correcting the original SOC of the range-extended mine truck in the driving process to obtain a target SOC based on a deviation between the ending SOC and the theoretical SOC when the range-extended mine truck drives to the ending point. According to the SOC change rate of the actual operation condition of the range-extended mine truck and the slope in the driving process, the original SOC is planned, and the original SOC is corrected by using the deviation between the ending SOC and the theoretical SOC, so that the purpose of reasonably planning the SOC according to the actual operation condition of the range-extended mine truck is achieved.

Description

Technical Field

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

[0002] An extended-range mining truck is a mining haul truck suitable for use in open-pit mines, powered by a range-extending system and power batteries. A typical operating cycle for an extended-range mining truck involves loading, fully loaded uphill, unloading, and then descending unloaded. Due to the limitations of the range-extending system's power generation capacity and the power battery's capacity, extended-range mining trucks are prone to experiencing insufficient power due to a low state of charge (SOC) during uphill runs and / or excessively high SOC during downhill runs, preventing braking recovery.

[0003] Therefore, how to provide an SOC planning method for an extended-range mining truck that can reasonably plan the SOC of the extended-range mining truck during driving according to its actual operating conditions 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 an SOC planning method and related devices for an extended-range mining truck, so as to achieve the purpose of rationally planning the SOC of the extended-range mining truck during its driving process according to its actual operating conditions.

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

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

[0007] 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;

[0008] determining an 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;

[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 during the operation of the extended-range mining truck includes:

[0012] discretize a total actual driving distance of the range-extended mine truck from the start position to the end position into N discrete distances equally, to obtain a length of each discrete distance, N being a positive integer;

[0013] determine a slope correction coefficient based on a slope in a running process of the range-extended mine truck;

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

[0015] determine the original SOC based on the SOC increment.

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

[0017] if i = 1, determining a sum of the initial SOC and the SOC increment as the original SOC;

[0018] if i ∈ [2, N], determining a sum of an original SOC of the range-extended mine truck when driving a (i-1)th discrete distance and the SOC increment as the original SOC, i representing a segment number after spatial discretization of the total actual driving distance of the range-extended mine truck.

[0019] Optionally, the determining the slope correction coefficient based on the slope in the running process of the range-extended mine truck comprises:

[0020] determining a horizontal driving distance and a vertical driving distance of the range-extended mine truck from the start position to the end position;

[0021] obtaining an average slope of a whole road condition of the range-extended mine truck based on the horizontal driving distance and the vertical driving distance;

[0022] obtaining the slope correction coefficient based on the slope in the running process of the range-extended mine truck, the average slope, and a friction coefficient of the range-extended mine truck.

[0023] Optionally, the determining an initial SOC of the range-extended mine truck at the start position comprises:

[0024] judging whether the range-extended mine truck is in an uphill and downhill state based on a load state and / or a slope change of the range-extended mine truck;

[0025] if the range-extended mine truck is in the uphill and downhill state, determining an SOC when the range-extended mine truck switches between an uphill state and a downhill state as the initial SOC.

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

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

[0028] determining an actual total distance of the range-extended truck from the starting position to the ending position;

[0029] obtaining the SOC change rate based on the SOC difference and the actual total distance.

[0030] An SOC planning device of a range-extended truck, comprising:

[0031] a first SOC determining unit configured to determine an initial SOC of the range-extended truck at a starting position and a theoretical SOC of the range-extended truck at an ending position;

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

[0033] a second SOC determining unit configured to determine an original SOC of the range-extended truck during driving according to the SOC change rate and a slope during driving of the range-extended truck;

[0034] a deviation determining unit configured to calculate a deviation between an ending SOC of the range-extended truck at the ending position and the theoretical SOC;

[0035] a correcting unit configured to correct the original SOC of the range-extended truck during driving by using the deviation to obtain a target SOC.

[0036] A storage medium storing at least one instruction, which is executed by a processor to implement any of the SOC planning methods of the range-extended truck.

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

[0038] the memory is configured to store at least one instruction;

[0039] the processor is configured to execute the at least one instruction to implement any of the SOC planning methods of the range-extended truck.

[0040] An SOC planning system of a range-extended truck, comprising: a power battery, a slope sensor, a mass sensor, a storage medium, and a controller connected thereto;

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

[0042] the slope sensor is configured to collect a slope during driving of the range-extended truck.

[0043] The mass sensor is used to collect the mass in the running process of the range-extended mine truck.

[0044] From the above technical solution, the application discloses a SOC planning method and related device of a range-extended mine truck, determines the initial SOC of the range-extended mine 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 distance of the range-extended mine truck, determines the original SOC of the range-extended mine truck in the running process according to the SOC change rate and the slope in the running process of the range-extended mine truck, takes the original SOC of the range-extended mine truck when running to the terminal position as the terminal SOC, calculates the deviation of the terminal SOC and the theoretical SOC, and corrects the original SOC of the range-extended mine truck in the running process by using the deviation to obtain the target SOC. The application firstly determines the SOC change rate according to the actual running condition of the range-extended mine truck, and preliminarily plans the original SOC of the range-extended mine truck in the running process by using the SOC change rate and the slope in the running process of the range-extended mine truck, and then corrects the original SOC by using the deviation of 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 range-extended mine truck in the running process according to the actual running condition of the range-extended mine truck. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only are the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on the disclosed drawings.

[0046] Figure 1 A flow chart of the SOC planning method of the range-extended mine truck disclosed by the embodiments of the present application;

[0047] Figure 2 A flow chart of the method for determining the original SOC of the range-extended mine truck in the running process disclosed by the embodiments of the present application;

[0048] Figure 3 A schematic diagram of the uphill process of the range-extended mine truck disclosed by the embodiments of the present application;

[0049] Figure 4 A structural schematic diagram of the SOC planning device of the range-extended mine truck disclosed by the embodiments of the present application;

[0050] Figure 5 A structural schematic diagram of the electronic device disclosed by the embodiments of the present application;

[0051] Figure 6The embodiment of the application discloses a topology of a SOC planning system of a range-extended mine truck. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, but not all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by a person of ordinary skill in the art without creative work are within the protection scope of the application.

[0053] The embodiment of the application discloses a range-extended mine truck SOC planning method and related device, first, the SOC change rate is determined according to the actual operation of the range-extended mine truck, and the original SOC of the range-extended mine truck in the driving process is preliminarily planned by using the SOC change rate and the slope in the operation process of the range-extended mine truck, then the original SOC is corrected by using the deviation of 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 range-extended mine truck in the driving process according to the actual operation of the range-extended mine truck.

[0054] Referring to Figure 1 The embodiment of the application discloses a range-extended mine truck SOC planning method flow chart, and the method comprises the following steps:

[0055] Step S101, determining the initial SOC of the range-extended mine truck at the starting point position and the theoretical SOC at the terminal point position.

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

[0057] For the sake of subsequent discussion, the initial SOC of the range-extended mine truck at the starting point position is represented by , and the theoretical SOC of the range-extended mine truck at the terminal point position is represented by .

[0058] In actual application, 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 the SOC change rate based on the initial SOC, the theoretical SOC and the actual total driving distance of the range-extended mine truck.

[0060] Specifically, the SOC difference value between the theoretical SOC and the initial SOC is determined;

[0061] The actual total driving distance of the range-extended mine truck from the starting point position to the terminal point position is determined;

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

[0063] The expression of the SOC change rate is as follows:

[0064] (1);

[0065] In the formula, denotes the SOC change rate, denotes the actual total distance of the range-extended mine truck from the starting position to the ending position.

[0066] The expression of the actual total distance is as follows:

[0067] (2);

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

[0069] In step S103, the original SOC of the range-extended mine truck during driving is determined according to the SOC change rate and the slope during the operation of the range-extended mine truck.

[0070] In actual application, the slope sensor arranged on the range-extended mine truck can be used to collect the slope θ during the entire operation of the range-extended mine truck from the starting position to the ending position, and the actual driving distance of the range-extended mine truck corresponding to different slopes θ is recorded, so as to obtain the change curve of the slope θ with the actual driving distance of the range-extended mine truck.

[0071] As can be seen from formula (1), the SOC change rate is the change rate of the SOC with the actual driving distance of the range-extended mine truck, and thus it can be known that the SOC change rate and the slope during the operation of the range-extended mine truck both have a corresponding relationship with the actual driving distance of the range-extended mine truck, so that the original SOC of the range-extended mine truck at different actual driving distances during driving can be determined according to the SOC change rate and the slope during the operation of the range-extended mine truck.

[0072] In step S104, the original SOC of the range-extended mine truck when driving to the ending position is taken as the ending SOC, and the deviation between the ending SOC and the theoretical SOC is calculated.

[0073] ​The value of the original SOC corresponding to the actual driving position of the extended mine truck is different, in other words, the value of the original SOC changes with the different actual driving positions of the extended mine truck, the original SOC of the extended mine truck when driving to the end position is taken as the end SOC, and the deviation of the end SOC relative to the theoretical SOC of the extended mine truck at the end position is calculated, so that each original SOC of the extended mine truck in the driving process is corrected according to the deviation, and a target SOC with higher accuracy is obtained.

[0074] In step S105, the original SOC of the extended mine truck in the driving process is corrected by using the deviation to obtain a target SOC.

[0075] In conclusion, the SOC planning method of the extended mine truck disclosed in the present application determines the initial SOC of the extended mine truck at the starting position and the theoretical SOC at the end position, determines the SOC change rate based on the initial SOC, the theoretical SOC and the actual total driving distance of the extended mine truck, determines the original SOC of the extended mine truck in the driving process according to the SOC change rate and the slope in the running process of the extended mine truck, takes the original SOC of the extended mine truck when driving to the end position as the end SOC, calculates the deviation of the end SOC and the theoretical SOC, and corrects the original SOC of the extended mine truck in the driving process by using the deviation to obtain a target SOC. The SOC change rate is first determined according to the actual running condition of the extended mine truck, and the original SOC of the extended mine truck in the driving process is preliminarily planned by using the SOC change rate and the slope in the running process of the extended mine truck, and then the original SOC is corrected by using the deviation of the end 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 mine truck in the driving process according to the actual running condition of the extended mine truck.

[0076] In one embodiment, the process of determining the initial SOC of the extended mine truck at the starting position can specifically include:

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

[0078] In actual application, the extended mine truck is usually loaded uphill and then unloaded downhill. Based on this, the load state of the extended mine truck is collected by the mass sensor arranged on the extended mine truck, so that it can be determined whether the extended mine truck is in uphill or downhill state.

[0079] The slope of the range-extended mine truck is usually gradually increased in the uphill process and is usually gradually decreased in the downhill process, so the slope of the range-extended mine truck is collected by the slope sensor arranged on the range-extended mine truck, and the uphill state or the downhill state of the range-extended mine truck can be determined according to the slope change.

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

[0081] In one embodiment, referring to Figure 2 , the method flowchart for determining the initial SOC of the range-extended mine truck in the driving process disclosed by the embodiment of the application can also specifically include:

[0082] Step S201: Discretize the actual total driving distance of the range-extended mine truck from the starting point position to the ending point position into N discrete distances at equal intervals, to obtain the length of each discrete distance.

[0083] Specifically, the actual total driving distance of the range-extended mine truck from the starting point position to the ending point position is discretized into N discrete distances at equal intervals, N is a positive integer, and the length of each discrete distance is obtained. .

[0084] Step S202: Determine a slope correction coefficient based on the slope in the running process of the range-extended mine truck.

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

[0086] Referring to Figure 3 , taking the uphill of the range-extended mine truck as an example, the range-extended mine truck drives from the starting point a to the ending point b, and the slope in the driving process is θ, that is, the angle between the tangent direction of the driving of the range-extended mine truck and the horizontal plane, then the horizontal driving distance and the vertical driving distance of the range-extended mine truck can be calculated according to the vehicle speed of the range-extended mine truck.

[0087] The expression of the horizontal driving distance is as follows:

[0088] (3);

[0089] The expression of the vertical driving distance is as follows:

[0090] (4);

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

[0092] (5);

[0093] In the formula, v(t) represents the driving speed of the range-extended mine truck at time t.

[0094] The expression of the horizontal driving distance of the range-extended mine truck at time t is as follows:

[0095] (6);

[0096] The expression of the vertical driving distance of the range-extended mine truck at time t is as follows:

[0097] (7);

[0098] 2. Obtain the average slope of the whole section of the range-extended mine truck based on the horizontal driving distance and the vertical driving distance.

[0099] The expression of the average slope of the whole section of the range-extended mine truck is as follows:

[0100] (8).

[0101] 3. Obtain the slope correction coefficient based on the slope, the average slope and the friction coefficient of the range-extended mine truck in the process of driving the range-extended mine truck.

[0102] The expression of the slope correction coefficient is as follows:

[0103] (9). In the formula, μ represents the friction coefficient of the range-extended mine truck, and L(i) represents the total driving distance of the range-extended mine truck from the starting position after driving the i-th section of discrete distance.

[0104] Step S203: Obtain the SOC increment based on the SOC change rate, the length of each section of discrete distance and the slope correction coefficient.

[0105] The expression of the SOC increment is as follows:

[0106]

[0107] (10).

[0108] ​​​​​​​Step S204, determining the 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 range-extended mine truck travels the i-1th discrete distance and the SOC increment is determined as the original SOC, i represents the segment number after spatial discretization of the total distance actually traveled by the range-extended mine truck.

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

[0112] (11).

[0113] In the formula, denotes the original SOC when the range-extended mine truck travels the i th discrete distance, denotes the initial SOC, denotes the original SOC when the range-extended mine truck travels the i-1th discrete distance.

[0114] In the present application, the original SOC in formula (11) is corrected by using the deviation of the terminal SOC and the theoretical SOC, and the target SOC can be obtained.

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

[0116] (12).

[0117] In the formula, denotes the target SOC after correction of the original SOC when the range-extended mine truck travels the i th discrete distance, denotes the original SOC when the range-extended mine truck travels the N th discrete distance, that is, the terminal SOC, denotes the theoretical SOC, denotes the total travel distance of the range-extended mine truck from the starting point to the i th discrete distance, denotes the total distance actually traveled by the range-extended mine truck from the starting point to the terminal point.

[0118] Corresponding to the above method embodiment, the present application also discloses an SOC planning device of a range-extended mine truck.

[0119] Referring to Figure 4 , the SOC planning device of the range-extended mine truck disclosed in the present application embodiment has the structure as shown in the figure, and the device comprises:

[0120] The first SOC determination unit 301 is configured to determine the initial SOC of the range-extended mine truck at the starting point and the theoretical SOC at the terminal point.

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

[0122] For the convenience of subsequent discussion, the initial SOC of the range-extended mine truck at the start position is denoted as SOC initial, and the theoretical SOC of the range-extended mine truck at the end position is denoted as SOC final. SOC initial and SOC final.

[0123] In actual application, 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 determination unit 302 is configured to determine a SOC change rate based on the initial SOC, the theoretical SOC, and the actual total distance of the range-extended mine truck.

[0125] The SOC change rate determination unit 302 can be specifically configured to:

[0126] determine the SOC difference between the theoretical SOC and the initial SOC;

[0127] determine the actual total distance of the range-extended mine truck from the start position to the end position;

[0128] obtain the SOC change rate based on the SOC difference and the actual total distance.

[0129] The second SOC determination unit 303 is configured to determine the original SOC of the range-extended mine truck in the running process according to the SOC change rate and the slope in the running process of the range-extended mine truck.

[0130] In actual application, the slope sensor provided on the range-extended mine truck can be used to collect the slope θ in the entire running process of the range-extended mine truck from the start position to the end position, and the actual running distance of the range-extended mine truck corresponding to different slopes θ is recorded, so as to obtain the change curve of the slope θ with the actual running distance of the range-extended mine truck. The change curve can be stored in the storage module of the range-extended mine truck.

[0131] As can be seen from formula (1), the SOC change rate is the change rate of the SOC with the actual running distance of the range-extended mine truck, and thus it can be known that the SOC change rate and the slope in the running process of the range-extended mine truck both have a corresponding relationship with the actual running distance of the range-extended mine truck, so that the original SOC of the range-extended mine truck at different actual running distances in the running process can be determined according to the SOC change rate and the slope in the running process of the range-extended mine truck.

[0132] ​The deviation determination unit 304 is configured to take the original SOC of the range-extended mine truck when driving to the end position as an end SOC, and calculate a deviation of the end SOC from the theoretical SOC.

[0133] The original SOC of the range-extended mine truck at different actual driving positions is different, in other words, the value of the original SOC changes with the actual driving position of the range-extended mine truck. The application takes the original SOC of the range-extended mine truck when driving to the end position as an end SOC, and calculates a deviation of the end SOC from the theoretical SOC of the range-extended mine truck at the end position. The deviation is used to correct each original SOC of the range-extended mine truck during driving, so as to obtain a target SOC with higher accuracy.

[0134] The correction unit 305 is configured to correct the original SOC of the range-extended mine truck during driving by using the deviation, so as to obtain a target SOC.

[0135] In summary, the application discloses a SOC planning device for a range-extended mine truck. The initial SOC of the range-extended mine truck at the start position and the theoretical SOC of the range-extended mine truck at the end position are determined. The SOC change rate is determined based on the initial SOC, the theoretical SOC and the actual total driving distance of the range-extended mine truck. The original SOC of the range-extended mine truck during driving is determined according to the SOC change rate and the slope during the operation of the range-extended mine truck. The original SOC of the range-extended mine truck when driving to the end position is taken as an end SOC. The deviation of the end SOC from the theoretical SOC is calculated. The original SOC of the range-extended mine truck during driving is corrected by using the deviation, so as to obtain a target SOC. The application firstly determines the SOC change rate according to the actual operation of the range-extended mine truck. The original SOC of the range-extended mine truck during driving is preliminarily planned by using the SOC change rate and the slope during the operation of the range-extended mine truck. The original SOC is corrected by using the deviation of the end SOC from the theoretical SOC, so as to improve the accuracy of the SOC. The purpose of reasonably planning the SOC of the range-extended mine truck during driving according to the actual operation of the range-extended mine truck is achieved.

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

[0137] discretize the actual total driving distance of the range-extended mine truck from the start position to the end position into N discrete distances at equal intervals, so as to obtain the length of each discrete distance, where N is a positive integer;

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

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

[0140] determine the initial SOC based on the SOC increment.

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

[0142] if i = 1, determine the initial SOC and the sum of the SOC increment as the original SOC;

[0143] if i ∈ [2, N], determine the sum of the original SOC when the range-extended mine truck travels the i-1th discrete distance and the SOC increment as the original SOC, i represents the segment number after spatial discretization of the total distance actually traveled by the range-extended mine truck.

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

[0145] determine the horizontal travel distance and the vertical travel distance of the range-extended mine truck from the starting point to the ending point;

[0146] obtain the average slope of the entire section of the range-extended mine truck based on the horizontal travel distance and the vertical travel distance;

[0147] obtain the slope correction coefficient based on the slope during the operation of the range-extended mine truck, the average slope, and the friction coefficient of the range-extended mine truck.

[0148] In one embodiment, the first SOC determining unit 301 can be configured to:

[0149] determine whether the range-extended mine truck is in an uphill or downhill state based on the load state and / or the slope change of the range-extended mine truck;

[0150] if the range-extended mine truck is in the uphill or downhill state, determine the SOC when the range-extended mine truck switches between the uphill state and the downhill state as the initial SOC.

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

[0152] Corresponding to the above-mentioned embodiments, the present application further discloses a storage medium, which stores at least one instruction, and the at least one instruction is executed by a processor to realize the steps shown in the SOC planning method for a range-extended mine truck.

[0153] The storage medium, as a computer readable 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, the program instruction / module corresponding to the target SOC planning method in the embodiment of the present application. The controller reads the change curve data in the storage medium by running the software programs, instructions and modules stored in the storage medium, so as to execute the SOC planning method of the above-mentioned embodiment.

[0154] The storage medium mainly includes a storage program area and a storage data area. The storage program area can store an operating system and at least one application program required by a function; and the storage data area can store data created according to the use of the terminal. In addition, the storage medium can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk memory, a flash memory device or other non-volatile solid-state memory device. In some examples, the storage medium can further include a storage medium remotely arranged relative to the controller, and these remote storage media can be connected to the vehicle through 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-mentioned embodiment, as shown in Figure 5 The present application also provides an electronic device, which can include a processor 1 and a memory 2.

[0156] The processor 1 and the memory 2 complete mutual communication through a communication bus 3.

[0157] The processor 1 is configured to execute at least one instruction.

[0158] The memory 2 is configured to store at least one instruction.

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

[0160] The memory 2 can include a high-speed RAM memory, and can also include a 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 SOC planning method embodiment of the range-increasing mine card.

[0162] Corresponding to the above-mentioned embodiment, referring to Figure 6The SOC planning system of the range-extended mine truck disclosed by the embodiments of the present application comprises a topology structure, and the system comprises a power battery 401, a slope sensor 402, a mass sensor 403, a storage medium 404 and a controller 405 which are connected.

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

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

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

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

[0167] Finally, it should be noted that, in this document, the relationship terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

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

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

Claims

1. A SOC planning method of a range-extended mine truck, characterized in that, The method comprises the following steps: determining an initial SOC of the range-extended mine truck at a starting position and a theoretical SOC at an ending position; determining a SOC change rate based on the initial SOC, the theoretical SOC and an actual total distance of the range-extended mine truck; determining an original SOC of the range-extended mine truck during the driving process according to the SOC change rate and a slope during the driving process of the range-extended mine truck; calculating a deviation between the original SOC of the range-extended mine truck at the ending position and the theoretical SOC; correcting the original SOC of the range-extended mine truck during the driving process by using the deviation to obtain a target SOC; wherein the determining of the original SOC of the range-extended mine truck during the driving process according to the SOC change rate and the slope during the driving process of the range-extended mine truck comprises: discretizing the actual total distance of the range-extended mine truck from the starting position to the ending position into N discrete distances at equal intervals to obtain a length of each discrete distance, N being a positive integer; determining a slope correction coefficient based on the slope during the driving process of the range-extended mine truck; obtaining a SOC increment based on the SOC change rate, the length of each discrete distance and the slope correction coefficient; determining the original SOC based on the SOC increment.

2. The SOC planning method of claim 1, wherein, The determining of the original SOC based on the SOC increment comprises: if i = 1, determining a sum of the initial SOC and the SOC increment as the original SOC; if i ∈ [2, N], determining a sum of the original SOC of the range-extended mine truck when driving the i-1th discrete distance and the SOC increment as the original SOC, i representing a segment number after spatial discretization of the actual total distance of the range-extended mine truck.

3. The SOC planning method of claim 1, wherein, The determining of the slope correction coefficient based on the slope during the driving process of the range-extended mine truck comprises: determining a horizontal driving distance and a vertical driving distance of the range-extended mine truck from the starting position to the ending position; obtaining an average slope of the range-extended mine truck driving the whole distance based on the horizontal driving distance and the vertical driving distance; obtaining the slope correction coefficient based on the slope during the driving process of the range-extended mine truck, the average slope and a friction coefficient of the range-extended mine truck.

4. The SOC planning method according to any one of claims 1 to 3, characterized by, The determining of the initial SOC of the range-extended mine truck at the starting position comprises: judging whether the range-extended mine truck is in an uphill or downhill state based on a load state and / or a slope change of the range-extended mine truck; if the range-extended mine truck is in the uphill or downhill state, determining an SOC when the range-extended mine truck switches between the uphill state and the downhill state as the initial SOC.

5. The SOC planning method according to any one of claims 1 to 3, characterized by, The determining of the SOC change rate based on the initial SOC, the theoretical SOC and the actual total distance of the range-extended mine truck comprises: determining a SOC difference value between the theoretical SOC and the initial SOC; determining the actual total distance of the range-extended mine truck from the starting position to the ending position; obtaining the SOC change rate based on the SOC difference value and the actual total distance.

6. A SOC planning device of a range-extended mine truck, characterized by, The method comprises the following steps: The first SOC determining unit is configured to determine an initial SOC of the extended-range mine truck at a starting point and a theoretical SOC at an ending point. The SOC change rate determining unit is configured to determine a SOC change rate based on the initial SOC, the theoretical SOC, and an actual total distance of driving of the extended-range mine truck. The second SOC determining unit is configured to determine an original SOC of the extended-range mine truck during driving according to the SOC change rate and a slope during operation of the extended-range mine truck. The deviation determining unit is configured to calculate a deviation between the original SOC when the extended-range mine truck drives to the ending point and the theoretical SOC. The correction unit is configured to correct the original SOC of the extended-range mine truck during driving by using the deviation to obtain a target SOC. The second SOC determining unit is specifically configured to: discretize the actual total distance of driving of the extended-range mine truck from the starting point to the ending point into N discrete distances at equal intervals to obtain a length of each discrete distance, N being a positive integer; determine a slope correction coefficient based on the slope during operation of the extended-range mine truck; obtain a SOC increment based on the SOC change rate, the length of each discrete distance, and the slope correction coefficient; and determine the original SOC based on the SOC increment.

7. A storage medium, characterized by The storage medium stores at least one instruction, which is executed by a processor to implement the SOC planning method of the extended-range mine truck according to any one of claims 1-5.

8. A controller characterized by comprising: The controller includes a memory and a processor. The memory is configured to store at least one instruction. The processor is configured to execute the at least one instruction to implement the SOC planning method of the extended-range mine truck according to any one of claims 1-5.

9. A SOC planning system for a range-extended utility vehicle, the SOC planning system comprising: The SOC planning method of the extended-range mine truck according to any one of claims 1-5. The SOC planning method of the extended-range mine truck according to any one of claims 1-5. The SOC planning method of the extended-range mine truck according to any one of claims 1-5. The SOC planning method of the extended-range mine truck according to any one of claims 1-5. The SOC planning method of the extended-range mine truck according to any one of claims 1-5.

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