Vehicle climbing gear control method and device, terminal, equipment, medium and chip

Abstract

The invention provides a mining area vehicle climbing gear control method and device, a terminal, equipment, a medium and a chip, and relates to the field of mining area automatic drive.The method comprises the steps that whether a road section monitoring flag bit is started or not is determined according to the ramp attribute of a driving road section; according to the slope angle of the driving road section, whether a climbing self-inspection flag bit is started or not is determined; detecting the trapped state of the vehicle in the unmanned mining area in the driving process, and determining whether to start a de-trapping detection flag bit or not; and under the condition that any one of the road section monitoring flag bit, the climbing self-inspection flag bit and the escape detection flag bit is started, a climbing gear of the unmanned mining area vehicle is controlled to be started.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mine area automatic driving, and in particular to a mine area vehicle climbing gear control method and device, a terminal, a computer device, a computer readable storage medium and a chip. BACKGROUND

[0002] The mine card can provide a large torque when using the climbing gear to realize the operation of the mine card on a large slope or a rough road with a large resistance in the mine area. However, the running speed of the mine card is limited during the use of the climbing gear, and the mine card needs to be parked for gear shifting when switching the climbing gear, which greatly affects the running efficiency. Therefore, when the unmanned mine area vehicle is running, it is necessary to reasonably and automatically determine whether to use the climbing gear.

[0003] In related technologies, the climbing self-check based on the vehicle end sensor data may cause the problem of incorrect climbing state judgment due to the fluctuation of the vehicle end sensor data. SUMMARY

[0004] Therefore, the present application provides a mine area vehicle climbing gear control method and device, a terminal, a computer device, a computer readable storage medium and a chip, which solves the problem of incorrect climbing state judgment in related technologies.

[0005] In a first aspect, the embodiments of the present application provide a mine area vehicle climbing gear control method, which comprises:

[0006] determining whether to enable a road section monitoring flag according to the slope attribute of the driving road section;

[0007] determining whether to enable a climbing self-check flag according to the slope angle of the driving road section;

[0008] detecting the trapped state of the unmanned mine area vehicle during driving to determine whether to enable a trapped detection flag;

[0009] controlling the climbing gear of the unmanned mine area vehicle to be turned on in the case that any one of the road section monitoring flag, the climbing self-check flag and the trapped detection flag is enabled.

[0010] In a second aspect, the embodiments of the present application provide a mine area vehicle climbing gear control device, which comprises:

[0011] a first judgment module configured to determine whether to enable a road section monitoring flag according to the slope attribute of the driving road section;

[0012] a second judgment module configured to determine whether to enable a climbing self-check flag according to the slope angle of the driving road section;

[0013] a third judgment module configured to detect the trapped state of the unmanned mine area vehicle during driving to determine whether to enable a trapped detection flag;

[0014] a control module, configured to control the climbing gear of the mine vehicle to be turned on in a case where any one of the road section monitoring flag, the climbing self-checking flag and the escape detection flag is enabled.

[0015] In a third aspect, an embodiment of the present application provides a terminal, which comprises the apparatus of the second aspect.

[0016] In a fourth aspect, an embodiment of the present application provides a computer device, comprising a first processor and a first memory, wherein the first memory stores a program or instructions running on the first processor, and the program or instructions are executed by the first processor to implement the steps of the method of the first aspect.

[0017] In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a program or instructions, and the program or instructions are executed by a processor to implement the steps of the first aspect.

[0018] In a sixth aspect, an embodiment of the present application provides a chip, comprising at least one second processor and a communication interface, wherein the communication interface is coupled with the at least one second processor, and the at least one second processor is configured to run a program or instructions to implement the steps of the first aspect.

[0019] The mine vehicle climbing gear control method, device, terminal, computer device, computer readable storage medium and chip provided by the embodiments of the present application can realize comprehensive multi-factor control of the climbing gear of the mine vehicle based on road section slope properties, climbing self-checking according to the slope angle of the driving road section, and escape detection based on the trapped state, thereby avoiding the problem of climbing judgment error caused by fluctuation of the sensor data at the vehicle end, improving the rationality of the climbing gear control, ensuring smooth operation of the mine vehicle on the large slope or rugged road surface in the mine area with relatively large resistance, and reducing the influence on the operation efficiency of the mine vehicle.

[0020] The above description is only a summary of the technical solutions of the present application. In order to enable one skilled in the art to better understand the technical means of the present application, the content of the specification can be implemented, and in order to enable the above and other purposes, features and advantages of the present application to be more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0021] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0022] Figure 1 a judgment logic diagram of the climbing gear enablement of the embodiments of the present application is shown;

[0023] Figure 2 A flowchart of a mine vehicle climbing gear control method according to an embodiment of the present application is shown.

[0024] Figure 3 A schematic diagram of a fitted road surface plane according to an embodiment of the present application is shown.

[0025] Figure 4 A structural block diagram of a mine vehicle climbing gear control device according to an embodiment of the present application is shown.

[0026] Figure 5 A structural schematic block diagram of a terminal according to an embodiment of the present application is shown.

[0027] Figure 6 A structural schematic block diagram of a computer device according to an embodiment of the present application is shown.

[0028] Figure 7 A structural schematic block diagram of a computer readable storage medium according to an embodiment of the present application is shown.

[0029] Figure 8 A structural schematic block diagram of a chip according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.

[0031] The terms “first”, “second”, and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by “first”, “second”, and the like are generally of a kind, and are not limited to the number of objects, for example, the first object can be one or more. In addition, “and / or” in the specification and claims means at least one of the connected objects, and the character “ / ” generally represents an “or” relationship between the objects before and after it.

[0032] The mine vehicle climbing gear control method, device, terminal, computer device, computer readable storage medium, and chip provided by the embodiments of the present application will be described in detail below with reference to the drawings and specific embodiments and their application scenarios. In the case of no conflict, the embodiments described below and the features in the embodiments can be combined with each other.

[0033] The embodiment of the present application provides a mine vehicle climbing gear control method, as shown in the formula (I) Figure 1 The judgment includes three parts of road section monitoring, climbing self-checking and escape detection, and whether the mine vehicle uses the climbing gear is determined according to the judgment results of the three parts.

[0034] The mine vehicle in the present application includes an automatic driving passenger car and a commercial vehicle, and common vehicle types of the commercial vehicle include but are not limited to a pickup, a micro truck, a light truck, a micro van, a dump truck, a truck, a tractor, a trailer, a special vehicle and a mine vehicle, etc. The mine vehicle includes but is not limited to a mine truck, a wide-body vehicle, an articulated vehicle, a shovel, an electric shovel and a bulldozer. The type of the vehicle is not limited further in the present application, and any vehicle type is within the protection scope of the present application.

[0035] As shown in the formula (I) Figure 2 The mine vehicle climbing gear control method in the embodiment of the present application includes the following steps.

[0036] In step 201, whether to enable a road section monitoring flag is determined according to a slope attribute of a driving road section.

[0037] In this step, the slope attribute of the driving road section of the mine vehicle is acquired, the driving road section refers to a road section that the mine vehicle is driving or will drive, and the slope attribute of the driving road section includes but is not limited to downhill, flat road and climbing. Whether to enable the road section monitoring flag is determined according to the slope attribute of the driving road section, and the road section monitoring flag is enabled, which indicates that the driving road section is a slope, and the mine vehicle needs to start the climbing gear to climb.

[0038] In an embodiment of the present application, whether to enable the road section monitoring flag is determined according to the slope attribute of the driving road section, including the following steps.

[0039] The slope attribute of the driving road section is determined according to pre-stored road section slope attribute information;

[0040] If it is determined that the driving road section is a slope and the mine vehicle is in a loaded forward state, the road section monitoring flag is enabled;

[0041] If it is determined that the driving road section is not a slope or the mine vehicle is not in the loaded forward state, the road section monitoring flag is not enabled or is cancelled.

[0042] In this embodiment, the mine driving road section can be relatively fixed, so the slope attributes of all driving road sections can be marked in advance, for example, the driving road section is marked as downhill, flat road or climbing, the road section slope attribute information is generated and stored.

[0043] When the unmanned mine area vehicle is running, the slope attribute of the driving road section is determined in real time based on the slope attribute information of the road section. When it is determined that the unmanned mine area vehicle is about to or is driving on a road section with a climbing attribute, and the unmanned mine area vehicle is in a loading advancing state, the road section monitoring flag bit is enabled, that is, the road section monitoring flag bit is in a position 1. When it is determined that the road section on which the unmanned mine area vehicle is about to or is driving is not a slope, or the unmanned mine area vehicle is not in a loading advancing state, the road section monitoring flag bit is not enabled or is disabled, that is, the road section monitoring flag bit is in a position 0.

[0044] In the above manner, the application can accurately determine the slope attribute of the road section on which the unmanned mine area vehicle is about to or is driving, thereby providing a basis for judging the climbing gear of the unmanned mine area vehicle.

[0045] In step 202, it is determined whether to enable the climbing self-check flag bit according to the slope angle of the driving road section.

[0046] In this step, during the running of the unmanned mine area vehicle, the slope angle of the driving road section is obtained, and it is determined whether to enable the climbing self-check flag bit according to the slope angle of the driving road section. The enabling of the climbing self-check flag bit indicates that the slope angle of the driving road section is large, that is, greater than a certain climbing angle threshold, and the unmanned mine area vehicle needs to start the climbing gear to climb.

[0047] In an embodiment of the application, the determination of whether to enable the climbing self-check flag bit according to the slope angle of the driving road section comprises:

[0048] The slope angle of the driving road section is obtained.

[0049] If the slope angle of the driving road section is greater than or equal to the climbing angle threshold, and the unmanned mine area vehicle is in a loading advancing state, the climbing self-check flag bit is enabled.

[0050] If the slope angle of the driving road section is less than the climbing angle threshold, or the unmanned mine area vehicle is not in a loading advancing state, the climbing self-check flag bit is not enabled or is disabled.

[0051] In this embodiment, the slope angle of the driving road section is obtained in a manner of real-time detection or searching in pre-stored information. The obtained slope angle of the driving road section is compared with the climbing angle threshold, and the loading state of the unmanned mine area vehicle is determined. If the slope angle of the driving road section is greater than or equal to the climbing angle threshold, it indicates that the slope angle of the driving road section is large, and the unmanned mine area vehicle is in a loading advancing state, and the climbing self-check flag bit is enabled, that is, the climbing self-check flag bit is in a position 2. If the slope angle of the driving road section is less than the climbing angle threshold, it indicates that the slope angle of the driving road section is small, or the unmanned mine area vehicle is not in a loading advancing state, and the climbing self-check flag bit is not enabled or is disabled, that is, the climbing self-check flag bit is in a position 0.

[0052] The application can accurately determine the slope angle of the driving section, realize self-checking of climbing, and thus provide a judgment basis for subsequent control of the climbing gear of the unmanned mine vehicle.

[0053] In an embodiment of the application, the slope angle of the driving section is obtained by:

[0054] In the pre-stored section slope attribute information, the slope angle of the driving section is searched and obtained.

[0055] If the slope angle of the driving section is not recorded in the section slope attribute information, the slope angle of the driving section is detected to obtain the slope angle of the driving section.

[0056] In this embodiment, when the slope attributes of all driving sections are labeled in advance, the slope angle of the driving section can also be labeled for the downhill and uphill driving sections, and thus the section slope attribute information is generated and stored. That is, not only the slope attribute of the driving section is recorded in the section slope attribute information, but also the slope angle of the driving section.

[0057] When the slope angle of a driving section needs to be obtained, in the section slope attribute information, it is searched whether the slope angle of the driving section exists. If the slope angle of the driving section can be found, the self-checking of climbing is performed by using the found slope angle. For a mine area with complex road conditions, non-fixed driving sections or a large area, the slope angles of all sections may not be pre-labeled, so the slope angle of the driving section may not be found in the section slope attribute information. In this case, the slope angle of the driving section is detected in real time to obtain the slope angle of the driving section.

[0058] In the embodiment of the application, the slope angle of the driving section is searched in the pre-stored section slope attribute information, which can improve the speed of obtaining the slope angle of the driving section, and thus improve the control efficiency of the climbing gear. In the case where the slope angle of the driving section cannot be found, real-time detection is performed to ensure that the slope angle of the driving section can be obtained.

[0059] In an embodiment, in the case where the slope angle of the driving section is found in the section slope attribute information, real-time detection of the slope angle can also be performed, and the average value of the found slope angle and the real-time detected slope angle is calculated to improve the accuracy of the slope angle, and the average value is used to control the climbing gear.

[0060] In an embodiment of the application, the slope angle of the driving section is detected by:

[0061] A plurality of frames of road surface point cloud data of the driving section are obtained, and the plurality of frames of road surface point cloud data are fitted into a plane.

[0062] obtaining a road surface pitch angle of the driving section in the vehicle coordinate system based on a plane equation of a plane;

[0063] obtaining a vehicle body pitch angle of the unmanned mine area vehicle, and obtaining a slope angle of the driving section according to the road surface pitch angle and the vehicle body pitch angle.

[0064] In this embodiment, the slope angle of the driving section is detected in real time during the running of the unmanned mine area vehicle. Based on the vehicle coordinate system, that is, the right-hand rule, multiple frames of laser radar point cloud data of the road surface of the driving section in front of the unmanned mine area vehicle are collected and extracted, and the multiple frames of road surface point cloud data are superimposed. The superimposed road surface point cloud data is fitted into a plane by using a RANSAC (RANdom SAmple Consensus) algorithm, and a plane diagram is as shown in Figure 3 The plane equation of the plane is:

[0065] Ax+By+Cz+D=0

[0066] wherein A, B, C and D are plane equation coefficients; x, y and z are coordinate values in the vehicle coordinate system. Then, a road surface pitch angle θ l of the driving section in the vehicle coordinate system can be obtained as:

[0067] θ l =arctan(-A / C)

[0068] In combination with a vehicle body pitch angle θ car of the unmanned mine area vehicle output by a vehicle end sensor (such as an inertial navigation system), a real pitch angle θ r of the driving section can be obtained, that is, a slope angle of the driving section is:

[0069] θ r =θ l +θ car

[0070] In this embodiment, the real slope angle of the road surface is calculated in real time based on the vehicle end sensor data and in combination with the point cloud data, which greatly reduces the problem of inaccurate state judgment caused by the fluctuation of single vehicle end sensor data, and improves the accuracy of the climbing self-checking.

[0071] In an embodiment of the present application, the method further comprises: adjusting the climbing angle threshold according to the loaded weight of the unmanned mine area vehicle.

[0072] In this embodiment, the climbing angle threshold is dynamically adjusted according to the current loaded weight of the unmanned mine area vehicle. The greater the loaded weight, the lower the climbing angle threshold, and the smaller the loaded weight, the higher the climbing angle threshold. By dynamically adjusting the climbing angle threshold, the climbing self-checking is more in line with the current loading state, and the accuracy of the climbing self-checking is improved.

[0073] In step 203, the trapped state of the unmanned mine vehicle during driving is detected to determine whether to enable the escape detection flag bit.

[0074] The climbing gear not only supports hill running, but also solves the problem that the unmanned mine vehicle cannot run due to excessive resistance in muddy or rugged road sections. In this step, the trapped state of the unmanned mine vehicle during driving is detected, and it is judged whether the escape detection flag bit needs to be enabled according to the trapped state. The escape detection flag bit being enabled indicates that the unmanned mine vehicle is in a trapped state and needs to start the climbing gear to climb and escape.

[0075] In an embodiment of the present application, the trapped state of the unmanned mine vehicle during driving is detected to determine whether to enable the escape detection flag bit, including:

[0076] The trapped state of the unmanned mine vehicle during driving is detected.

[0077] If it is determined that the unmanned mine vehicle is in a trapped state, the escape detection flag bit is enabled.

[0078] If it is determined that the unmanned mine vehicle is not in a trapped state, the escape detection flag bit is not enabled or is disabled.

[0079] In this embodiment, the trapped state of the unmanned mine vehicle during driving is detected. If it is determined that the unmanned mine vehicle is in a trapped state, it is indicated that the climbing gear needs to be started to climb and escape, and the escape detection flag bit is enabled, i.e., the escape detection flag bit is 3. If it is determined that the unmanned mine vehicle is not in a trapped state, the escape detection flag bit is not enabled or is disabled, i.e., the escape detection flag bit is 0.

[0080] Through the above manner, the present application can accurately determine the trapped state of the unmanned mine vehicle and realize escape detection, thereby providing a judgment basis for subsequent control of the climbing gear of the unmanned mine vehicle.

[0081] In an embodiment of the present application, the trapped state of the unmanned mine vehicle during driving is detected, including:

[0082] The throttle data, gear and speed of the unmanned mine vehicle are obtained.

[0083] If the throttle data, gear and speed meet the corresponding conditions and the duration of meeting the corresponding conditions is greater than or equal to a preset time threshold, it is determined that the unmanned mine vehicle is in a trapped state.

[0084] If the accelerator data, gear and vehicle speed do not meet the corresponding conditions, and the distance between the current position coordinates of the unmanned mine area vehicle and the position coordinates when in the trapped state is greater than or equal to the preset distance threshold, it is determined that the unmanned mine area vehicle is not in the trapped state.

[0085] In this embodiment, the accelerator data, gear and vehicle speed of the unmanned mine area vehicle are obtained in real time. When the following corresponding conditions are met at the same time, timing starts:

[0086] (1) The vehicle speed is less than a set speed threshold, such as 0.5 km / h, 0.4 km / h or 0.6 km / h, that is, the unmanned mine area vehicle is basically in a stagnant state;

[0087] (2) The gear is in the forward gear;

[0088] (3) The accelerator is greater than a set accelerator threshold, such as 95%, 90% or 97%, that is, the accelerator of the unmanned mine area vehicle is basically in a full value state.

[0089] When the duration of simultaneously meeting the above corresponding conditions exceeds a preset time threshold, such as 5s, 6s, 8s, etc., it is determined that the unmanned mine area vehicle is in a power shortage situation and needs to be rescued, and the rescue detection flag position 3 is output, and the global position coordinates (x0, y0) of the unmanned mine area vehicle at this time are recorded.

[0090] When the subsequent climbing gear is enabled so that the power of the unmanned mine area vehicle is sufficient and starts to run again, the real-time detection of the current global position coordinates (x now ,y now ) and (x0, y0) is performed to determine whether the Euclidean distance between them exceeds a preset distance threshold, such as 5m, 6m, 8m, etc. If the preset distance threshold is exceeded, it is considered that the unmanned mine area vehicle has been rescued, and the rescue detection flag position 0 is set. The calculation formula of the Euclidean distance between (x now ,y now ) and (x0, y0) is:

[0091]

[0092] The embodiment of the application can detect the trapped state of the unmanned mine area vehicle in real time based on the accelerator data, gear and vehicle speed, and ensure the real-time and accuracy of the trapped state detection.

[0093] Step 204, in the case where any one of the road section monitoring flag, the climbing self-check flag and the rescue detection flag is enabled, the climbing gear of the unmanned mine area vehicle is controlled to be turned on.

[0094] In this step, in the case that any one of the road section monitoring flag, the climbing self-check flag and the escape detection flag is enabled, it indicates that climbing is needed, and a climbing gear request instruction is output to the lower system module, such as a mine card chassis and a line control module, to open the climbing gear.

[0095] In an embodiment of the present application, the method further comprises: in the case that the road section monitoring flag, the climbing self-check flag and the escape detection flag are all disabled, controlling the climbing gear of the unmanned mine area vehicle to be closed.

[0096] In this embodiment, in the case that the road section monitoring flag, the climbing self-check flag and the escape detection flag are all disabled or disabled, the climbing gear of the unmanned mine area vehicle is controlled to be closed.

[0097] It should be noted that the detection of the three aspects of road section monitoring, climbing self-checking and escape detection in the embodiments of the present application is performed, rather than only one, so as to control the climbing gear of the unmanned mine area vehicle based on the comprehensive determination results of the three aspects.

[0098] In the embodiments of the present application, the road section slope property is monitored based on the road section slope property marked in advance, the climbing self-checking is performed according to the slope angle of the driving road section, and the trapped state is detected based on the throttle data, the gear and the vehicle speed, so as to comprehensively control the climbing gear of the unmanned mine area vehicle by multiple factors. The problem of climbing judgment error caused by fluctuation of vehicle end sensor data can be avoided, the rationality of climbing gear control is improved, the unmanned mine area vehicle can be ensured to run smoothly on the large slope or rugged road surface in the mine area with large resistance, and the influence on the running efficiency of the unmanned mine area vehicle is reduced.

[0099] As a specific implementation of the mine vehicle climbing gear control method described above, the embodiments of the present application provide a mine vehicle climbing gear control device. As shown in Figure 4 The mine vehicle climbing gear control device 400 includes a first judgment module 401, a second judgment module 402, a third judgment module 403 and a control module 404.

[0100] The first judgment module 401 is configured to determine whether to enable the road section monitoring flag according to the slope property of the driving road section.

[0101] The second judgment module 402 is configured to determine whether to enable the climbing self-check flag according to the slope angle of the driving road section.

[0102] The third judgment module 403 is configured to detect the trapped state of the unmanned mine area vehicle during driving to determine whether to enable the escape detection flag.

[0103] The control module 404 is configured to control the climbing gear of the unmanned mine area vehicle to be turned on when any one of the road section monitoring flag, the climbing self-check flag and the escape detection flag is enabled.

[0104] Further, the control module 404 is further configured to control the climbing gear of the unmanned mine area vehicle to be turned off when the road section monitoring flag, the climbing self-check flag and the escape detection flag are all disabled.

[0105] Further, the first judging module 401 is specifically configured to:

[0106] determine the slope attribute of the driving road section according to the pre-stored road section slope attribute information;

[0107] if it is determined that the driving road section is a slope and the unmanned mine area vehicle is in a loading forward state, enable the road section monitoring flag;

[0108] if it is determined that the driving road section is not a slope or the unmanned mine area vehicle is not in the loading forward state, do not enable or disable the road section monitoring flag.

[0109] Further, the device further comprises:

[0110] a slope angle obtaining module configured to obtain the slope angle of the driving road section;

[0111] the second judging module 402 is specifically configured to:

[0112] if the slope angle of the driving road section is greater than or equal to the climbing angle threshold and the unmanned mine area vehicle is in the loading forward state, enable the climbing self-check flag;

[0113] if the slope angle of the driving road section is less than the climbing angle threshold or the unmanned mine area vehicle is not in the loading forward state, do not enable or disable the climbing self-check flag.

[0114] Further, the slope angle obtaining module is specifically configured to:

[0115] in the pre-stored road section slope attribute information, find and obtain the slope angle of the driving road section;

[0116] if the slope angle of the driving road section is not recorded in the road section slope attribute information, detect the slope angle of the driving road section to obtain the slope angle of the driving road section.

[0117] Further, the slope angle obtaining module is specifically configured to:

[0118] obtain a plurality of frames of road surface point cloud data of the driving road section, and fit the plurality of frames of road surface point cloud data into a plane;

[0119] obtain the road surface pitch angle of the driving road section in the vehicle coordinate system based on the plane equation of the plane.

[0120] The body pitch angle of the unmanned mine vehicle is acquired, and a slope angle of a driving section is obtained according to a road pitch angle and the body pitch angle.

[0121] Further, the second determining module 402 is further configured to adjust the climbing angle threshold according to a loading load of the unmanned mine vehicle.

[0122] Further, the device further comprises:

[0123] A trapped detection module is configured to detect a trapped state of the unmanned mine vehicle during driving;

[0124] A third determining module 403 is specifically configured to:

[0125] If it is determined that the unmanned mine vehicle is in the trapped state, a trapped detection flag bit is enabled;

[0126] If it is determined that the unmanned mine vehicle is not in the trapped state, the trapped detection flag bit is not enabled or is cancelled.

[0127] Further, the trapped detection module is configured to:

[0128] Acquire throttle data, a gear position and a vehicle speed of the unmanned mine vehicle;

[0129] If the throttle data, the gear position and the vehicle speed satisfy corresponding conditions, and a duration of satisfying the corresponding conditions is greater than or equal to a preset time threshold, it is determined that the unmanned mine vehicle is in the trapped state;

[0130] If the throttle data, the gear position and the vehicle speed no longer satisfy the corresponding conditions, and a distance between a current position coordinate of the unmanned mine vehicle and a position coordinate when in the trapped state is greater than or equal to a preset distance threshold, it is determined that the unmanned mine vehicle is not in the trapped state.

[0131] Embodiments of the present application provide a terminal, as shown in the figure, the terminal 500 comprises the above-mentioned mine vehicle climbing gear control device 400. Figure 5

[0132] The terminal 500 described above can execute the mine vehicle climbing gear control method described in the above-mentioned embodiments through the mine vehicle climbing gear control device 400. It can be understood that the implementation mode of the terminal 500 controlling the mine vehicle climbing gear control device 400 can be set according to actual application scenarios, and the embodiments of the present application are not limited specifically.

[0133] ​The terminal 500 includes, but is not limited to, a vehicle, a vehicle terminal, a vehicle controller, a vehicle module, a vehicle module, a vehicle component, a vehicle chip, a vehicle unit, a vehicle radar, or a vehicle camera, and other sensors. The vehicle can implement the method provided in the application through the vehicle terminal, the vehicle controller, the vehicle module, the vehicle module, the vehicle component, the vehicle chip, the vehicle unit, the vehicle radar, or the camera.

[0134] The embodiment of the application provides a computer device, as shown in the figure, the computer device 600 includes a first processor 601 and a first memory 602, the first memory 602 is stored with a program or instruction capable of running on the first processor 601, the program or instruction is executed by the first processor 601 to realize each step of the above-mentioned mine vehicle climbing gear control method embodiment, and the same technical effect can be achieved, to avoid repetition, here will not repeat. Figure 6

[0135] ​The first memory 602 can be used to store software programs and various data. The first memory 602 can mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area can store an operating system, application programs or instructions required by at least one function (such as a sound playing function, an image playing function, etc.), and the like. In addition, the first memory 602 can include a volatile memory or a non-volatile memory, or the first memory 602 can include both volatile and non-volatile memories. The non-volatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable Programmable ROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a Random Access Memory (RAM), a Static RAM (SRAM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a Double Data Rate SDRAM (DDR SDRAM), an Enhanced SDRAM (ESDRAM), a Synch link DRAM (SLDRAM), and a Direct Rambus RAM (DRRAM). The first memory 602 in the embodiments of the present application includes but is not limited to these and any other suitable types of memories.

[0136] The first processor 601 can include one or more processing units; optionally, the first processor 601 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and an application program, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above-mentioned modem processor can also not be integrated into the first processor 601.

[0137] The embodiments of the present application provide a computer readable storage medium, such as Figure 7 As shown in the figure, the readable storage medium 700 stores a program or instruction 701, which is executed by a processor to realize each process of the above-mentioned mine vehicle climbing gear control method embodiment and achieve the same technical effect. To avoid repetition, details are not described here.

[0138] The method described in the above embodiments can be realized by software, hardware, firmware or any combination thereof, in whole or in part. The computer readable storage medium 700 can include computer storage media and communication media, and can also include any medium that can be used to carry a computer program from one place to another. The storage medium can be any target medium that can be accessed by a computer.

[0139] As a possible design, the computer readable storage medium 700 can include a compact disc read-only memory (CD-ROM), a RAM, a ROM, an EEPROM or other optical disk storage; the computer readable storage medium can include a magnetic disk storage or other magnetic disk storage device. Moreover, any connection line can also be appropriately referred to as a computer readable storage medium. For example, if software is transmitted from a website, a server or other remote source using a coaxial cable, an optical fiber cable, a twisted pair, a DSL (Digital Subscriber Line) or wireless technology (such as infrared, radio and microwave), the coaxial cable, the optical fiber cable, the twisted pair, the DSL or the wireless technology such as infrared, radio and microwave are included in the definition of the medium. As used herein, the disk and the optical disk include a CD, a laser disk, an optical disk, a digital versatile disc (DVD), a floppy disk and a Blu-ray disk, wherein the disk is usually reproduced in a magnetic manner, and the optical disk is optically reproduced by laser.

[0140] In a sixth aspect, the embodiments of the present application provide a chip, such as Figure 8 As shown, the chip 800 includes at least one processor (for example, a second processor 801) and a communication interface 802, the communication interface 802 and the second processor 801 are coupled, the second processor 801 is used to run programs or instructions, realize various processes of the above-mentioned mine vehicle climbing gear control method embodiments, and can achieve the same technical effects. To avoid repetition, it will not be described here.

[0141] It should be understood that the chip mentioned in the embodiments of the present application can also be referred to as a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0142] Preferably, the chip 800 further includes a memory, for example, a second memory 803, the second memory 803 stores the following elements: executable modules or data structures, or a subset thereof, or an expanded set thereof.

[0143] In the embodiments of the present application, the second memory 803 can include read-only memory and random access memory, and provide instructions and data for the second processor 801. Part of the second memory 803 can also include non-volatile random access memory (NVRAM).

[0144] In the embodiments of the present application, the second processor 801, the communication interface 802 and the second memory 803 are coupled together through the bus system 804. Among them, the bus system 804 can include not only a data bus, but also a power bus, a control bus and a state signal bus, etc. In order to facilitate description, all kinds of buses are marked as the bus system 804 in the following description. Figure 8

[0145] The mine vehicle climbing gear control method described in the embodiments of the present application can be applied in the second processor 801 or implemented by the second processor 801. The second processor 801 can be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method can be completed by integrated logic circuit of hardware or instruction in the form of software in the second processor 801. The second processor 801 described above can be a general processor (for example, a microprocessor or a conventional processor), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate, a transistor logic device or a discrete hardware component. The second processor 801 can implement or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present application.

[0146] ​It should be noted that, in the present document, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the methods and apparatus of the present embodiments are not limited by the order of the steps or the sequence for performing the steps, as some steps can occur in different orders and / or concurrently with one another; for example, described methods can be performed in an order other than that described, and / or additional steps can be added, or steps can be omitted, or a combination thereof. Also, characteristics described in relation to certain examples can be combined in other examples.

[0147] The embodiments of the present application described above are merely exemplary and are not intended to limit the present application to the above-described embodiments, but the above-described embodiments are merely illustrative, and the present application is not limited to the above-described embodiments. The embodiments of the present application described above are merely exemplary and are not intended to limit the present application to the above-described embodiments, but the above-described embodiments are merely illustrative, and the present application is not limited to the above-described embodiments.

Claims

1. A method of hill climb gear control for a mine site vehicle, the method comprising: The method comprises the following steps: determining whether to enable a road section monitoring flag according to the slope attribute of the driving road section; determining whether to enable a climbing self-check flag according to the slope angle of the driving road section; detecting the trapped state of the unmanned mine vehicle during driving to determine whether to enable a trapped detection flag; in the case that any one of the road section monitoring flag, the climbing self-check flag and the trapped detection flag is enabled, controlling the climbing gear of the unmanned mine vehicle to be opened.

2. The method of claim 1, wherein, The method further comprises: in the case that all of the road section monitoring flag, the climbing self-check flag and the trapped detection flag are disabled, controlling the climbing gear of the unmanned mine vehicle to be closed.

3. The method of claim 1, wherein, The step of determining whether to enable a road section monitoring flag according to the slope attribute of the driving road section comprises: determining the slope attribute of the driving road section according to the pre-stored road section slope attribute information; if it is determined that the driving road section is a slope and the unmanned mine vehicle is in a loaded advancing state, enabling the road section monitoring flag; if it is determined that the driving road section is not a slope or the unmanned mine vehicle is not in a loaded advancing state, not enabling or disabling the road section monitoring flag.

4. The method of claim 1, wherein, The step of determining whether to enable a climbing self-check flag according to the slope angle of the driving road section comprises: obtaining the slope angle of the driving road section; if the slope angle of the driving road section is greater than or equal to a climbing angle threshold and the unmanned mine vehicle is in a loaded advancing state, enabling the climbing self-check flag; if the slope angle of the driving road section is less than the climbing angle threshold or the unmanned mine vehicle is not in a loaded advancing state, not enabling or disabling the climbing self-check flag. The step of obtaining the slope angle of the driving road section comprises: in the pre-stored road section slope attribute information, searching for and obtaining the slope angle of the driving road section; if the slope angle of the driving road section is not recorded in the road section slope attribute information, detecting the slope angle of the driving road section to obtain the slope angle of the driving road section. The step of detecting the slope angle of the driving road section comprises: obtaining multiple frames of road surface point cloud data of the driving road section and fitting the multiple frames of road surface point cloud data into a plane; obtaining the road surface pitch angle of the driving road section in the vehicle body coordinate system based on the plane equation of the plane; obtaining the vehicle body pitch angle of the unmanned mine vehicle and obtaining the slope angle of the driving road section according to the road surface pitch angle and the vehicle body pitch angle. The method further comprises: adjusting the climbing angle threshold according to the loaded load of the unmanned mine vehicle.

5. The method of claim 1, wherein, The step of detecting the trapped state of the unmanned mine vehicle during driving to determine whether to enable a trapped detection flag comprises: detecting the trapped state of the unmanned mine vehicle during driving; if it is determined that the unmanned mine vehicle is in a trapped state, enabling the trapped detection flag; if it is determined that the unmanned mine vehicle is not in a trapped state, not enabling or disabling the trapped detection flag. The step of detecting the trapped state of the unmanned mine vehicle during driving comprises: obtaining the throttle data, gear and vehicle speed of the unmanned mine vehicle; If the oil data, the gear and the vehicle speed meet the corresponding conditions, and the duration of meeting the corresponding conditions is greater than or equal to the preset time threshold, it is determined that the unmanned mine vehicle is in a trapped state. If the oil data, the gear and the vehicle speed no longer meet the corresponding conditions, and the distance between the current position coordinates of the unmanned mine vehicle and the position coordinates when in the trapped state is greater than or equal to the preset distance threshold, it is determined that the unmanned mine vehicle is not in the trapped state.

6. A mine site vehicle hill climb gear control apparatus, characterised by, Comprise: The first judgment module is used for determining whether to enable the road section monitoring flag according to the slope attribute of the driving road section; The second judgment module is used for determining whether to enable the climbing self-check flag according to the slope angle of the driving road section; The third judgment module is used for detecting the trapped state of the unmanned mine vehicle during driving to determine whether to enable the escape detection flag; The control module is used for controlling the climbing gear of the unmanned mine vehicle to be opened in the case that any one of the road section monitoring flag, the climbing self-check flag and the escape detection flag is enabled.

7. A terminal, characterized by comprising: The terminal comprises the mine vehicle climbing gear control device as claimed in claim 6.

8. A computer device, comprising: Comprise a first processor and a first memory, the first memory stores programs or instructions running on the first processor, the programs or instructions are executed by the first processor to realize the steps of the mine vehicle climbing gear control method as claimed in any one of claims 1 to 5.

9. A computer-readable storage medium having stored thereon a program or instructions, characterized in that, The programs or instructions are executed by the processor to realize the steps of the mine vehicle climbing gear control method as claimed in any one of claims 1 to 5.

10. A chip, characterized by The chip comprises at least one second processor and a communication interface, the communication interface and the at least one second processor are coupled, and the at least one second processor is used for running programs or instructions to realize the steps of the mine vehicle climbing gear control method as claimed in any one of claims 1 to 5.

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