Vehicle control method and device, vehicle and computer readable storage medium

Abstract

The invention relates to a vehicle control method and device, a vehicle and a computer readable storage medium, and relates to the technical field of mechanical control. The control method of the vehicle comprises the steps that a relation model between the drilling speed of the vehicle and operation parameters of the vehicle is established according to rock stratum information of an operation scene of the vehicle; according to the relation model, target operation parameters of the vehicle are determined with the operation parameters as variables and the maximum drilling speed as a target; and controlling the vehicle to operate according to the target operation parameters. According to the technical scheme, the drilling speed of the vehicle can be increased, and therefore the drilling efficiency of the vehicle is improved.

Description

Technical Field

[0001] This disclosure relates to the field of mechanical control technology, and in particular to a vehicle control method, device, vehicle, and computer-readable storage medium. Background Technology

[0002] Rock drilling rigs, as the dominant equipment in drill-and-blast construction, are used in underground engineering projects such as railway and highway tunnels, underground mine roadways, and hydropower culverts. The operation of a rock drilling rig mainly involves four processes: impact, propulsion, rotation, and flushing. The flushing process ensures sufficient water supply to promptly remove broken rock cuttings. Other operational parameters involved in these processes include impact pressure, propulsion pressure, rotation pressure, and rotation speed. During construction, rock drilling rigs face various complex working conditions, therefore, the above operational parameters need to be adjusted according to the actual conditions at the construction site.

[0003] In related technologies, during on-site construction, operators typically adjust operating parameters based on experience or perform drilling operations according to factory-set operating parameters. Summary of the Invention

[0004] The inventors of this disclosure have discovered the following problems in the above-mentioned related technologies: the operating parameters determined by the above-mentioned drilling method are inaccurate, resulting in low drilling speed and poor drilling efficiency when the vehicle is operating.

[0005] In view of this, this disclosure proposes a vehicle control technology solution that can accurately determine the vehicle's operating parameters, thereby increasing the vehicle's drilling speed and thus improving the vehicle's drilling efficiency.

[0006] According to some embodiments of this disclosure, a vehicle control method is provided, comprising: establishing a relationship model between the vehicle's drilling speed and the vehicle's operating parameters based on rock strata information of the vehicle's operating scenario; determining target operating parameters for the vehicle based on the relationship model, using the operating parameters as variables and maximizing the drilling speed as the objective; and controlling the vehicle to perform operations based on the target operating parameters.

[0007] In some embodiments, the weights corresponding to the operating parameters in the relational model are determined based on the vehicle's current operating parameters and current drilling speed. The weights are different for different rock strata information.

[0008] In some embodiments, a first objective function is constructed with weights as variables. The first objective function represents the difference between a first predicted velocity and the current drilling velocity. The first predicted velocity is determined based on the current operating parameters and weights. The first objective function is solved with the objective of minimizing it in order to determine the weights.

[0009] In some embodiments, a first objective function is solved according to a first constraint condition, the first constraint condition including a first predicted velocity greater than a velocity threshold.

[0010] In some embodiments, the first objective function is solved iteratively until a first termination condition is met, the first termination condition including the number of iterations meeting a first threshold.

[0011] In some embodiments, a second objective function is constructed based on the relational model, using the job parameters as variables. The second objective function represents the correspondence between the second predicted speed and the job parameters. The second objective function is solved with the goal of maximizing the second predicted speed to determine the target job parameters.

[0012] In some embodiments, a second objective function is solved according to a second constraint condition, the second constraint condition including that the predicted power corresponding to the second predicted velocity is located in a first interval, and the predicted power is determined according to the second predicted velocity.

[0013] In some embodiments, a second objective function is solved according to a third constraint, the third constraint including that the target operation parameter lies in a second interval.

[0014] In some embodiments, the second objective function is solved iteratively until a second termination condition is met, the second termination condition including the number of iterations meeting a second threshold.

[0015] In some embodiments, the rock strata information includes the compressive strength of the rock strata, and the operating parameters include impact parameters.

[0016] In some embodiments, the operating parameters may further include at least one of propulsion parameters and slewing parameters.

[0017] According to some other embodiments of this disclosure, a vehicle control device is provided, comprising: a modeling unit for establishing a relationship model between the vehicle's drilling speed and its operating parameters based on rock strata information of the vehicle's operating scenario; a determination unit for determining target operating parameters of the vehicle based on the relationship model, using the operating parameters as variables and maximizing the drilling speed as the objective; and a control unit for controlling the vehicle to perform operations based on the target operating parameters.

[0018] In some embodiments, the establishing unit determines the weights corresponding to the operating parameters in the relational model based on the vehicle's current operating parameters and current drilling speed. The weights are different for different rock strata information.

[0019] In some embodiments, the establishment unit constructs a first objective function with weights as variables. The first objective function characterizes the difference between the first predicted velocity and the current drilling velocity. The first predicted velocity is determined based on the current operating parameters and weights. The first objective function is solved with the goal of minimizing it in order to determine the weights.

[0020] In some embodiments, the establishing unit solves a first objective function based on a first constraint condition, the first constraint condition including a first predicted velocity greater than a velocity threshold.

[0021] In some embodiments, the establishment unit iteratively solves the first objective function until a first termination condition is met, the first termination condition including the number of iterations meeting a first threshold.

[0022] In some embodiments, the determining unit constructs a second objective function based on a relational model, using the job parameters as variables. The second objective function characterizes the correspondence between the second predicted speed and the job parameters. The second objective function is solved with the goal of maximizing the second predicted speed to determine the target job parameters.

[0023] In some embodiments, the determining unit solves for a second objective function based on a second constraint condition, the second constraint condition including that the predicted power corresponding to the second predicted speed is located in a first interval, and the predicted power is determined based on the second predicted speed.

[0024] In some embodiments, the determining unit solves for a second objective function based on a third constraint, the third constraint including that the target operation parameters are located in a second interval.

[0025] In some embodiments, the determining unit iteratively solves the second objective function until a second termination condition is met, the second termination condition including the number of iterations meeting a second threshold.

[0026] In some embodiments, the rock strata information includes the compressive strength of the rock strata, and the operating parameters include impact parameters.

[0027] In some embodiments, the operating parameters may further include at least one of propulsion parameters and slewing parameters.

[0028] According to further embodiments of the present disclosure, a vehicle control device is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the control method of any of the above embodiments based on instructions stored in the memory device.

[0029] According to further embodiments of this disclosure, a vehicle is provided, including the control device described in any of the foregoing embodiments.

[0030] According to further embodiments of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the control method of any of the above embodiments.

[0031] According to further embodiments of this disclosure, a computer program product is also provided, including instructions that, when executed by a processor, cause the processor to perform the control method according to any of the foregoing embodiments.

[0032] In the above embodiments, based on the changes in rock strata information in the vehicle's operating scenario, an adaptive model of the relationship between the vehicle's drilling speed and operating parameters is established, and target operating parameters are determined with the goal of maximizing drilling speed. In this way, target operating parameters suitable for the current operating scenario are accurately determined, and by controlling the vehicle to operate according to these target operating parameters, the vehicle's drilling speed is increased, thereby improving drilling efficiency. Attached Figure Description

[0033] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0034] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0035] Figure 1 Flowcharts illustrating some embodiments of the control method of this disclosure;

[0036] Figure 2 Flowcharts illustrating other embodiments of the control method of this disclosure;

[0037] Figure 3 Block diagrams showing some embodiments of the control device of this disclosure;

[0038] Figure 4 Block diagrams showing other embodiments of the control device of this disclosure;

[0039] Figure 5 Block diagrams showing further embodiments of the control device of this disclosure;

[0040] Figure 6 Block diagrams illustrating some embodiments of the vehicle disclosed herein. Detailed Implementation

[0041] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0042] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0043] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0044] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0045] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0046] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0047] As mentioned earlier, in related technologies, during actual on-site construction, in order to improve the drilling efficiency of the rock drilling rig, operators often adjust the operating parameters based on experience or carry out drilling operations according to the operating parameters set by the factory.

[0048] However, the operating parameters in the above schemes are poorly adaptable to rock formations. The physical and mechanical properties of rock masses exhibit significant spatial variability, yet the methods described cannot identify rock formation information in real time and dynamically adjust the corresponding operating parameters. This can lead to severe drill bit wear in hard rock or low drilling efficiency in soft rock, as well as problems such as stuck drill bits and even damage to the rock drill, thus affecting construction progress and quality.

[0049] Furthermore, the above-mentioned solutions also suffer from an imbalance between energy consumption and efficiency. To avoid the risk of stuck drill bits, operators often set lower operating parameters, resulting in idle equipment capacity; while excessively increasing the drilling speed can easily lead to drill bit breakage and increased energy consumption.

[0050] To address at least one of the aforementioned problems, this disclosure provides a vehicle control method that adaptively establishes a relationship model between the vehicle's drilling speed and operating parameters based on changes in rock strata information within the vehicle's operating scenario, and determines target operating parameters with the goal of maximizing drilling speed. This accurately determines the target operating parameters suitable for the current operating scenario, and by controlling the vehicle to operate according to these target operating parameters, the vehicle's drilling speed is increased, thereby improving drilling efficiency.

[0051] For example, the technical solution of this disclosure can be implemented through the following embodiments.

[0052] Figure 1 Flowcharts illustrating some embodiments of the vehicle control method of this disclosure are shown.

[0053] like Figure 1 As shown, in step 110, a relationship model between the vehicle's drilling speed and its operating parameters is established based on the rock strata information of the vehicle's operating scenario. For example, the vehicle includes engineering machinery vehicles with drilling capabilities (such as rock drilling rigs), the rock strata information includes the compressive strength of the rock strata, and the operating parameters include impact parameters, which include impact pressure and impact flow rate.

[0054] In some embodiments, the operating parameters further include at least one of propulsion parameters and slewing parameters. For example, propulsion parameters include propulsion pressure, and slewing parameters include slewing pressure and slewing flow rate.

[0055] In step 120, based on the relational model, the target operating parameters of the vehicle are determined using the operating parameters as variables and maximizing the drilling speed as the objective. For example, the target operating parameters of the vehicle can be determined iteratively by using a particle swarm optimization algorithm to maximize the drilling speed.

[0056] In step 130, the vehicle is controlled to perform the operation according to the target operation parameters.

[0057] In the above embodiments, based on the changes in rock strata information in the vehicle's operating scenario, an adaptive model of the relationship between the vehicle's drilling speed and operating parameters is established, and target operating parameters are determined with the goal of maximizing drilling speed. In this way, target operating parameters suitable for the current operating scenario are accurately determined, and by controlling the vehicle to operate according to these target operating parameters, the vehicle's drilling speed is increased, thereby improving drilling efficiency.

[0058] The following examples illustrate the process of establishing the relational model in step 110 above.

[0059] In some embodiments, the weights corresponding to the operating parameters in the relational model are determined based on the vehicle's current operating parameters and current drilling speed. The weights differ for different rock formations. For example, taking a rock drilling rig, pressure and flow sensors can be installed at the outlets of the impact hydraulic cylinder, rotary hydraulic cylinder, and propulsion hydraulic cylinder to collect current operating parameters. Furthermore, the collected raw sampling data is smoothed using a time window of T=0.5s to eliminate high-frequency impact noise and to remove data points that deviate from the mean by ±3 standard deviations.

[0060] In contrast to related technologies that only use sensors for vehicle vibration, pressure, and flow for fault warning, the above embodiment makes reasonable use of various sensor data to establish a relationship model between vehicle operating parameters and drilling speed. This allows for accurate determination of operating parameters suitable for the current operating scenario, thereby improving the vehicle's drilling efficiency.

[0061] In some embodiments, a first objective function is constructed with weights as variables. The first objective function represents the difference between a first predicted velocity and the current drilling velocity. The first predicted velocity is determined based on the current operating parameters and weights. The first objective function is solved with the objective of minimizing it in order to determine the weights.

[0062] For example, the first prediction parameter can be determined by formula (1). Formula (1) represents the correspondence between drilling speed and operating parameters as well as rock strata information.

[0063] (1)

[0064] In formula (1), UCS (Uniaxial Compressive Strength) is the compressive strength of the rock strata in the working scenario; p h For impact pressure; Q h To boost traffic; p R For rotational pressure; Q R For the cyclic flow rate; p F The thrust is the pressure; A is the effective cross-sectional area of ​​the thrust cylinder; ρ is the drilling speed; n is the number of drill teeth on the drill bit; a η is the radius of the indentation where the drill bit contacts the rock; h η R η F The first, second, and third weights represent the energy contribution efficiency of impact, rotation, and propulsion, respectively; that is, the degree of influence of impact parameters, rotation parameters, and propulsion parameters on drilling speed. For example, uniaxial compressive strength can be obtained by acquiring standard rock cores and conducting compressive strength tests in the laboratory.

[0065] In the above embodiments, by using the rock strata information of the vehicle's operating scenario (e.g., UCS) as a direct input variable to the relational model, and combining it with the real-time collected current drilling speed and current operating parameters, the influence weight of the operating parameters on the drilling speed is dynamically determined. In this way, a correspondence is established between the vehicle's operating parameters and the drilling speed, reflecting the rock strata information. This ensures that the target operating parameters determined according to the relational model can accurately adapt to various complex geological conditions, thereby improving the vehicle's drilling efficiency.

[0066] In some embodiments, a first objective function is solved according to a first constraint condition, the first constraint condition including a first predicted velocity greater than a velocity threshold.

[0067] In some embodiments, the first objective function is iteratively solved until a first termination condition is met, the first termination condition including the number of iterations satisfying a first threshold. For example, a genetic algorithm can be used to iteratively solve the problem with the objective of minimizing the mean square error between the first predicted speed and the current drilling speed, to obtain η. h η R η F The value of .

[0068] For example, η h η R η F It can also be updated; for example, η can be recalculated periodically. h η R η F , so that η h η R η F It can adapt to different drilling conditions.

[0069] In the above embodiments, by constructing an objective equation and solving it by minimizing the difference between the first predicted speed and the current drilling speed, the influence weight of the operating parameters on the drilling speed is dynamically determined, and a relational model that can characterize the correspondence between the vehicle's operating parameters and the drilling speed under the current working conditions is established.

[0070] The following examples illustrate the process of determining the target operation parameters in step 120 above.

[0071] In some embodiments, a second objective function is constructed based on the relational model, using the job parameters as variables. The second objective function represents the correspondence between the second predicted speed and the job parameters. The second objective function is solved with the goal of maximizing the second predicted speed to determine the target job parameters.

[0072] In this way, by utilizing the relational model established in step 110, target operating parameters that better match the current rock conditions and the current state of the vehicle can be determined, thereby improving the drilling speed and operating efficiency of the vehicle.

[0073] For example, based on formula (1) and the determined weights, the correspondence between the second predicted speed and the operation parameters can be obtained. Then, the corresponding target operation parameters can be obtained by iteratively solving the problem with the goal of maximizing the second predicted speed.

[0074] In some embodiments, a second objective function is solved according to a second constraint condition, the second constraint condition including that the predicted power corresponding to the second predicted velocity is located in a first interval, and the predicted power is determined according to the second predicted velocity.

[0075] By limiting the predicted power within a reasonable range, we can avoid problems such as idle equipment capacity due to low operating parameters, and drill bit breakage and drastic energy consumption caused by blindly increasing operating parameters. This allows for a balance between drilling efficiency and energy consumption while controlling energy consumption and ensuring vehicle safety, thereby improving the reliability of vehicle operations.

[0076] For example, the predicted power of a vehicle operating at a second predicted speed can be obtained according to the power calculation formula (2), which is calculated by at least one of the impact power, propulsion power and slewing power.

[0077] (2)

[0078] In some embodiments, the second objective function is solved according to a third constraint, which includes the objective operation parameter being located in a second interval. For example, the third constraint can be expressed in the following form:

[0079] (3)

[0080] In formula (3), , , , , These are the maximum threshold values ​​corresponding to impact pressure, rotational pressure, propulsion pressure, impact flow rate, and rotational flow rate, respectively. For example, It can be set to 150. It can be set to 130. It can be set to 150. It can be set to 150. It can be set to 70.

[0081] In the above embodiments, by limiting the operating parameters within a reasonable range, damage to the hydraulic system, drilling tools, etc., caused by operating parameters exceeding the vehicle's execution capabilities can be avoided. This improves the vehicle's operating efficiency while ensuring the feasibility and safety of the operation process.

[0082] In some embodiments, the second objective function can be solved iteratively until a second termination condition is met, which includes the number of iterations meeting a second threshold. For example, the target job parameters can be solved based on a particle swarm optimization algorithm. The iteration process stops and the target job parameters are output when the difference between the second prediction velocities output in adjacent iterations of the second prediction velocity is less than an interval threshold, or when the number of iterations reaches the second threshold.

[0083] In the above embodiments, based on the rock strata information and current operating parameters in the current working scenario, an adaptive relationship model between the vehicle's drilling speed and operating parameters is established, and the target operating parameters of the vehicle are solved by combining power constraints. In this way, by balancing the energy consumption and efficiency of vehicle operation, target operating parameters that can adapt to different drilling conditions are accurately determined, thereby improving the vehicle's drilling speed and operating efficiency.

[0084] The following is through Figure 2 The embodiments described herein, using a rock drilling rig as an example, illustrate the control method of the aforementioned vehicle.

[0085] Figure 2 Flowcharts illustrating some other embodiments of the vehicle control method of this disclosure are shown.

[0086] like Figure 2 As shown, in step 210, the operating parameters of the rock drilling rig during the drilling process are collected through the intelligent acquisition and preprocessing module for operating parameters. For example, sensors are deployed on the hydraulic system, rotation system, and drill rod of the rock drilling rig to collect the current operating parameters of the rock drilling rig in real time, and the collected raw data is processed by moving average filtering, outlier removal, depth alignment, and normalization to generate a standardized data matrix.

[0087] In step 220, the drilling speed of the rock drilling rig can be expressed by the uniaxial compressive strength of the rock and the current operating parameters according to formula (1). After collecting the above-mentioned current operating parameters, the weight values ​​can be calculated by a genetic algorithm.

[0088] The solution process can also impose restrictions on the first prediction speed and the number of iterations. For example, the first constraint can be that the first prediction speed is greater than a speed threshold, and the iteration can continue until the number of iterations meets the first threshold.

[0089] Step 220 determines the weight η that is suitable for the current operating conditions. h η R η F This led to the determination of a model relating the drilling speed of the rock drilling rig to the operating parameters.

[0090] In step 230, the drilling speed of the rock drilling rig is optimized according to the relational model. As mentioned earlier, the target operating parameters of the rock drilling rig are obtained by maximizing the second predicted speed and combining it with power constraints.

[0091] In step 240, the drilling rig is controlled to operate according to the target drilling parameters obtained in step 230.

[0092] In the above embodiments, based on the rock strata information and current operating parameters in the current working scenario, and combined with power constraints, the target operating parameters of the drilling rig are solved. This balances the energy consumption and efficiency of the drilling rig, thereby increasing its drilling speed. In this way, operating parameters adaptable to different drilling conditions are accurately determined, thereby increasing the drilling speed of the vehicle and ultimately improving its drilling efficiency.

[0093] Figure 3 Block diagrams illustrating some embodiments of the control device of this disclosure are shown.

[0094] According to some other embodiments of this disclosure, a vehicle control device 3 is provided, comprising: a modeling unit 31, configured to establish a relationship model between the vehicle's drilling speed and the vehicle's operating parameters based on the rock strata information of the vehicle's operating scenario; a determination unit 32, configured to determine the vehicle's target operating parameters based on the relationship model, using the operating parameters as variables and maximizing the drilling speed as the objective; and a control unit 33, configured to control the vehicle to perform operations based on the target operating parameters.

[0095] In some embodiments, the establishing unit 31 determines the weights corresponding to the operating parameters in the relational model based on the vehicle's current operating parameters and current drilling speed. The weights are different for different rock strata information.

[0096] In some embodiments, the establishment unit 31 constructs a first objective function with weights as variables. The first objective function represents the difference between the first predicted speed and the current drilling speed. The first predicted speed is determined based on the current operating parameters and weights. The first objective function is solved with the goal of minimizing it in order to determine the weights.

[0097] In some embodiments, the establishment unit 31 solves for a first objective function based on a first constraint condition, the first constraint condition including a first predicted velocity greater than a velocity threshold.

[0098] In some embodiments, the establishment unit 31 iteratively solves the first objective function until a first termination condition is met, the first termination condition including the number of iterations meeting a first threshold.

[0099] In some embodiments, the determining unit 32 constructs a second objective function based on a relational model, using the operation parameters as variables. The second objective function characterizes the correspondence between the second predicted speed and the operation parameters. The second objective function is solved with the goal of maximizing the second predicted speed to determine the target operation parameters.

[0100] In some embodiments, the determining unit 32 solves for a second objective function based on a second constraint condition, the second constraint condition including that the predicted power corresponding to the second predicted speed is located in a first interval, and the predicted power is determined based on the second predicted speed.

[0101] In some embodiments, the determining unit 32 solves for the second objective function based on a third constraint condition, the third constraint condition including that the target operation parameter is located in a second interval.

[0102] In some embodiments, the determining unit 32 iteratively solves the second objective function until a second termination condition is met, the second termination condition including the number of iterations meeting a second threshold.

[0103] In some embodiments, the rock strata information includes the compressive strength of the rock strata, and the operating parameters include impact parameters.

[0104] In some embodiments, the operating parameters may further include at least one of propulsion parameters and slewing parameters.

[0105] In the above embodiments, based on the changes in rock strata information in the vehicle's operating scenario, an adaptive model is established to model the relationship between the vehicle's drilling speed and operating parameters, and target operating parameters are determined with the goal of maximizing the drilling speed. This allows for the accurate determination of target operating parameters suitable for the current operating scenario, thereby increasing the vehicle's drilling speed and ultimately improving its drilling efficiency.

[0106] Figure 4 Block diagrams illustrating other embodiments of the control device of this disclosure are shown.

[0107] like Figure 4 As shown, the control device 4 in this embodiment includes a memory 41 and a processor 42 coupled to the memory 41. The processor 42 is configured to execute the control method in any embodiment of this disclosure based on instructions stored in the memory 41.

[0108] The memory 41 may include, for example, system memory, fixed non-volatile storage media, etc. The system memory stores, for example, the operating system, application programs, boot loader, database, and other programs.

[0109] Figure 5 Block diagrams showing further embodiments of the control device of this disclosure are presented.

[0110] like Figure 5 As shown, the control device 5 of this embodiment includes a memory 610 and a processor 520 coupled to the memory 510. The processor 520 is configured to execute the control method of any of the foregoing embodiments based on instructions stored in the memory 510.

[0111] The memory 510 may include, for example, system memory, fixed non-volatile storage media, etc. The system memory may store, for example, the operating system, application programs, boot loader, and other programs.

[0112] The control device 5 may also include an input / output interface 530, a network interface 540, and a storage interface 550. These interfaces 530, 540, and 550, as well as the memory 510 and processor 520, can be connected via, for example, a bus 560. The input / output interface 530 provides a connection interface for input / output devices such as a monitor, mouse, keyboard, touchscreen, microphone, and speakers. The network interface 540 provides a connection interface for various networked devices. The storage interface 550 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0113] Figure 6 Block diagrams illustrating some embodiments of the vehicle disclosed herein.

[0114] like Figure 6 As shown, the vehicle 6 in this embodiment includes the control device 61 of any of the above embodiments.

[0115] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0116] The vehicle control method, control device, vehicle, and computer-readable storage medium according to this disclosure have been described in detail above. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0117] The methods and systems of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the specific order described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0118] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and are not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this disclosure.

Claims

1. A method for controlling a vehicle, comprising: Based on the rock strata information of the vehicle's operating scenario, a relationship model between the vehicle's drilling speed and its operating parameters is established. Based on the relationship model, using the operating parameters as variables and maximizing the drilling speed as the objective, the target operating parameters of the vehicle are determined. The vehicle is controlled to perform the operation based on the target operation parameters.

2. The control method according to claim 1, wherein, The model establishing the relationship between the drilling speed of the vehicle and the operating parameters of the vehicle includes: Based on the vehicle's current operating parameters and current drilling speed, the weights corresponding to the operating parameters in the relationship model are determined. The corresponding weights are different for different rock strata information.

3. The control method according to claim 2, wherein, The step of determining the weights corresponding to the operating parameters in the relational model based on the vehicle's current operating parameters and current drilling speed includes: A first objective function is constructed using the weights as variables. The first objective function characterizes the difference between the first predicted speed and the current drilling speed. The first predicted speed is determined based on the current operating parameters and the weights. The first objective function is solved with the goal of minimizing it, in order to determine the weights.

4. The control method according to claim 3, wherein, Solving the first objective function includes: The first objective function is solved according to the first constraint condition, which includes the first predicted velocity being greater than a velocity threshold.

5. The control method according to claim 3, wherein, Solving the first objective function includes: The first objective function is solved iteratively until a first termination condition is met, wherein the first termination condition includes the number of iterations meeting a first threshold.

6. The control method according to any one of claims 1-5, wherein, The step of determining the target operating parameters of the vehicle based on the relational model, using the operating parameters as variables and maximizing the drilling speed as the objective, includes: Based on the relationship model, a second objective function is constructed using the operation parameters as variables. The second objective function characterizes the correspondence between the second prediction speed and the operation parameters. With the goal of maximizing the second predicted speed, the second objective function is solved to determine the target operation parameters.

7. The control method according to claim 6, wherein solving the second objective function comprises: The second objective function is solved according to the second constraint condition, which includes that the predicted power corresponding to the second predicted speed is located in the first interval, and the predicted power is determined according to the second predicted speed.

8. The control method according to claim 6, wherein solving the second objective function comprises: The second objective function is solved according to the third constraint condition, wherein the third constraint condition includes that the objective operation parameter is located in the second interval.

9. The control method according to claim 6, wherein, Solving the second objective function includes: The second objective function is solved iteratively until a second termination condition is met, which includes the number of iterations meeting a second threshold.

10. The control method according to any one of claims 1-5, wherein, The rock strata information includes the compressive strength of the rock strata, and the operating parameters include impact parameters.

11. The control method according to claim 10, wherein, The operating parameters also include at least one of the propulsion parameters and the slewing parameters.

12. A vehicle control device, comprising: A model is established to establish a relationship between the drilling speed of the vehicle and the operating parameters of the vehicle based on the rock strata information of the vehicle's operating scenario. The determining unit is used to determine the target operating parameters of the vehicle based on the relationship model, using the operating parameters as variables and maximizing the drilling speed as the objective. The control unit is used to control the vehicle to perform the operation according to the target operation parameters.

13. A vehicle control device, comprising: Memory; and A processor coupled to the memory, the processor being configured to execute the control method of any one of claims 1-11 based on instructions stored in the memory.

14. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method according to any one of claims 1-11.

15. A computer program product comprising instructions that, when executed by a processor, cause the processor to perform the control method according to any one of claims 1-11.

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