Mine car speed fusion processing method and device, program product and electronic equipment

Abstract

The invention provides a mine car speed fusion processing method and device, a program product and electronic equipment, and the method comprises the steps: obtaining the positioning speed and chassis speed of a target mine car; determining a target weight distribution strategy according to the signal state of the positioning signal; wherein the positioning signal is used for providing a positioning service for the target mine car, and the positioning service comprises a positioning speed determination service; the target weight distribution strategy is used for controlling to distribute weights for the positioning speed and the chassis speed; and according to a target weight distribution strategy, fusing the positioning speed and the chassis speed to obtain a fusion speed of the target mine car. According to the signal state of the positioning signal, the strategy for carrying out weight distribution on the positioning speed and the chassis speed of the target mine car is determined, so that the positioning speed and the chassis speed of the target mine car are fused, and then the speed characterization accuracy of the target mine car is improved; and the stable operation of the unmanned driving system and the accuracy of the motion planning decision are ensured.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of unmanned driving, and particularly relates to a mine car speed fusion processing method, a mine car speed fusion processing device, a computer program product and an electronic device. BACKGROUND

[0002] In a mine operation scene, a mine car usually travels on a road surface composed of soft sandstone. Due to the special road surface condition, the speed sensor of the vehicle chassis cannot accurately feedback the actual running state of the mine car. At the same time, the mine area environment is complex, and the communication infrastructure is relatively limited, resulting in insufficient positioning signal coverage, and the positioning speed data is unstable and uncertain. Neither the chassis speed nor the positioning speed can truly and accurately reflect the actual running condition of the mine car, which may cause the control and motion planning decision of the mine car autonomous driving to receive speed information containing significant errors, thereby affecting the stable operation of the entire mine area unmanned driving system and the accuracy of the motion planning decision.

[0003] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0004] The present disclosure provides a mine car speed fusion processing method, a mine car speed fusion processing device, a computer program product and an electronic device to solve the problem of inaccurate mine car speed representation in related technologies to some extent.

[0005] According to a first aspect of the present disclosure, a mine car speed fusion processing method is provided, the method comprising: obtaining a positioning speed and a chassis speed of a target mine car; determining a target weight distribution strategy according to a signal state of a positioning signal; wherein the positioning signal is used to provide a positioning service for the target mine car, the positioning service including a determination service of the positioning speed; the target weight distribution strategy is used to control the distribution of weights for the positioning speed and the chassis speed; and fusing the positioning speed and the chassis speed according to the target weight distribution strategy to obtain a fusion speed of the target mine car.

[0006] In an example embodiment of the present disclosure, the signal state includes a first signal state and a second signal state, and the signal strength of the positioning signal in the first signal state is greater than the signal strength of the positioning signal in the second signal state. The method further includes monitoring the signal strength of the positioning signal and determining whether the signal strength of the positioning signal exceeds a preset signal strength threshold. If the signal strength of the positioning signal exceeds the preset signal strength threshold, it is determined that the positioning signal is in the first signal state. If the signal strength of the positioning signal does not exceed the preset signal strength threshold, it is determined that the positioning signal is in the second signal state.

[0007] In an example embodiment of the present disclosure, the target weight distribution strategy is determined according to the signal state of the positioning signal. If the positioning signal is in the first signal state, a first weight distribution strategy is used as the target weight distribution strategy. In the first weight distribution strategy, the weight assigned to the positioning speed is greater than the weight assigned to the chassis speed. If the positioning signal is in the second signal state, a second weight distribution strategy is used as the target weight distribution strategy. In the second weight distribution strategy, the weight assigned to the positioning speed is not greater than the weight assigned to the chassis speed.

[0008] In an example embodiment of the present disclosure, if the positioning signal is in the first signal state, the first weight distribution strategy is used as the target weight distribution strategy. If the positioning signal is in the first signal state, the positioning speed and the chassis speed of the target mine car are used to determine whether the target mine car is in a preset driving state. The preset driving state includes a wheel slip state and a wheel idle state. If the target mine car is not in the preset driving state, the first weight distribution strategy is used as the target weight distribution strategy. If the target mine car is in the preset driving state, the first weight distribution strategy is adjusted, and the adjusted first weight distribution strategy is used as the target weight distribution strategy.

[0009] In an example embodiment of the present disclosure, the positioning speed and the chassis speed of the target mine car are used to determine whether the target mine car is in a preset driving state. The positioning speed and the chassis speed of the target mine car are used to determine a speed difference. If the speed difference is less than or equal to a first preset speed difference, it is determined that the target mine car is not in the preset driving state. If the speed difference is greater than the first preset speed difference, it is determined that the target mine car is in the preset driving state.

[0010] In an example embodiment of the present disclosure, if the speed difference value is greater than the first preset speed difference, determining that the target mine car is in a preset driving state, comprises: if the speed difference value is greater than the first preset speed difference and less than or equal to a second preset speed difference, determining that the target mine car is in a wheel slip state; if the speed difference value is greater than the second preset speed difference, determining that the target mine car is in a wheel idle state; wherein the first preset speed difference is less than the second preset speed difference.

[0011] In an example embodiment of the present disclosure, if the target mine car is in the preset driving state, controlling the adjustment of the first weight distribution strategy, comprises: if the target mine car is in the preset driving state, based on a preset weight adjustment parameter, controlling the reduction of the weight allocated to the chassis speed in the first weight distribution strategy and the increase of the weight allocated to the positioning speed in the first weight distribution strategy, so that the sum of the weights of the positioning speed and the chassis speed remains unchanged.

[0012] According to a second aspect of the present disclosure, a mine car speed fusion processing device is provided, comprising: a speed acquisition module for acquiring a positioning speed and a chassis speed of a target mine car; a strategy determination module for determining a target weight distribution strategy according to a signal state of a positioning signal; wherein the positioning signal is used to provide positioning service for the target mine car, and the positioning service includes the determination service of the positioning speed; the target weight distribution strategy is used to control the weight distribution of the positioning speed and the chassis speed; a speed fusion module for fusing the positioning speed and the chassis speed according to the target weight distribution strategy to obtain a fusion speed of the target mine car.

[0013] According to a third aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the mine car speed fusion processing method of the first aspect.

[0014] According to a fourth aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the mine car speed fusion processing method of the first aspect by executing the executable instructions.

[0015] The technical solution of the present disclosure has the following beneficial effects: In the above mine car speed fusion processing process, the positioning speed and the chassis speed of the target mine car are obtained; according to the signal state of the positioning signal, a target weight distribution strategy is determined; wherein the positioning signal is used to provide positioning service for the target mine car, and the positioning service includes the determination service of the positioning speed; the target weight distribution strategy is used to control the weight distribution for the positioning speed and the chassis speed; according to the target weight distribution strategy, the positioning speed and the chassis speed are fused to obtain the fusion speed of the target mine car. According to the signal state of the positioning signal, the strategy for weight distribution of the positioning speed and the chassis speed of the target mine car is determined, the scene adaptivity of the weight of the positioning speed and the weight of the chassis speed is realized, reliable data support is provided for further fusion of the positioning speed and the chassis speed of the target mine car, the accuracy of the target mine car speed representation can be further improved, and the stable operation of the unmanned driving system and the accuracy of the motion planning decision are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A flow chart of a mine car speed fusion processing method in the present exemplary embodiment is shown; Figure 2 A flow chart of determining the signal state of the positioning signal in the present exemplary embodiment is shown; Figure 3 A flow chart of determining whether the target mine car appears in a preset driving state in the present exemplary embodiment is shown; Figure 4 A flow chart of distributing weights for the positioning speed and the chassis speed in the present exemplary embodiment is shown; Figure 5 A structural block diagram of a mine car speed fusion processing device in the present exemplary embodiment is shown; Figure 6 An electronic device for implementing the above mine car speed fusion processing method in the present exemplary embodiment is shown. DETAILED DESCRIPTION

[0017] Examples of the present disclosure will be described more fully below with reference to the accompanying drawings.

[0018] The accompanying drawings are schematic illustrations of this disclosure and are not necessarily drawn to scale. Some block diagrams shown in the drawings may be functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in hardware modules or integrated circuits, or in networks, processors, or microcontrollers. Implementations can be carried out in various forms and should not be construed as limited to the examples set forth herein. The features, structures, or characteristics described in this disclosure can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough description of embodiments of this disclosure. However, those skilled in the art will recognize that one or more specific details may be omitted when implementing the technical solutions of this disclosure, or other methods, components, apparatuses, steps, etc., may be used to replace one or more specific details.

[0019] Due to the unique environment of mines, neither chassis speed nor positioning speed, these two key speed parameters, can truly and accurately reflect the actual operating conditions of the mining truck. This may result in the autonomous driving control and motion planning decisions of the mining truck receiving speed information with significant errors, thereby affecting the stable operation of the entire mine's autonomous driving system and the accuracy of motion planning decisions.

[0020] The exemplary embodiments of this disclosure provide a mining car speed fusion processing method, a mining car speed fusion processing device, a computer program product, and an electronic device, which can be well applied to mining operation scenarios and solve the above problems to a certain extent.

[0021] In one alternative implementation, refer to Figure 1 The diagram illustrates a method for fusion processing of mine car speeds, specifically including the following steps S110 to S130: Step S110: Obtain the positioning speed and chassis speed of the target mining truck; Step S120: Determine the target weight allocation strategy based on the signal state of the positioning signal; wherein, the positioning signal is used to provide positioning services for the target mining vehicle, and the positioning services include the determination of positioning speed; the target weight allocation strategy is used to control the allocation of weights to the positioning speed and the chassis speed. Step S130: According to the target weight allocation strategy, the positioning speed and chassis speed are fused to obtain the fused speed of the target mining truck.

[0022] Figure 1The method shown determines a strategy for weighting the positioning speed and chassis speed of the target mining vehicle based on the signal state of the positioning signal. This achieves scene-adaptive weighting of the positioning speed and chassis speed, providing reliable data support for further fusion of the positioning speed and chassis speed of the target mining vehicle. It can further improve the accuracy of the target mining vehicle speed representation, ensuring the stable operation of the unmanned driving system and the accuracy of motion planning decisions.

[0023] It should be noted that, in this disclosure, "mining truck" refers to an unmanned vehicle used in mining scenarios to load and transport materials such as ore and coal. It can be equipped with positioning service functions, such as an in-vehicle integrated navigation system, which can provide positioning services through one or more positioning technologies (such as GPS, Beidou, etc.).

[0024] The following is about Figure 1 The steps in the process will be explained in detail.

[0025] In step S110, the positioning speed and chassis speed of the target mining vehicle are obtained.

[0026] The target mining car refers to the mining car in the mining area that needs to undergo speed analysis processing. It can be a mining car traveling in the forward or reverse direction, or a mining car loading or unloading materials. This disclosure does not specifically limit the type of operation being performed by the target mining car.

[0027] The positioning speed refers to the speed information obtained through the positioning service function installed on the mining truck. Specifically, this positioning speed can be the driving speed data collected and calculated in real time by the mining truck's built-in positioning service function during operation.

[0028] For example, the real-time vehicle position information output by an onboard inertial navigation system with centimeter-level positioning accuracy can be used to calculate the speed of the mining truck at each cycle. For instance, the speed can be sampled and updated at a fixed frequency (e.g., 100 Hz).

[0029] The chassis speed refers to the moving speed of the chassis when the mine car is moving. It can be detected by wheel speed sensors installed on the chassis and can be determined by the number of revolutions of the wheels per unit time.

[0030] For example, the current positioning speed and chassis speed of the target mining vehicle can be obtained for subsequent use.

[0031] In step S120, a target weight allocation strategy is determined based on the signal state of the positioning signal; wherein, the positioning signal is used to provide positioning services for the target mining vehicle, and the positioning services include the determination of positioning speed; the target weight allocation strategy is used to control the allocation of weights to the positioning speed and the chassis speed.

[0032] The signal state of the positioning signal can be used to characterize the quality of the positioning signal. Optionally, the signal quality can be pre-divided into multiple levels of state to distinguish quality. For example, a first signal state can be used to characterize a stronger positioning signal quality, and a second signal state can be used to characterize a weaker positioning signal quality. This disclosure does not impose specific limitations on this.

[0033] Understandably, due to the typically complex environment of mining areas, factors such as topography, building distribution, and equipment obstruction can lead to significant differences in signal quality across different areas. Some areas may have strong signal quality, while others may experience poor signal quality. The signal quality of the positioning signal directly affects the response speed and accuracy of the positioning service. The better the signal quality, the higher the accuracy of the determined positioning speed; conversely, poor signal quality may lead to positioning delays or even increased positioning deviations, resulting in lower accuracy of the determined positioning speed.

[0034] Optionally, the quality of the positioning signal can be characterized by indicators such as the strength and stability of the positioning signal, and this disclosure does not impose specific limitations on this.

[0035] In one optional implementation, the specific signal state of the positioning signal can be determined by setting a preset signal strength threshold. For example... Figure 2 The diagram illustrates a process for determining the signal state of a positioning signal, which may include the following steps: Step S210: Monitor the signal strength of the positioning signal and determine whether the signal strength of the positioning signal exceeds the preset signal strength threshold. Step S220: If the signal strength of the positioning signal exceeds the preset signal strength threshold, determine that the positioning signal is in the first signal state; Step S230: If the signal strength of the positioning signal does not exceed the preset signal strength threshold, determine that the positioning signal is in the second signal state.

[0036] The preset signal strength threshold refers to a pre-set threshold used to distinguish between strong and weak signals, and this disclosure does not specifically limit it.

[0037] The first signal state can be a state with high signal strength; the second signal state can be a state with low signal strength. The signal strength of the positioning signal in the first signal state is greater than that in the second signal state. This distinction helps to more clearly describe and analyze differences in signal quality.

[0038] Figure 2 In the steps shown, by determining the signal state of the positioning signal, a basis for further weight allocation can be provided, thereby ensuring that relatively accurate speed information can still be obtained in the mining environment.

[0039] In one optional implementation, the determination of the target weight allocation strategy based on the signal state of the positioning signal can be achieved through the following steps: if the positioning signal is in a first signal state, the first weight allocation strategy is used as the target weight allocation strategy; wherein, in the first weight allocation strategy, the weight allocated to the positioning speed is greater than the weight allocated to the chassis speed; if the positioning signal is in a second signal state, the second weight allocation strategy is used as the target weight allocation strategy; wherein, in the second weight allocation strategy, the weight allocated to the positioning speed is not greater than the weight allocated to the chassis speed.

[0040] The first weight allocation strategy may include a weight allocated to the positioning speed and a weight allocated to the chassis speed, and the weight allocated to the positioning speed shall be greater than the weight allocated to the chassis speed. The specific weight allocation strategy may be preset, and this disclosure does not impose any specific limitations on it.

[0041] The second weight allocation strategy may include a weight allocated to the positioning speed and a weight allocated to the chassis speed, and the weight allocated to the positioning speed shall not be greater than the weight allocated to the chassis speed. The specific weight allocation strategy can be preset, and this disclosure does not impose any specific limitations on it.

[0042] If the positioning signal is in the first signal state, it indicates that the current positioning signal is strong. In this case, the first weight allocation strategy can be used as the target weight allocation strategy to assign a higher weight to positioning speed. If the positioning signal is in the second signal state, it indicates that the current positioning signal is weak. In this case, the second weight allocation strategy can be used as the target weight allocation strategy to assign a better weight to chassis speed.

[0043] By adaptively allocating weights based on the signal state of the positioning signal, the adverse effects on the final speed determination result can be effectively avoided when the positioning speed or chassis speed is inaccurate. Through this dynamic adjustment method, even in complex mining environments, relatively accurate speed information can be obtained, thereby ensuring the stable operation of the autonomous driving system and the accuracy of motion planning decisions.

[0044] In one optional implementation, if the positioning signal is in a first signal state, the first weight allocation strategy is used as the target weight allocation strategy, which can be achieved through the following steps: if the positioning signal is in a first signal state, determine whether the target mining truck is in a preset driving state based on the positioning speed and chassis speed of the target mining truck; the preset driving state includes wheel slippage state and wheel free spin state; if the target mining truck is not in a preset driving state, the first weight allocation strategy is used as the target weight allocation strategy; if the target mining truck is in a preset driving state, control and adjust the first weight allocation strategy, and use the adjusted first weight allocation strategy as the target weight allocation strategy.

[0045] It is understandable that during the operation of a mining truck, the wheels may be spinning freely when reversing to load materials; and the wheels may slip when passing through uphill or downhill sections or slippery sections of road.

[0046] When the target mining truck experiences wheel slippage or wheel spinning, the first weight allocation strategy is adjusted by control, and the adjusted first weight allocation strategy is used as the target weight allocation strategy. This allows the target mining truck to adaptively adjust the weight allocation strategy when it encounters slippage or spinning, thereby obtaining more accurate speed information.

[0047] In one optional implementation, the positioning speed and chassis speed of the target mining car can be used to determine whether the target mining car is in a preset driving state, i.e., whether wheel slippage or wheel spinning occurs. Specifically, the determination of whether the target mining car is in a preset driving state can be achieved through the following steps: determining the speed difference based on the positioning speed and chassis speed of the target mining car; if the speed difference is less than or equal to a first preset speed difference, it is determined that the target mining car is not in a preset driving state; if the speed difference is greater than the first preset speed difference, it is determined that the target mining car is in a preset driving state.

[0048] The first preset speed difference is a pre-set threshold used to distinguish whether a preset driving state has occurred. It can be set based on experience, and this disclosure does not impose specific limitations on it.

[0049] For example, the positioning speed of the target mining truck can be subtracted from the chassis speed to obtain the speed difference. If the speed difference is less than or equal to the first preset speed difference, it can be considered that the target mining truck has not entered the preset driving state; if the speed difference is greater than the first preset speed difference, it can be determined that the target mining truck has entered the preset driving state.

[0050] The threshold for distinguishing whether a mine car has entered a preset driving state is determined by the first preset speed difference. The operation is simple and easy to implement.

[0051] In one optional implementation, if the speed difference is greater than a first preset speed difference, it is determined that the target mine car is in a preset driving state. This can be achieved through the following steps: if the speed difference is greater than the first preset speed difference and less than or equal to a second preset speed difference, it is determined that the target mine car is in a wheel slipping state; if the speed difference is greater than the second preset speed difference, it is determined that the target mine car is in a wheel spinning state; wherein, the first preset speed difference is less than the second preset speed difference.

[0052] The second preset speed difference is a pre-set threshold used to distinguish between wheel slippage and wheel spinning, which can be set based on experience, and this disclosure does not impose specific limitations on it.

[0053] Understandably, when the target mining truck experiences wheel slippage, the chassis speed remains constant, while the positioning speed is slightly lower, with the difference being negligible. Conversely, when the target mining truck experiences wheel spinning, the positioning speed approaches zero, while the chassis speed remains constant, resulting in a more significant difference between the two. Therefore, a first preset speed difference can be set to be less than a second preset speed difference. This allows the first preset speed difference to be used to measure whether wheel slippage has occurred, while the second speed difference is used to measure whether wheel spinning has occurred.

[0054] For example, the first preset speed difference can be set to 0.5 m / s, and the second preset speed difference can be set to 2 m / s. It should be noted that the settings of the first and second preset speed differences here are only illustrative descriptions and can be adjusted according to actual needs in actual applications. This disclosure does not impose any specific limitations on them.

[0055] For example, such as Figure 3 The diagram illustrates a process for determining whether a target mining truck has entered a preset driving state based on its positioning speed and chassis speed. Specifically, it includes the following steps: Step S301: Determine the speed difference based on the positioning speed and chassis speed of the target mining truck; Step S302: If the speed difference is less than or equal to the first preset speed difference, it is determined that the target mine car has not experienced wheel slippage or wheel spinning. Step S303: If the speed difference is greater than the first preset speed difference and less than or equal to the second preset speed difference, it is determined that the target mine car is experiencing wheel slippage. Step S304: If the speed difference is greater than the second preset speed difference, it is determined that the target mine car is in a state of wheel idling.

[0056] The target mine car is judged based on the first preset speed difference and the second preset speed difference. The operation process is simple and intuitive, and the technical implementation is relatively easy, making it easy to promote and use in practical applications.

[0057] If the target mining truck is detected to be in a preset driving state, the first weight allocation strategy can be adjusted and the adjusted first weight allocation strategy can be used as the target weight allocation strategy.

[0058] In one optional implementation, if the target mining truck exhibits a preset driving state, the control adjustment of the first weight allocation strategy can be achieved through the following steps: if the target mining truck exhibits a preset driving state, based on the weight adjustment parameters, control the reduction of the weight allocated to the chassis speed in the first weight allocation strategy and the increase of the weight allocated to the positioning speed in the first weight allocation strategy.

[0059] The weight adjustment parameter is used to control the amount of weight adjustment. Its value can be less than or equal to the weight assigned to chassis speed in the first weight allocation strategy, so as to ensure that the weight value is kept within a reasonable positive range and to avoid negative weight.

[0060] Optionally, the weight adjustment parameters can be preset based on experience, and this disclosure does not impose specific limitations on them.

[0061] It should be noted that, in order to ensure that the weights of positioning speed and chassis speed remain constant, the increase in the weight allocated to positioning speed in the first weight allocation strategy should be consistent with the decrease in the weight allocated to chassis speed in the first weight allocation strategy.

[0062] It is understandable that if the positioning signal is in the first signal state, it indicates that the current positioning signal is strong and the accuracy of the collected positioning speed is high. When the target mining truck encounters slippage or idling, by adaptively reducing the weight allocated to the chassis speed in the first weight allocation strategy and increasing the weight allocated to the positioning speed in the first weight allocation strategy, the accuracy of the target mining truck speed representation can be improved.

[0063] Optionally, taking the positioning signal as the first signal state as an example, if the target mining truck experiences wheel slippage, the weight allocated to chassis speed in the first weight allocation strategy can be reduced and the weight allocated to positioning speed can be increased based on the first weight adjustment parameter. If the target mining truck experiences wheel spinning, the weight allocated to chassis speed in the first weight allocation strategy can be reduced and the weight allocated to positioning speed can be increased based on the second weight adjustment parameter. The first weight adjustment parameter can be smaller than the second weight adjustment parameter.

[0064] When a vehicle is skidding, the reduced friction between the tires and the ground causes a slight deviation in the driving trajectory. The positioning speed is usually slightly lower than the chassis speed, but the difference between the two is usually within a small range. The chassis speed can still reflect the approximate driving speed of the mining truck to a certain extent. There is no need to correct the speed calculation result through a large weight adjustment. Therefore, a first weight adjustment parameter can be configured for this scenario. Its value is relatively small, which can moderately balance the deviation between the positioning speed and the chassis speed, while retaining the reference significance of the chassis speed, thus ensuring the stability of the speed fusion result.

[0065] When the wheels are spinning freely, the tires lose effective surface contact and spin at high speed. At this time, the chassis speed will remain at a relatively stable constant value, but this value can no longer truly reflect the actual movement state of the mining truck. The positioning speed is minimally affected by the wheel spinning and is closer to 0, which is highly consistent with the actual stationary or slow-moving operation of the mining truck. Therefore, a second weight adjustment parameter can be configured for this scenario. Its value is relatively high to strengthen the weight of the positioning speed in the speed fusion calculation, ensuring that the final output speed data can accurately match the actual operating state of the mining truck and provide reliable support for subsequent control decisions and path planning.

[0066] For example, such as Figure 4 As shown, a flowchart illustrates a process for assigning weights to positioning speed and chassis speed.

[0067] Step S401: If the positioning signal is in the first signal state, determine the speed difference based on the positioning speed of the target mining truck and the chassis speed. Step S402: If the speed difference is less than or equal to the first preset speed difference, it is determined that the target mine car has not entered the preset driving state. At this time, the first weight allocation strategy is used as the target weight allocation strategy. Step S403: If the speed difference is greater than the first preset speed difference, it is determined that the target mining truck has entered a preset driving state. Based on the weight adjustment parameters, the weight allocated to the chassis speed in the first weight allocation strategy is reduced, the weight allocated to the positioning speed in the first weight allocation strategy is increased, and the adjusted first weight allocation strategy is used as the target weight allocation strategy.

[0068] After determining the target weight allocation strategy, step S130 can be executed.

[0069] In step S130, the positioning speed and chassis speed are fused according to the target weight allocation strategy to obtain the fused speed of the target mining truck.

[0070] Optionally, after determining the target weight allocation strategy, speed fusion can be performed based on Kalman filtering to obtain the fused speed of the target mining truck.

[0071] Specifically, during the fusion process, the positioning speed and chassis speed can be weighted and summed according to the weights assigned to the positioning speed and chassis speed in the target weight allocation strategy to obtain the fused speed of the target mining truck. This provides more accurate speed information to downstream modules (such as capacity scheduling and route planning), thereby ensuring the stable operation of the mining truck unmanned driving system and the accuracy of motion planning decisions.

[0072] Exemplary embodiments of this disclosure also provide a mine car speed fusion processing apparatus, with reference to Figure 5As shown, the mine car speed fusion processing device 500 may include the following program modules: The speed acquisition module 510 is used to acquire the positioning speed and chassis speed of the target mining truck; The strategy determination module 520 is used to determine the target weight allocation strategy based on the signal status of the positioning signal; wherein, the positioning signal is used to provide positioning services for the target mining truck, and the positioning services include the determination service of positioning speed; the target weight allocation strategy is used to control the allocation of weights to the positioning speed and the chassis speed. The speed fusion module 530 is used to fuse the positioning speed and chassis speed according to the target weight allocation strategy to obtain the fused speed of the target mining truck.

[0073] In an optional implementation, based on the aforementioned scheme, the mine car speed fusion processing device 500 may include a signal state determination module. This signal state determination module may be configured to: monitor the signal strength of the positioning signal and determine whether the signal strength of the positioning signal exceeds a preset signal strength threshold; if the signal strength of the positioning signal exceeds the preset signal strength threshold, determine that the positioning signal is in a first signal state; if the signal strength of the positioning signal does not exceed the preset signal strength threshold, determine that the positioning signal is in a second signal state; wherein the signal strength of the positioning signal in the first signal state is greater than the signal strength in the second signal state.

[0074] In an optional implementation, based on the aforementioned scheme, the strategy determination module 520 includes: a first processing module, configured to, if the positioning signal is in a first signal state, use a first weight allocation strategy as the target weight allocation strategy; wherein, in the first weight allocation strategy, the weight allocated to the positioning speed is greater than the weight allocated to the chassis speed; and a second processing module, configured to, if the positioning signal is in a second signal state, use a second weight allocation strategy as the target weight allocation strategy; wherein, in the second weight allocation strategy, the weight allocated to the positioning speed is not greater than the weight allocated to the chassis speed.

[0075] In an optional implementation, based on the aforementioned scheme, the first processing module includes: a driving state determination module, used to determine whether the target mining truck has entered a preset driving state if the positioning signal is in a first signal state; the preset driving state includes wheel slippage state and wheel freewheeling state; a strategy determination submodule, used to use a first weight allocation strategy as the target weight allocation strategy if the target mining truck has not entered the preset driving state; and a strategy adjustment submodule, used to control and adjust the first weight allocation strategy if the target mining truck has entered the preset driving state, and use the adjusted first weight allocation strategy as the target weight allocation strategy.

[0076] In one optional implementation, based on the aforementioned scheme, the driving state determination module includes: a speed difference determination module, used to determine a speed difference based on the positioning speed and chassis speed of the target mining truck; a first determination module, used to determine that the target mining truck has not entered a preset driving state if the speed difference is less than or equal to a first preset speed difference; and a second determination module, used to determine that the target mining truck has entered a preset driving state if the speed difference is greater than the first preset speed difference.

[0077] In one optional implementation, based on the aforementioned scheme, the second determining module can be configured to: determine that the target mine car is in a wheel slipping state if the speed difference is greater than the first preset speed difference and less than or equal to the second preset speed difference; determine that the target mine car is in a wheel spinning state if the speed difference is greater than the second preset speed difference; wherein, the first preset speed difference is less than the second preset speed difference.

[0078] In an optional implementation, based on the aforementioned scheme, the strategy adjustment submodule can be configured to: if the target mining truck exhibits a preset driving state, based on the weight adjustment parameters, control the reduction of the weight allocated to the chassis speed in the first weight allocation strategy and the increase of the weight allocated to the positioning speed in the first weight allocation strategy.

[0079] The specific details of each part of the above-mentioned mine car speed fusion processing device 500 have been described in detail in the method section of the implementation. For any undisclosed details, please refer to the implementation content of the method section, and therefore will not be repeated here.

[0080] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to exemplary embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0081] An exemplary embodiment of this disclosure also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the aforementioned mine car speed fusion processing method.

[0082] In one implementation, the computer program product can be a tangible product containing a computer program, such as a computer-readable storage medium storing the computer program. The readable storage medium can be a storage medium based on electrical, magnetic, optical, electromagnetic, infrared, or other signals, including but not limited to: random access memory (RAM), read-only memory (ROM), magnetic tape, floppy disk, flash memory, hard disk drive (HDD), solid-state drive (SSD), etc. For example, the computer program product can be implemented as a non-volatile storage medium storing a computer program, such as read-only memory, NAND flash memory, etc.

[0083] In one implementation, the computer program product can be an intangible product containing a computer program. For example, the computer program product can be implemented as a virtual digital product, such as an executable file, installation package, or other digital file storing the computer program.

[0084] Computer program code can be written in one or more programming languages. Examples of programming languages ​​include C, Java, and C++. Program code can execute entirely on the user's computing device, partially on the user's computing device, or as a standalone software package. It can also execute partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, such as a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via an internet connection provided by a mobile network operator).

[0085] Computer programs can be carried or transmitted via signals such as electrical, magnetic, optical, electromagnetic, and infrared rays. Electronic devices can convert signals carrying computer programs into digital signals, thereby running the computer programs. When a computer program runs on an electronic device, its code is used to cause the electronic device to execute (more specifically, to be executed by the processor of the electronic device) the method steps of various exemplary embodiments of this disclosure.

[0086] An exemplary embodiment of this disclosure also provides an electronic device capable of implementing the above-described mine car speed fusion processing method. The electronic device may include a processor and a memory. The memory stores executable instructions for the processor, such as program code. The processor executes the executable instructions to perform the method of this exemplary embodiment.

[0087] The following is for reference. Figure 6 The electronic device is illustrated by way of a general-purpose computing device. It should be understood that... Figure 6The electronic device 600 shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments disclosed herein.

[0088] like Figure 6 As shown, the electronic device 600 may include: a processor 610, a memory 620, a bus 630, an I / O (input / output) interface 640, and a network adapter 650.

[0089] For example, the electronic device 600 can be a first network element (e.g., SGC) or a second network element (e.g., DGW).

[0090] Memory 620 may include volatile memory, such as RAM 621 and cache unit 622, and may also include non-volatile memory, such as ROM 623. Memory 620 may also include one or more program modules 624, such program modules 624 including, but not limited to: operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. For example, program module 624 may include the modules in the above-described device.

[0091] The processor 610 may include one or more processing units, such as an AP (Application Processor), a modem processor, a GPU (Graphics Processing Unit), an ISP (Image Signal Processor), a controller, an encoder, a decoder, a DSP (Digital Signal Processor), a baseband processor, and / or an NPU (Neural-Network Processing Unit).

[0092] The processor 610 can be used to execute executable instructions stored in the memory 620, such as performing any one or more method steps in this exemplary embodiment.

[0093] Bus 630 is used to connect different components of electronic device 600 and may include a data bus, an address bus and a control bus.

[0094] Electronic device 600 can communicate with one or more external devices 700 (such as keyboard, mouse, external controller, etc.) through I / O interface 640.

[0095] Electronic device 600 can communicate with one or more networks via network adapter 650. Network adapter 650 can communicate with other modules of electronic device 600 via bus 630.

[0096] although Figure 6 As not shown in the diagram, other hardware and / or software modules may also be configured in the electronic device 600, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (Redundant Arrays of Independent Disks) systems, tape drives, and data backup storage systems.

[0097] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to exemplary embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0098] Those skilled in the art will understand that various aspects of this disclosure can be implemented as systems, methods, or program products. Therefore, various aspects of this disclosure can be embodied in entirely hardware implementations, entirely software implementations (including firmware, microcode, etc.), or implementations combining hardware and software aspects, collectively referred to herein as “circuit,” “module,” or “system.” Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0099] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is defined only by the appended claims.

Claims

1. A method for processing the speed fusion of mining cars, characterized in that, The method includes: Obtain the target mining truck's location speed and chassis speed; Based on the signal state of the positioning signal, a target weight allocation strategy is determined; wherein, the positioning signal is used to provide positioning services for the target mining vehicle, and the positioning service includes the determination service of the positioning speed; the target weight allocation strategy is used to control the allocation of weights to the positioning speed and the chassis speed. According to the target weight allocation strategy, the positioning speed and the chassis speed are fused to obtain the fused speed of the target mining truck.

2. The method according to claim 1, characterized in that, The method further includes: Monitor the signal strength of the positioning signal and determine whether the signal strength of the positioning signal exceeds a preset signal strength threshold; If the signal strength of the positioning signal exceeds the preset signal strength threshold, the positioning signal is determined to be in a first signal state; If the signal strength of the positioning signal does not exceed the preset signal strength threshold, the positioning signal is determined to be in the second signal state. Wherein, the signal strength of the positioning signal when it is in the first signal state is greater than the signal strength when it is in the second signal state.

3. The method according to claim 2, characterized in that, The step of determining the target weight allocation strategy based on the signal state of the positioning signal includes: If the positioning signal is in the first signal state, the first weight allocation strategy is used as the target weight allocation strategy; wherein, in the first weight allocation strategy, the weight allocated to the positioning speed is greater than the weight allocated to the chassis speed; If the positioning signal is in the second signal state, the second weight allocation strategy is used as the target weight allocation strategy; wherein, the weight allocated to the positioning speed in the second weight allocation strategy is not greater than the weight allocated to the chassis speed.

4. The method according to claim 3, characterized in that, If the positioning signal is in the first signal state, the first weight allocation strategy is used as the target weight allocation strategy, including: If the positioning signal is in the first signal state, determine whether the target mining truck is in a preset driving state; the preset driving state includes wheel slippage state and wheel spinning state. If the target mining truck does not exhibit the preset driving state, the first weight allocation strategy will be used as the target weight allocation strategy. If the target mining vehicle exhibits the preset driving state, the first weight allocation strategy is adjusted, and the adjusted first weight allocation strategy is used as the target weight allocation strategy.

5. The method according to claim 4, characterized in that, The step of determining whether the target mining truck has entered a preset driving state includes: The speed difference is determined based on the positioning speed and chassis speed of the target mining vehicle; If the speed difference is less than or equal to the first preset speed difference, it is determined that the target mining truck has not entered the preset driving state. If the speed difference is greater than the first preset speed difference, it is determined that the target mining vehicle has entered a preset driving state.

6. The method according to claim 5, characterized in that, If the speed difference is greater than the first preset speed difference, determining that the target mining truck has entered a preset driving state includes: If the speed difference is greater than the first preset speed difference and less than or equal to the second preset speed difference, it is determined that the target mining car is experiencing wheel slippage. If the speed difference is greater than the second preset speed difference, it is determined that the target mining car is in a state of wheel spin-off; Wherein, the first preset speed difference is less than the second preset speed difference.

7. The method according to claim 4, characterized in that, If the target mining truck exhibits the preset driving state, the first weight allocation strategy is adjusted, including: If the target mining vehicle exhibits the preset driving state, based on the weight adjustment parameters, the weight allocated to the chassis speed in the first weight allocation strategy is reduced, and the weight allocated to the positioning speed in the first weight allocation strategy is increased.

8. A mine car speed fusion processing device, characterized in that, The device includes: The speed acquisition module is used to acquire the positioning speed and chassis speed of the target mining truck. The strategy determination module is used to determine a target weight allocation strategy based on the signal state of the positioning signal; wherein, the positioning signal is used to provide positioning services for the target mining truck, and the positioning services include the positioning speed determination service; the target weight allocation strategy is used to control the allocation of weights to the positioning speed and the chassis speed. The speed fusion module is used to fuse the positioning speed and the chassis speed according to the target weight allocation strategy to obtain the fused speed of the target mining truck.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 7.

10. An electronic device, characterized in that, include: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to execute the method of any one of claims 1 to 7 by executing the executable instructions.

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