Dumper anti-skid control method, device, equipment, medium and product

Abstract

The embodiment of the invention relates to the technical field of control, in particular to an anti-skid control method, device and equipment for a dumper, a medium and a product. The anti-skid control method for the dumper comprises the steps that the target vehicle speed and the steering angle of the dumper are obtained; judging whether anti-slip control is triggered or not according to the target vehicle speed and the steering angle; if it is determined that anti-skid control is triggered, anti-skid control operation is executed, and the anti-skid control operation comprises the step that the first torque of a left driving wheel of the dumper is controlled to be consistent with the second torque of a right driving wheel of the dumper. According to the scheme, the anti-skid control effect of the dumper can be improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of control technology, and in particular to a method, device, equipment, medium and product for anti-skid control of dump trucks. Background Technology

[0002] Mining dump trucks are off-highway vehicles used in open-pit mines and hydroelectric projects to transport ore, soil, and rock. Mining dump trucks have two types of structures: mechanical transmission and electric transmission. Large electric wheel dump trucks with a capacity of over 100 tons generally use electric transmission. With the widespread use of electric transmission dump trucks in mines, some problems such as slippage and sideslip occur in practical applications because electric wheel dump trucks use independently installed hub motors that control the torque of the left and right wheel motors separately.

[0003] Currently, there are anti-skid control strategies based on the speed difference between the front and rear wheels, but the effectiveness of these strategies needs to be improved. Summary of the Invention

[0004] The purpose of this invention is to provide a method, device, equipment, and storage medium for anti-skid control of dump trucks, so as to improve the anti-skid control effect of dump trucks.

[0005] To address the aforementioned technical problems, embodiments of the present invention provide a method for controlling anti-skid in dump trucks, comprising:

[0006] Obtain the target speed and steering angle of the dump truck;

[0007] Determine whether to trigger anti-skid control based on the target vehicle speed and the steering angle;

[0008] If it is determined that anti-skid control is triggered, the anti-skid control operation is executed. The anti-skid control operation includes: controlling the first torque of the left drive wheel of the dump truck to be consistent with the second torque of the right drive wheel.

[0009] An embodiment of the present invention also provides a dump truck anti-skid control device, comprising:

[0010] The acquisition module is used to acquire the target speed and steering angle of the dump truck.

[0011] The judgment module is used to determine whether to trigger anti-skid control based on the target vehicle speed and the steering angle;

[0012] The control module is used to execute anti-skid control operations if it is determined that anti-skid control is triggered. The anti-skid control operations include: controlling the first torque of the left drive wheel of the dump truck to be consistent with the second torque of the right drive wheel.

[0013] Embodiments of the present invention also provide an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the dump truck anti-skid control method described above.

[0014] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the dump truck anti-skid control method described in the above embodiments.

[0015] The present invention also provides a computer program product that, when run on a terminal device, causes an electronic device to execute the dump truck anti-skid control method described in any of the above embodiments.

[0016] In this embodiment of the invention, by determining whether to trigger anti-skid control based on the target vehicle speed and steering angle, not only the vehicle speed but also the steering angle can be taken into account, thereby improving the accuracy of anti-skid control. Furthermore, anti-skid control can be performed under various working conditions, improving adaptability and thus enhancing the anti-skid control effect of dump trucks.

[0017] In some embodiments, the target vehicle speed includes: the lateral speed of the entire vehicle;

[0018] The step of determining whether to trigger anti-skid control based on the target vehicle speed and the steering angle includes:

[0019] If the steering angle is within a preset range and the vehicle's lateral speed is greater than a preset lateral speed threshold, anti-skid control is triggered; or,

[0020] If the steering angle is outside the preset range and the lateral speed of the vehicle is opposite to the steering angle direction, anti-skid control is triggered.

[0021] In some embodiments, the target vehicle speed includes: the longitudinal speed of the entire vehicle;

[0022] The step of determining whether to trigger anti-skid control based on the target vehicle speed and the steering angle includes:

[0023] The first actual speed of the left drive wheel is determined based on the first collected vehicle speed of the left drive wheel; and the second actual speed of the right drive wheel is determined based on the second collected vehicle speed of the right drive wheel.

[0024] Based on the first actual vehicle speed and the longitudinal speed of the vehicle, a first slip ratio of the left drive wheel is determined; and based on the second actual vehicle speed and the longitudinal speed of the vehicle, a second slip ratio of the right drive wheel is determined.

[0025] If the first slip ratio and / or the second slip ratio are greater than a preset slip ratio threshold, anti-slip control is triggered.

[0026] In some embodiments, the anti-slip control operation further includes:

[0027] Adjust the first slip ratio and / or the second slip ratio so that the adjusted first slip ratio and the second slip ratio are consistent and less than the preset slip ratio threshold.

[0028] In some embodiments, before determining whether to trigger anti-skid control based on the target vehicle speed and the steering angle, the method further includes:

[0029] A motor speed sensor is used to obtain the first speed of the motor of the left drive wheel and the second speed of the motor of the right drive wheel;

[0030] The first data collection vehicle speed is determined based on the first rotational speed, and the second data collection vehicle speed is determined based on the second rotational speed.

[0031] In some embodiments, obtaining the target speed and steering angle of the dump truck includes:

[0032] The target vehicle speed is obtained using a vehicle speed sensor; and / or,

[0033] The steering angle is obtained using a steering angle sensor. Attached Figure Description

[0034] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, and these illustrative descriptions do not constitute a limitation on the embodiments.

[0035] Figure 1 This is a structural schematic diagram of an application scenario corresponding to the anti-skid control method for dump trucks according to an embodiment of this application;

[0036] Figure 2 This is a flowchart illustrating an anti-skid control method for a dump truck according to an embodiment of this application;

[0037] Figure 3 This is a flowchart illustrating another anti-skid control method for dump trucks according to an embodiment of this application;

[0038] Figure 4 This is a flowchart illustrating another anti-skid control method for dump trucks according to an embodiment of this application;

[0039] Figure 5 The diagram shows a structural schematic of a dump truck anti-skid control device according to an embodiment of this application;

[0040] Figure 6 This is a hardware block diagram illustrating an electronic device according to an embodiment of this application. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been presented in the various embodiments of the present invention to enable the reader to better understand this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0042] To better understand the embodiments of the present invention, the application scenarios involved in the embodiments of the present invention will be described.

[0043] In this embodiment of the invention, signal acquisition is performed based on multiple sensors, and anti-slip control is performed based on the acquired signals. The anti-slip control involves multiple working conditions, specifically including slip control and side slip control.

[0044] like Figure 1 As shown, the various sensors include: vehicle speed sensor 101, steering angle sensor 102, and motor speed sensor 103. Vehicle speed sensor 101 is used to collect the overall speed of the dump truck, specifically including: the overall lateral speed V1 and the overall longitudinal speed V2. The overall longitudinal speed V2 refers to the vehicle's linear velocity in the same direction as the vehicle's travel; the overall lateral speed refers to the vehicle's linear velocity in the horizontal plane perpendicular to the vehicle's travel direction. Vehicle speed sensor 101 can be a Beidou navigation device or a Global Positioning System (GPS) device capable of collecting vehicle speed.

[0045] The steering angle sensor 102 is used to collect the steering angle of the dump truck, that is, the angle between the steering wheel (usually the front wheel) of the dump truck and the direction of vehicle travel.

[0046] The motor speed sensor 103 is used to collect the rotational speed of the motors on the drive wheels (usually the rear wheels) of the dump truck. In the scenario of an electric wheel dump truck, the two drive wheels (left drive wheel and right drive wheel) are controlled by independent motors. For distinction, the left drive wheel motor is called the first motor, denoted by M1; the right drive wheel motor is called the second motor, denoted by M2. The torque of the first motor is called the first torque, and the torque of the second motor is called the second torque.

[0047] like Figure 1 As shown, it also includes a controller 104, which is used to determine whether to trigger anti-slip control based on the signals collected by the above sensors, and to perform anti-slip control operation when it is determined that anti-slip control is triggered.

[0048] Anti-slip control operations include maintaining the first and second torques at the same level. The drive wheel motor is controlled by an inverter; therefore, the motor torque can be adjusted by adjusting the inverter's voltage or current.

[0049] Anti-slip control includes: skid control and sideslip control.

[0050] For slip control: Slip control is triggered based on the longitudinal speed of the vehicle. Specifically, the slip ratio of the left and right drive wheels can be calculated based on the longitudinal speed of the vehicle and the actual speed of the left and right drive wheels. To distinguish them, the slip ratio of the left drive wheel is called the first slip ratio, and the slip ratio of the right drive wheel is called the second slip ratio. When at least one of the first slip ratio and the second slip ratio is greater than the preset slip ratio threshold, slip control is triggered.

[0051] Furthermore, different slip ratio thresholds can be set according to different road conditions. For example, the slip ratio threshold for icy and snowy roads is 6%, the slip ratio threshold for wet and slippery roads is 13%, and the slip ratio threshold for dry asphalt or cobblestone roads is 17%.

[0052] During slip control, the first slip rate and / or the second slip rate, which are greater than the slip rate threshold, can be adjusted to keep the two slip rates consistent and both less than the slip rate threshold under the corresponding road surface conditions.

[0053] For sideslip control: the trigger can be determined based on the vehicle's lateral speed and steering angle. For example, if the steering angle is within a preset range (e.g., -5 degrees to +5 degrees) and the vehicle's lateral speed is greater than a preset lateral speed threshold, then anti-slip control is triggered. Alternatively, if the steering angle is not within the preset range and the vehicle's lateral speed direction is opposite to the steering angle direction (e.g., the vehicle's lateral speed direction indicates a left turn, while the steering angle direction indicates a right turn), then anti-slip control is triggered.

[0054] At this point, the first torque of the left drive wheel (specifically the left drive wheel motor) can be controlled to be consistent with the second torque of the right drive wheel (specifically the right drive wheel motor), thus suppressing the vehicle's sideslip.

[0055] In conjunction with the above application scenarios, the present invention also provides the following embodiments.

[0056] like Figure 2 As shown in the figure, the anti-skid control method for dump trucks provided in this embodiment includes the following steps.

[0057] Step 201: Obtain the target speed and steering angle of the dump truck.

[0058] Step 202: Determine whether to trigger anti-skid control based on the target vehicle speed and the steering angle.

[0059] Step 203: If it is determined that anti-skid control is triggered, execute the anti-skid control operation, which includes: controlling the first torque of the left drive wheel of the dump truck to be consistent with the second torque of the right drive wheel.

[0060] The system can collect target vehicle speed and steering angle using various sensors. For example, a vehicle speed sensor can be used to collect the target vehicle speed, and a steering angle sensor can be used to collect the steering angle. Then, based on the target vehicle speed and steering angle, it is determined whether to trigger anti-slip control. When it is determined that anti-slip control should be triggered, the output torque of the left and right drive wheel motors is kept consistent.

[0061] In addition, when anti-skid control is not triggered, the target vehicle speed and steering angle can be reacquired, and the reacquired parameters can be used to re-determine whether to trigger it. If it is determined that it has been triggered, the anti-skid control operation can be executed.

[0062] In this embodiment, by determining whether to trigger anti-skid control based on the target vehicle speed and steering angle, not only the vehicle speed but also the steering angle can be considered to improve the accuracy of anti-skid control. Furthermore, anti-skid control can be performed under various working conditions to improve adaptability, thereby enhancing the anti-skid control effect of dump trucks.

[0063] Anti-slip control can include skid control and sideslip control.

[0064] For slip control, such as Figure 3 As shown in the figure, the anti-skid control method for dump trucks provided in this embodiment includes the following steps.

[0065] Step 301: Obtain the target speed and steering angle of the dump truck; the target speed includes: the longitudinal speed of the entire vehicle.

[0066] Step 302: Determine the first actual speed of the left drive wheel based on the first collected vehicle speed of the left drive wheel and the steering angle; and determine the second actual speed of the right drive wheel based on the second collected vehicle speed of the right drive wheel and the steering angle.

[0067] Specifically, a motor speed sensor can be used to obtain the first speed of the motor of the left drive wheel and the second speed of the motor of the right drive wheel; the first vehicle speed is determined based on the first speed, and the second vehicle speed is determined based on the second speed.

[0068] Step 303: Determine the first slip ratio of the left drive wheel based on the first actual vehicle speed and the longitudinal speed of the vehicle; and determine the second slip ratio of the right drive wheel based on the second actual vehicle speed and the longitudinal speed of the vehicle.

[0069] The formulas for calculating the first slip ratio and the second slip ratio can be:

[0070]

[0071] Among them, Γ 左 It is the first slip ratio; Γ 右 It is the second slip ratio; V2 is the longitudinal speed of the entire vehicle;

[0072] V 左纵 It is the first actual vehicle speed; V 右纵 That is the second actual vehicle speed.

[0073] The formulas for calculating the first and second actual vehicle speeds are:

[0074]

[0075] Among them, V 左 It is the first data collection vehicle speed; V 右 It is the second collection vehicle speed;

[0076] λ is the yaw rate of the dump truck, which can be collected by the corresponding angular velocity sensor;

[0077] L is the wheelbase of the dump truck;

[0078] θ is the steering angle of the dump truck;

[0079] l w It is the wheelbase between the left and right drive wheels of a dump truck.

[0080] The first and second data acquisition vehicle speeds are calculated based on the rotational speeds of the corresponding motors. Specifically, the first data acquisition vehicle speed is calculated based on the first rotational speed of the first motor, and the second data acquisition vehicle speed is calculated based on the second rotational speed of the second motor.

[0081] Specifically, taking the first data collection vehicle speed as an example, the calculation formula is:

[0082] V 左 =n 左 *r*l

[0083] Where, n 左 'r' is the first rotational speed; 'r' is the gear ratio of the left drive wheel; 'l' is the circumference of the left drive wheel.

[0084] In this embodiment, the actual vehicle speed is calculated based on the collected withdrawal statement and steering angle. The slip ratio is calculated based on the actual vehicle speed and the longitudinal speed of the vehicle. The slip ratio is used to determine whether to trigger anti-skid control. Since the steering angle is taken into account, the control accuracy can be improved.

[0085] In addition, by collecting motor speed data through a motor speed sensor and calculating the vehicle speed based on the motor speed, the accuracy of the vehicle speed data can be improved, thereby improving the accuracy of control.

[0086] Step 304: Determine whether the first slip ratio and / or the second slip ratio are greater than the preset slip ratio threshold. If yes, proceed to step 305; otherwise, repeat step 301 and its subsequent steps.

[0087] Step 305: Perform anti-slip control operation.

[0088] Specifically, this includes: controlling the first torque of the left drive wheel of the dump truck to be consistent with the second torque of the right drive wheel; and adjusting the first slip ratio and / or the second slip ratio so that the adjusted first slip ratio and the second slip ratio are consistent and both are less than the preset slip ratio threshold.

[0089] Assuming the current road surface is icy or snowy, and the slip ratio threshold for icy or snowy surfaces is 6%, then anti-skid control is triggered when at least one of the first slip ratio and the second slip ratio exceeds 6%. In this case, the first torque and the second torque can be adjusted to maintain consistency, and the first slip ratio and / or the second slip ratio exceeding the slip ratio threshold can be reduced, ensuring that both the reduced first slip ratio and the second slip ratio do not exceed the slip ratio threshold of 6%. Specifically, this can be achieved by reducing the motor speed, thereby reducing the collected vehicle speed and the actual vehicle speed, thus reducing the slip ratio.

[0090] In this embodiment, by determining whether to trigger slip control based on the vehicle's longitudinal speed and steering angle, and by reducing the slip rate when slip control is triggered, the vehicle's handling and operational stability can be improved.

[0091] For sideslip control, such as Figure 4 As shown in the figure, the anti-skid control method for dump trucks provided in this embodiment includes the following steps.

[0092] Step 401: Obtain the target speed and steering angle of the dump truck; the target speed includes the lateral speed of the entire vehicle.

[0093] Step 402: Based on the vehicle's lateral speed and steering angle, determine whether anti-skid control is triggered. If yes, proceed to step 403; otherwise, proceed to step 401 and subsequent steps.

[0094] Specifically, this may include:

[0095] If the steering angle is within a preset range and the vehicle's lateral speed is greater than a preset lateral speed threshold, anti-skid control is triggered; or,

[0096] If the steering angle is outside the preset range and the lateral speed of the vehicle is opposite to the steering angle direction, anti-skid control is triggered.

[0097] For example, if the steering angle is within a preset range (e.g., -5 degrees to +5 degrees) and the vehicle's lateral speed is greater than a preset lateral speed threshold, then anti-skid control is triggered; or, if the steering angle is not within the preset range and the vehicle's lateral speed direction is opposite to the steering angle direction, such as the vehicle's lateral speed direction indicating a left turn and the steering angle direction indicating a right turn, then anti-skid control is triggered.

[0098] Step 403: Perform anti-slip control operation.

[0099] Specifically, this includes controlling the first torque of the left drive wheel of the dump truck to be consistent with the second torque of the right drive wheel.

[0100] In this embodiment, the lateral speed and steering angle of the vehicle can be used to determine whether the sideslip control is triggered, and when triggered, the anti-slip control operation is performed, which can suppress the sideslip state and ensure driving safety.

[0101] Another embodiment of the present invention relates to an anti-skid control device for dump trucks, such as... Figure 5 As shown, it includes:

[0102] The acquisition module 501 is used to acquire the target speed and steering angle of the dump truck.

[0103] The judgment module 502 is used to determine whether to trigger anti-skid control based on the target vehicle speed and the steering angle;

[0104] The control module 503 is used to execute an anti-skid control operation if it is determined that the anti-skid control is triggered. The anti-skid control operation includes controlling the first torque of the left drive wheel of the dump truck to be consistent with the second torque of the right drive wheel.

[0105] In some embodiments, the target vehicle speed includes: the lateral speed of the entire vehicle;

[0106] The judgment module 502 is specifically used for:

[0107] If the steering angle is within a preset range and the vehicle's lateral speed is greater than a preset lateral speed threshold, anti-skid control is triggered; or,

[0108] If the steering angle is outside the preset range and the lateral speed of the vehicle is opposite to the steering angle direction, anti-skid control is triggered.

[0109] In some embodiments, the target vehicle speed includes: the longitudinal speed of the entire vehicle;

[0110] The judgment module 502 is specifically used for:

[0111] The first actual speed of the left drive wheel is determined based on the first collected vehicle speed of the left drive wheel and the steering angle; and the second actual speed of the right drive wheel is determined based on the second collected vehicle speed of the right drive wheel and the steering angle.

[0112] Based on the first actual vehicle speed and the longitudinal speed of the vehicle, a first slip ratio of the left drive wheel is determined; and based on the second actual vehicle speed and the longitudinal speed of the vehicle, a second slip ratio of the right drive wheel is determined.

[0113] If the first slip ratio and / or the second slip ratio are greater than a preset slip ratio threshold, anti-slip control is triggered.

[0114] In some embodiments, the anti-slip control operation further includes:

[0115] Adjust the first slip ratio and / or the second slip ratio so that the adjusted first slip ratio and the second slip ratio are consistent and both are less than the preset slip ratio threshold.

[0116] In some embodiments, the determining module 502 is further configured to:

[0117] A motor speed sensor is used to obtain the first speed of the motor of the left drive wheel and the second speed of the motor of the right drive wheel;

[0118] The first data collection vehicle speed is determined based on the first rotational speed, and the second data collection vehicle speed is determined based on the second rotational speed.

[0119] In some embodiments, the acquisition module 501 is specifically used for:

[0120] The target vehicle speed is obtained using a vehicle speed sensor; and / or,

[0121] The steering angle is obtained using a steering angle sensor.

[0122] Another embodiment of the present invention relates to an electronic device, such as Figure 6 As shown, it includes at least one processor 602; and a memory 601 communicatively connected to at least one processor 602; wherein the memory 601 stores instructions executable by at least one processor 602, the instructions being executed by at least one processor 602 to enable at least one processor 602 to perform any of the above method embodiments.

[0123] The memory 601 and processor 602 are connected via a bus, which may include any number of interconnecting buses and bridges. The bus connects various circuits of one or more processors 602 and memory 601 together. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 602 is transmitted over a wireless medium via an antenna, which further receives data and transmits it to processor 602.

[0124] Processor 602 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory 601 can be used to store data used by processor 602 during operation.

[0125] Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements any of the above-described method embodiments.

[0126] Another embodiment of the present invention relates to a computer program product that, when run on a terminal device, causes an electronic device to perform any of the above-described embodiments of the method.

[0127] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0128] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0129] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0130] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes in form and detail may be made without departing from the spirit and scope of the present invention.

Claims

1. A method for controlling anti-skid in dump trucks, characterized in that, include: Obtain the target speed and steering angle of the dump truck; Determine whether to trigger anti-skid control based on the target vehicle speed and the steering angle; If it is determined that anti-skid control is triggered, the anti-skid control operation is executed. The anti-skid control operation includes: controlling the first torque of the left drive wheel of the dump truck to be consistent with the second torque of the right drive wheel.

2. The method according to claim 1, characterized in that, The target vehicle speed includes: the lateral speed of the entire vehicle; The step of determining whether to trigger anti-skid control based on the target vehicle speed and the steering angle includes: If the steering angle is within a preset range and the vehicle's lateral speed is greater than a preset lateral speed threshold, anti-skid control is triggered; or, If the steering angle is outside the preset range and the lateral speed of the vehicle is opposite to the steering angle direction, anti-skid control is triggered.

3. The method according to claim 1, characterized in that, The target vehicle speed includes: the longitudinal speed of the entire vehicle; The step of determining whether to trigger anti-skid control based on the target vehicle speed and the steering angle includes: The first actual speed of the left drive wheel is determined based on the first collected vehicle speed of the left drive wheel and the steering angle; and the second actual speed of the right drive wheel is determined based on the second collected vehicle speed of the right drive wheel and the steering angle. Based on the first actual vehicle speed and the longitudinal speed of the vehicle, a first slip ratio of the left drive wheel is determined; and based on the second actual vehicle speed and the longitudinal speed of the vehicle, a second slip ratio of the right drive wheel is determined. If the first slip ratio and / or the second slip ratio are greater than a preset slip ratio threshold, anti-slip control is triggered.

4. The method according to claim 3, characterized in that, The anti-slip control operation also includes: Adjust the first slip ratio and / or the second slip ratio so that the adjusted first slip ratio and the second slip ratio are consistent and both are less than the preset slip ratio threshold.

5. The method according to claim 3, characterized in that, Before determining whether to trigger anti-skid control based on the target vehicle speed and the steering angle, the method further includes: A motor speed sensor is used to obtain the first speed of the motor of the left drive wheel and the second speed of the motor of the right drive wheel; The first data collection vehicle speed is determined based on the first rotational speed, and the second data collection vehicle speed is determined based on the second rotational speed.

6. The method according to claim 1, characterized in that, The acquisition of the target speed and steering angle of the dump truck includes: The target vehicle speed is obtained using a vehicle speed sensor; and / or, The steering angle is obtained using a steering angle sensor.

7. A dump truck anti-skid control device, characterized in that, include: The acquisition module is used to acquire the target speed and steering angle of the dump truck. The judgment module is used to determine whether to trigger anti-skid control based on the target vehicle speed and the steering angle; The control module is used to execute anti-skid control operations if it is determined that anti-skid control is triggered. The anti-skid control operations include: controlling the first torque of the left drive wheel of the dump truck to be consistent with the second torque of the right drive wheel.

8. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing 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 6.

10. A computer program product that, when run on a terminal device, causes an electronic device to perform the method as described in any one of claims 1 to 6.

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