Method, device and readable storage medium for refilling coolant of mine car

Abstract

The application provides a cooling liquid filling method, device and readable storage medium for a mine car. The mine car comprises a controller, a human-computer interaction module, a thermal management temperature control module, a plurality of hydraulic control execution modules and a cooling liquid pipeline. The method comprises the following steps: in response to a cooling liquid filling request, when working condition data meets a preset safety condition, the mine car is controlled to enter a cooling liquid filling mode; a target filling pipeline type is determined according to the cooling liquid filling request; a filling driving instruction is sent to the hydraulic control execution module corresponding to the target filling pipeline type; the thermal management temperature control module is prohibited from executing a speed reduction instruction or a shutdown instruction sent by the hydraulic control execution module; the cooling liquid pipeline corresponding to the target filling pipeline type is supplemented with cooling liquid; when it is detected that the exit filling condition is met, the mine car is controlled to exit the cooling liquid filling mode, and the operation control of the thermal management temperature control module on the hydraulic control execution module is restored. The application improves the filling efficiency by releasing the temperature control.

Description

Technical Field

[0001] This invention relates to the technical field of mine car thermal management systems, and more specifically, to a method, apparatus, and readable storage medium for filling a mine car with coolant. Background Technology

[0002] In related technologies, electric mining trucks operate under harsh conditions and environments, making them prone to air ingress into the cooling hydraulic lines. This leads to insufficient coolant filling, uneven heat exchange, and problems such as core component failure and poor heating performance. Common filling methods rely on specialized equipment and personnel, are cumbersome and costly, and cannot pre-test the hydraulic system's functionality, resulting in complex and inefficient filling processes. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] Therefore, the first aspect of the present invention provides a method for adding coolant to a mining car.

[0005] A second aspect of the present invention provides a coolant filling device for a mining car.

[0006] A third aspect of the present invention provides another coolant filling device for mining cars.

[0007] The fourth aspect of this application proposes a readable storage medium.

[0008] In view of the above, a first aspect of the present invention provides a method for adding coolant to a mining car. The method is used for a mining car, which includes a controller, a human-machine interface module, a thermal management temperature control module, multiple hydraulic control execution modules, and a coolant pipeline. The human-machine interface module is communicatively connected to the controller and is used to send a coolant addition request to the controller. The thermal management temperature control module is communicatively connected to the controller and is used to control the operation of the hydraulic control execution modules according to a temperature signal in a normal operating mode. The controller is communicatively connected to the hydraulic control execution modules. The multiple hydraulic control execution modules include at least one electronic water pump and at least one electromagnetic proportional valve. The electronic water pump and the electromagnetic proportional valve are connected to the coolant pipeline and are used to control the flow of coolant in the coolant pipeline. The method includes: in response to a coolant addition request, acquiring the operating condition data of the mining car, and when the operating condition data meets preset safety conditions, controlling the mining car to enter the coolant addition phase. The system operates as follows: Based on the coolant filling request, the target filling pipeline type is determined. The target filling pipeline type can be one or more of the following: a heater circuit, a motor control circuit, and a battery circuit. A filling drive command is sent to the hydraulic control execution module corresponding to the target filling pipeline type to control the operation of the corresponding electronic water pump and to open the corresponding electromagnetic proportional valve, allowing coolant to circulate in the coolant pipeline corresponding to the target filling pipeline type. In coolant filling mode, deceleration or shutdown commands sent by the thermal management temperature control module to the hydraulic control execution module corresponding to the target filling pipeline type are disabled. During coolant circulation, coolant is added to the coolant pipeline corresponding to the target filling pipeline type to expel gas from the coolant pipeline. When the exit filling condition is detected, the mine car is controlled to exit the coolant filling mode, and the thermal management temperature control module's control over the hydraulic control execution module is restored.

[0009] The coolant filling method for mining trucks specified in this application, through the coordinated operation of a controller, human-machine interface module, thermal management temperature control module, hydraulic control execution module, and coolant pipeline, achieves integrated rapid coolant filling and efficient pipeline venting, thoroughly removing residual gas from the pipeline and solving the problem of insufficient coolant filling. Secondly, it breaks the constraint of temperature signals on the execution components, ensuring that the filling and venting process is unaffected by component temperature, achieving autonomous and efficient operation. Simultaneously, through independent three-loop control, it improves the cooling and heating uniformity of the thermal management system, preventing core component failures due to insufficient heat exchange. Thirdly, this application constructs a closed-loop control process, ensuring the operational stability of the thermal management system, reducing the risk of mining truck breakdowns, and achieving reliable operation. Finally, it simplifies the operation process, requiring no specialized equipment or personnel intervention, reducing mining truck operation and maintenance costs, while ensuring operational safety through a safety access mechanism, adapting to the harsh operating conditions of mining trucks.

[0010] In some technical solutions of this application, the exit conditions for refueling include at least one of the following: receiving a refueling exit command sent by the human-machine interaction module, or the working condition data of the mine car no longer meets the preset safety conditions; when the exit conditions for refueling are met, controlling the mine car to exit the coolant refueling mode, and sending a recovery control command to the hydraulic control execution module corresponding to the target refueling pipeline type to cancel the refueling drive command.

[0011] In some of the technical solutions of this application, the preset safety conditions include: the speed of the mine car is zero, the gear is in neutral, the parking brake is in an effective state, and the high-voltage system is powered on.

[0012] In some technical solutions of this application, the injection drive command is a pulse width modulation signal, which is used to control the speed of the electronic water pump and the opening degree of the electromagnetic proportional valve.

[0013] In some technical solutions of this application, when the target filling pipeline type is a heating air circuit, the hydraulic control execution module corresponding to the target filling pipeline type includes a heating air water pump and a heating air three-way proportional valve; when the target filling pipeline type is a motor-controlled circuit, the hydraulic control execution module corresponding to the target filling pipeline type includes a motor-controlled water pump and a motor-controlled branch proportional valve; when the target filling pipeline type is a battery circuit, the hydraulic control execution module corresponding to the target filling pipeline type includes a battery water pump and a battery branch proportional valve.

[0014] In some technical solutions of this application, during the process of controlling the circulation of coolant in the coolant pipeline corresponding to the target filling pipeline type, the method further includes: detecting the deviation data between the actual speed feedback value of the electronic water pump and the target speed corresponding to the filling drive command, and detecting the valve position feedback signal of the electromagnetic proportional valve; when the deviation data exceeds the calibration threshold, or the valve position feedback signal indicates that the electromagnetic proportional valve has not reached the preset opening state, the human-machine interaction module is controlled to output fault prompt information.

[0015] In some technical solutions of this application, the coolant filling method further includes detecting the power type of the mining car, which includes pure electric mining cars and hybrid mining cars; when the mining car is a pure electric mining car, while controlling the mining car to enter the coolant filling mode, a mode entry prompt message is output through the human-machine interaction module, and the high-voltage system is kept powered on; when the mining car is a hybrid mining car, and the target filling pipeline type is a heater circuit, a speed request is sent to the engine controller to drive the heater water pump through the engine; when the mining car is a hybrid mining car, and the target filling pipeline type is a motor electronic control circuit or a battery circuit, a filling drive command is sent to the hydraulic control execution module corresponding to the target filling pipeline type.

[0016] A second aspect of the present invention provides a coolant filling device for a mining car. The coolant filling device is used in a mining car, which includes a controller, a human-machine interface module, a thermal management temperature control module, multiple hydraulic control execution modules, and coolant pipelines. The human-machine interface module is communicatively connected to the controller and is used to send a coolant filling request to the controller. The thermal management temperature control module is communicatively connected to the controller and is used to control the operation of the hydraulic control execution modules according to a temperature signal in a normal operating mode. The controller is communicatively connected to the hydraulic control execution modules. The multiple hydraulic control execution modules include at least one electronic water pump and at least one electromagnetic proportional valve. The electronic water pump and the electromagnetic proportional valve are connected to the coolant pipelines and are used to control the flow of coolant in the coolant pipelines. The device includes:

[0017] The trigger response module is used to respond to the coolant filling request, obtain the working condition data of the mine car, and control the mine car to enter the coolant filling mode when the working condition data meets the preset safety conditions.

[0018] The first determining module is used to determine the target filling pipeline type based on the coolant filling request. The target filling pipeline type is one or more of the following: heater circuit, motor control circuit, and battery circuit.

[0019] The first control module is used to send a filling drive command to the hydraulic control execution module corresponding to the target filling pipeline type, so as to control the operation of the corresponding electronic water pump and control the opening of the corresponding electromagnetic proportional valve, so that the coolant circulates in the coolant pipeline corresponding to the target filling pipeline type.

[0020] The second control module is used to prevent the speed reduction or shutdown command sent by the thermal management temperature control module to the hydraulic control execution module corresponding to the target filling pipeline type from taking effect in the coolant filling mode.

[0021] The first execution module is used to replenish coolant to the coolant pipeline corresponding to the target pipeline type during the coolant circulation process, so as to expel the gas in the coolant pipeline.

[0022] The second execution module is used to control the mine car to exit the coolant filling mode and restore the operation control of the thermal management temperature control module over the liquid control execution module when the exit filling condition is detected to be met.

[0023] A third aspect of the present invention provides a coolant filling device for a mining car, comprising: a processor and a memory, wherein the memory stores a program or instructions, and the processor, when executing the program or instructions in the memory, implements the steps of the coolant filling method for a mining car as described in any of the above-described technical solutions. Therefore, the coolant filling device for a mining car possesses all the beneficial effects of the coolant filling method for a mining car as described in any of the above-described technical solutions.

[0024] A fourth aspect of the present invention provides a readable storage medium storing a program or instructions, which, when executed by a processor, implement the steps of the coolant filling method for a mine car as described in any of the above-described technical solutions. Therefore, the readable storage medium possesses all the beneficial effects of the coolant filling method for a mine car as described in any of the above-described technical solutions.

[0025] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0026] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0027] Figure 1 This is one of the flowcharts illustrating a method for adding coolant to a mine car according to an embodiment of the present invention;

[0028] Figure 2 This is a second schematic flowchart of a method for adding coolant to a mine car according to an embodiment of the present invention;

[0029] Figure 3 This is a connection diagram of a heating air hydraulic circuit filling module according to an embodiment of the present invention;

[0030] Figure 4 This is a connection diagram of a motor-controlled hydraulic circuit filling module according to an embodiment of the present invention;

[0031] Figure 5 This is a connection diagram of a power battery hydraulic circuit filling module according to an embodiment of the present invention;

[0032] Figure 6 This is one of the schematic block diagrams of a coolant filling device for a mine car according to an embodiment of the present invention;

[0033] Figure 7 This is a second schematic block diagram of a coolant filling device for a mine car according to an embodiment of the present invention. Detailed Implementation

[0034] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0035] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0036] The following reference Figures 1 to 7 A method, apparatus, and readable storage medium for adding coolant to a mining car according to some embodiments of the present invention are described.

[0037] like Figure 1 As shown, an embodiment of this application provides a method for adding coolant to a mining car. The method is used for a mining car, which includes a controller, a human-machine interface module, a thermal management temperature control module, multiple hydraulic control execution modules, and coolant pipelines. The human-machine interface module is communicatively connected to the controller and is used to send a coolant adding request to the controller. The thermal management temperature control module is also communicatively connected to the controller and is used to control the operation of the hydraulic control execution modules based on temperature signals in normal operating mode. The controller is communicatively connected to the hydraulic control execution modules. Each hydraulic control execution module includes at least one electronic water pump and at least one electromagnetic proportional valve. The electronic water pump and the electromagnetic proportional valve are connected to the coolant pipelines and are used to control the flow of coolant in the coolant pipelines. The method includes the following steps:

[0038] Step 102: In response to the coolant filling request, obtain the working condition data of the mine car, and when the working condition data meets the preset safety conditions, control the mine car to enter the coolant filling mode;

[0039] Step 104: Determine the target filling pipeline type based on the coolant filling request. The target filling pipeline type is one or more of the following: heater circuit, motor control circuit, and battery circuit.

[0040] Step 106: Send a filling drive command to the hydraulic control execution module corresponding to the target filling pipeline type to control the operation of the corresponding electronic water pump and control the opening of the corresponding electromagnetic proportional valve so that the coolant circulates in the coolant pipeline corresponding to the target filling pipeline type.

[0041] Step 108: In coolant filling mode, prevent the thermal management temperature control module from sending deceleration or shutdown commands to the hydraulic control execution module corresponding to the target filling pipeline type.

[0042] Step 110: During the coolant circulation process, add coolant to the coolant pipeline corresponding to the target pipeline type to expel the gas in the coolant pipeline;

[0043] Step 112: When the exit refueling condition is detected, control the mine car to exit the coolant refueling mode and restore the thermal management temperature control module's operation control over the liquid control execution module.

[0044] The coolant filling method for mining trucks specified in this application, through the coordinated operation of a controller, human-machine interface module, thermal management temperature control module, hydraulic control execution module, and coolant pipeline, achieves integrated rapid coolant filling and efficient pipeline venting, thoroughly removing residual gas from the pipeline and solving the problem of insufficient coolant filling. Secondly, it breaks the constraint of temperature signals on the execution components, ensuring that the filling and venting process is unaffected by component temperature, achieving autonomous and efficient operation. Simultaneously, through independent three-loop control, it improves the cooling and heating uniformity of the thermal management system, preventing core component failures due to insufficient heat exchange. Thirdly, this application constructs a closed-loop control process, ensuring the operational stability of the thermal management system, reducing the risk of mining truck breakdowns, and achieving reliable operation. Finally, it simplifies the operation process, requiring no specialized equipment or personnel intervention, reducing mining truck operation and maintenance costs, while ensuring operational safety through a safety access mechanism, adapting to the harsh operating conditions of mining trucks.

[0045] The following provides a clear explanation of the key technical features of this application: The controller, namely the vehicle controller (VCU) of the electric mining truck, is the core control unit of the mining truck's thermal management system. It can receive various signals, determine the working condition, and send control commands to each actuator, serving as the main body for executing the coolant filling method.

[0046] The human-machine interface module includes the mine truck's instruments, central control screen, and host computer (debugging computer). It communicates with the controller and serves as the interactive platform for operators to trigger coolant filling and unfilling commands, enabling command transmission and mode status prompts. The thermal management temperature control module is the unit responsible for routine temperature regulation in the mine truck's thermal management system. It communicates with the controller and, during normal mine truck operation, sends commands such as deceleration, opening, and closing to the hydraulic control execution module based on temperature signals from the power battery, motor control system, and heating system, achieving adaptive cooling / heating regulation. The hydraulic control execution module is a combination of actuators that directly control the coolant flow. Its core components include an electronic water pump and an electromagnetic proportional valve, both connected to the coolant pipeline. These are the power source for coolant circulation and the flow / direction control components, adjusting their operating status according to controller commands. The coolant pipeline is the hydraulic pipeline in the mine truck's thermal management system that transports coolant. Functionally, it is divided into three independent pipelines: the heating circuit, the motor control circuit, and the battery circuit. It serves as the physical carrier for coolant circulation and heat exchange. The coolant filling request is an instruction sent by the operator to the controller via the human-machine interface module to initiate the coolant filling process. It can be triggered via physical buttons, touch buttons, or a message from the host computer. Operating status data refers to the mine car's operational parameters, including vehicle speed, gear position, parking brake status, and high-voltage system power-on status. These are crucial criteria for the controller to determine whether to enter the filling mode. Preset safety conditions are the prerequisites for the controller to allow the mine car to enter the coolant filling mode. These include a zero speed, neutral gear, an active parking brake, and high-voltage system power-on. These are mandatory conditions set to ensure safety during the filling process. The coolant filling mode is a dedicated operating mode designed by the mine car's thermal management system for coolant filling and pipeline venting. In this mode, the thermal management system's control logic prioritizes filling and venting over conventional temperature control logic. The target filling pipeline type is the category of coolant pipeline requiring filling and venting, determined by the coolant filling request. These are categorized as heater circuit, motor control circuit, and battery circuit. These three types of pipelines can be filled and vented individually or in combination. The filling drive command is a control command sent by the controller to the hydraulic control execution module corresponding to the target filling pipeline, used to drive the electronic water pump and electromagnetic proportional valve to operate according to the filling and venting requirements. The deceleration command or shut-off command is an adjustment command sent by the thermal management temperature control module to the hydraulic control execution module based on temperature signals in normal operating mode. A deceleration command is sent when the hydraulic control execution module does not need to operate at full load, and a shut-off command is sent when cooling / heating is not required. The exit filling condition is the trigger condition for the controller to determine that the mine car needs to terminate the coolant filling mode. This includes receiving a filling exit command from the human-machine interface module or the operating data no longer meeting preset safety conditions. Meeting either condition terminates the filling process. Normal operating mode is the working mode of the thermal management system when the mine car is driving normally. In this mode, the thermal management temperature control module guides the operation control of the hydraulic control execution module based on the temperature signals of each component.

[0047] Firstly, the integrated effect of rapid coolant filling and efficient pipeline venting is achieved through a chain of "coolant filling request, operating condition data detection, filling drive command, coolant circulation, and gas venting." After the operator sends a coolant filling request through the human-machine interface module, the controller first obtains the operating condition data and verifies whether it meets the preset safety conditions, ensuring that the filling operation is initiated in a safe state where the vehicle is stationary and the power supply is stable, thus avoiding risks from the source. After entering the coolant filling mode, the controller determines the target filling pipeline type according to the request and sends a filling drive command to the corresponding hydraulic control execution module, driving the electronic water pump to run and the electromagnetic proportional valve to open, so that the coolant forms a forced circulation in the target pipeline. The electronic water pump provides continuous power, and the electromagnetic proportional valve reduces hydraulic resistance at its maximum opening. The two work together to allow the coolant to flow at maximum flow rate. At this time, the added coolant will use the hydraulic flow force to synchronously carry out the residual gas in the pipeline, realizing the simultaneous completion of filling and venting. Meanwhile, in coolant filling mode, the deceleration or shutdown command of the thermal management temperature control module is prohibited, breaking the constraint of temperature signal on the actuator in the conventional operation mode. Regardless of whether the temperature of the corresponding component in the target pipeline reaches the threshold, the hydraulic control actuator can maintain efficient operation, ensuring that the fluid flow is sufficient to completely expel gas from difficult-to-expel locations such as U-shaped pipes, allowing the coolant to fully fill the entire pipeline and avoiding insufficient heat exchange caused by gas residue.

[0048] Secondly, the improved uniformity of cooling and heating in the thermal management system is achieved through the categorized design and branch control logic of the coolant pipelines. The coolant pipelines are functionally divided into three independent categories: the heating circuit, the motor control circuit, and the battery circuit. Each category corresponds to a dedicated hydraulic control module. The controller can send filling drive commands to one or more circuits according to actual needs, achieving precise branch filling. This design avoids interference between different pipelines during unified filling, specifically addresses single-circuit air intake faults, and ensures that each pipeline is fully filled with coolant. When the mine truck resumes normal operation, the coolant in each circuit can fully contact the power battery, motor control system, heating system, and other components, significantly improving heat exchange efficiency. This effectively avoids problems such as excessive temperature differences between individual power battery cells, high-temperature alarms in the motor control system, and uneven heating of the power battery, allowing the mine truck to maintain stable thermal management performance under different operating conditions, including low-temperature heating and high-temperature cooling.

[0049] Furthermore, the operational stability of the thermal management system and the reliable driving performance of the mining trucks are achieved through a closed-loop control process. After responding to a refueling request, the controller completes operations such as pipeline positioning, command transmission, and cyclic control step by step. When the conditions for exiting refueling are met, the refueling mode is immediately terminated and the normal control of the thermal management temperature control module is restored, ensuring that the system quickly returns to the adaptive regulation state and avoiding failures caused by control logic gaps. This closed-loop design fundamentally solves the problems caused by air intake in the pipeline, such as the water pump failing to cool properly, the motor and electronic control system shutting down due to high temperature, and the power battery experiencing thermal runaway. It reduces the risk of mining trucks breaking down due to problems with the thermal management system, and is especially suitable for harsh working conditions such as bumpy mining trucks and high altitudes, ensuring reliable and stable driving of the entire vehicle and improving operational efficiency.

[0050] Finally, the ease of operation and reduced maintenance costs are achieved through the controller's automated control and simplified operation of the human-machine interface module. Throughout the entire refueling process, the operator only needs to send a refueling request and add coolant; all other steps are completed automatically by the controller. This means that data monitoring, target pipeline determination, refueling drive command sending, and coolant circulation control all require no manual intervention, no specialized equipment such as vacuum refueling equipment, and no need to disconnect pipes for venting. Simultaneously, the operating status of the hydraulic control module can be monitored in real time through the controller. During the refueling process, the functionality of the water pump and proportional valve can be checked to detect potential faults early, preventing sudden failure of components and reducing subsequent maintenance costs. This simplified design significantly shortens refueling and venting time, reduces reliance on professional personnel, and avoids equipment damage and coolant waste caused by improper operation, resulting in significant reductions in time and economic costs in long-term operation.

[0051] Furthermore, multiple pre-set safety constraints ensure operational safety and adapt to the harsh operating conditions of mining trucks. The triple conditions of zero vehicle speed, neutral gear, and effective parking brake ensure that the refueling operation can only be carried out when the vehicle is absolutely stationary, completely eliminating the potential hazards of coolant leakage and personnel injury caused by vehicle movement; the effective energization of the high-voltage system provides a stable power supply to the electronic water pump and electromagnetic proportional valve, avoiding interruptions to the refueling process due to power outages, thus providing comprehensive protection for operational safety and process reliability.

[0052] In some embodiments of this application, the exit conditions for refueling include at least one of the following: receiving a refueling exit command sent by the human-machine interaction module, or the working condition data of the mine car no longer meets the preset safety conditions; when the exit conditions for refueling are met, controlling the mine car to exit the coolant refueling mode, and sending a recovery control command to the hydraulic control execution module corresponding to the target refueling pipeline type to cancel the refueling drive command.

[0053] In the above embodiments, the coolant filling exit command is an instruction sent by the operator to the controller through the human-machine interface module to actively terminate the coolant filling mode, and it is an active trigger condition in the exit filling conditions. The restore control command is an instruction sent by the controller to the hydraulic control execution module corresponding to the target filling pipeline when exiting the coolant filling mode. Its core function is to cancel the previously sent filling drive command, so that the hydraulic control execution module can return to a state where it can receive commands from the thermal management temperature control module.

[0054] This application clearly defines the conditions for exiting the coolant filling mode and supplements the design of the recovery control command, further improving the closed-loop control logic of the coolant filling mode and achieving the technical effects of precise triggering of the filling mode exit and smooth reset of the hydraulic control execution module. The specific implementation process is as follows: During the operation of the coolant filling mode, the controller continuously monitors the exit conditions. When it receives a filling exit command from the human-machine interface module, or when the mine car's operating data no longer meets the preset safety conditions, it immediately controls the mine car to exit the coolant filling mode and sends a recovery control command to the hydraulic control execution module corresponding to the target filling pipeline. This command cancels the previous filling drive command, returning the operating control authority of the hydraulic control execution module to the thermal management temperature control module. This ensures that the hydraulic control execution module smoothly switches from the filling mode operating state to the standby state of the normal operating mode, avoiding operational failures caused by sudden command interruptions.

[0055] In one embodiment, after the operator completes the coolant filling and venting of a certain pipeline, they send a filling exit command via the "Filling Exit" touch button on the central control screen. Upon receiving the command, the controller immediately sends a recovery control command to the corresponding hydraulic control execution module, canceling the filling drive command. The heater pump / motor-controlled water pump / battery water pump stops running at full speed, the electromagnetic proportional valve returns to its normal opening, the thermal management temperature control module takes over the operation control of the hydraulic control execution module, and the mine car thermal management system resumes normal operation. If the operator accidentally starts the vehicle during the filling process, causing the vehicle speed to change from 0 to a non-zero value, and the operating data no longer meets the preset safety conditions, the controller will automatically trigger the exit process to prevent the vehicle from moving and causing a filling safety accident.

[0056] In some embodiments of this application, the preset safety conditions include: the mine car speed is zero, the gear is in neutral, the parking brake is in an effective state, and the high-voltage system is powered on.

[0057] In the above embodiments, the parking brake is in an effective state when the mine car's handbrake (parking handbrake) is pulled up, and the parking brake system is in working state, which can effectively prevent the mine car from sliding when stationary. The high-voltage system is in an energized state: the mine car's high-voltage electrical system is energized, which can provide working power to the hydraulic control actuators such as the electronic water pump and electromagnetic proportional valve, ensuring that the hydraulic control actuators can normally receive and execute the controller's filling drive commands.

[0058] This application specifies the pre-defined safety conditions, clarifying the specific state requirements for the mine car to enter the coolant filling mode, achieving the technical effect of standardizing the entry conditions for the filling mode and maximizing the safety of the filling operation. The implementation process is as follows: After the controller responds to the coolant filling request, it compares the real-time collected mine car speed, gear position, parking brake status, and high-voltage system power-on status with the pre-defined safety conditions one by one. Only when all four conditions are simultaneously met—vehicle speed zero, gear in neutral, parking brake active, and high-voltage system powered on—is the mine car allowed to enter the coolant filling mode; if any condition is not met, the filling process is refused. This design constructs a complete safety access system from four dimensions: motion state, dynamic constraints, braking assurance, and power supply. It ensures the vehicle remains absolutely stationary during the filling operation, eliminating safety hazards caused by vehicle movement, and also ensures the hydraulic control execution module has the power conditions for normal operation, avoiding the problem of the filling drive command failing to execute due to the high-voltage system not being powered on. This achieves a dual guarantee of safety and reliability for starting the filling mode.

[0059] In one embodiment, the operator sends a battery refueling request via the instrument panel. The controller collects operating data showing the mine car speed at 5 km / h, gear in drive, parking brake not engaged, and high-voltage system powered on. Because the speed is not zero, the gear is not in neutral, and the parking brake is ineffective, the preset safety conditions are not met, and the controller refuses to enter the refueling mode, outputting a "Status not met, refueling impossible" message to the operator via the instrument panel. When the operator stops the vehicle, shifts it into neutral, and engages the parking brake, and sends the refueling request again, the controller collects all operating data and finds that all preset safety conditions are met, immediately controlling the mine car to enter the refueling mode and initiating the battery refueling and venting process.

[0060] In some embodiments of this application, the injection drive command is a pulse width modulation signal, which is used to control the speed of the electronic water pump and the opening degree of the electromagnetic proportional valve.

[0061] In the above embodiments, the pulse width modulation signal, also known as the PWM wave control signal, is a digital control signal that adjusts the output power by changing the pulse width. It can precisely control the speed of the electric water pump and the opening degree of the electromagnetic proportional valve, and is the standard signal form for the controller to send control commands to the hydraulic control execution module. The target speed is the speed command value issued by the controller to the electric water pump through the pulse width modulation signal, and is the standard operating speed of the electric water pump in coolant filling mode. The opening degree is the degree to which the electromagnetic proportional valve is open, representing the flow rate of coolant in the pipeline. The larger the opening degree, the greater the coolant flow rate and the stronger the fluid dynamics in the pipeline.

[0062] This application specifically defines the signal form of the filling drive command and clarifies the control signal transmission method between the controller and the hydraulic actuator module, achieving the technical effect of precise control of the hydraulic actuator module's operating state and improved controllability of filling and venting efficiency. The implementation process involves the controller converting the filling drive command into a pulse width modulation (PWM) signal. This signal sends a target speed command to the electric water pump and an opening command to the electromagnetic proportional valve. The electric water pump can precisely adjust its operating speed according to the pulse width of the PWM signal, and the electromagnetic proportional valve can precisely adjust its opening degree according to the pulse width. In coolant filling mode, the controller can adjust the parameters of the PWM signal to ensure the electric water pump runs at full speed and the electromagnetic proportional valve opens to its maximum opening degree, guaranteeing maximum flow circulation of coolant in the pipeline, maximizing fluid dynamics, and improving venting efficiency. As a commonly used precision control signal in industrial control, the PWM signal enables stepless speed regulation and opening adjustment of the hydraulic actuator module, avoiding errors in mechanical control, ensuring the consistency and stability of the hydraulic actuator module's operating state, and keeping the filling and venting efficiency under control.

[0063] In one embodiment, the controller sends a pulse width modulation (PWM) signal to the motor-controlled water pump, adjusting the pulse width to 100%, corresponding to the target speed of the motor-controlled water pump being its maximum speed. Upon receiving the signal, the motor-controlled water pump immediately operates at full speed. Simultaneously, the controller sends a 100% PWM signal to the proportional valve of the motor-controlled branch, controlling the proportional valve to open at its maximum opening. This allows the coolant to circulate in the motor-controlled circuit at maximum flow, quickly carrying away gas from the pipeline and achieving efficient venting. If subsequent adjustments to the filling and venting speed are needed, the controller can reduce the pulse width, thereby decreasing the speed of the electric water pump and the opening of the electromagnetic proportional valve, achieving precise control of the coolant flow rate.

[0064] In some embodiments of this application, when the target filling pipeline type is a heating circuit, the hydraulic control execution module corresponding to the target filling pipeline type includes a heating water pump and a heating three-way proportional valve; when the target filling pipeline type is a motor control circuit, the hydraulic control execution module corresponding to the target filling pipeline type includes a motor control water pump and a motor control branch proportional valve; when the target filling pipeline type is a battery circuit, the hydraulic control execution module corresponding to the target filling pipeline type includes a battery water pump and a battery branch proportional valve.

[0065] In the above embodiments, the heater core pump is an electronic water pump corresponding to the heater circuit. It is the power source for coolant circulation in the heater circuit, responsible for driving the coolant to flow in the heater piping to achieve vehicle heating or heater system cooling. The heater three-way proportional valve is an electromagnetic proportional valve corresponding to the heater circuit. It has a three-way structure and can simultaneously control the direction and flow rate of coolant, achieving precise regulation of coolant circulation in the heater circuit. The motor-controlled water pump is an electronic water pump corresponding to the motor control circuit. It is responsible for driving the coolant to flow in the motor control piping to provide cooling for the motor and motor controller. The motor control branch proportional valve is an electromagnetic proportional valve corresponding to the motor control circuit. It is responsible for controlling the coolant flow rate in the motor control circuit to meet the heat dissipation requirements of the motor and motor controller. The battery water pump is an electronic water pump corresponding to the battery circuit. It is responsible for driving the coolant to flow in the battery piping to provide cooling or heating for the power battery. The battery branch proportional valve is an electromagnetic proportional valve corresponding to the battery circuit. It is responsible for controlling the coolant flow rate in the battery circuit to ensure uniform cooling / heating of the power battery.

[0066] This application specifies the one-to-one correspondence between the target filling pipeline type and the hydraulic control execution module, clarifying the dedicated execution component for each pipeline, and achieving the technical effect of precise separate control of filling and venting in the three-loop system and independent protection of the cooling / heating performance of each pipeline. The implementation process of this application is as follows: after the controller determines the target filling pipeline type based on the coolant filling request, it can directly match the corresponding dedicated hydraulic control execution module, sending filling drive commands to one or more of the following: heater pump + heater three-way proportional valve, motor-controlled water pump + motor-controlled branch proportional valve, and battery water pump + battery branch proportional valve. The hydraulic control execution modules of each pipeline operate independently without interference, enabling precise filling and venting of a single pipeline. The above design ensures that the actuators of each pipeline are designed specifically for their functional requirements. The warm air water pump and the warm air three-way proportional valve are adapted to the heating / cooling requirements of the warm air circuit, the motor-controlled water pump and the proportional valve are adapted to the high heat dissipation requirements of the motor and the electric control, and the battery water pump and the proportional valve are adapted to the cooling / heating uniformity requirements of the power battery. The performance of each pipeline can be independently guaranteed, avoiding the performance mismatch problem caused by sharing actuators, and further improving the overall reliability of the thermal management system.

[0067] In one embodiment, when an air intake problem occurs in the power battery circuit of the mining truck, resulting in uneven cooling of the power battery, the operator sends a battery circuit refueling request. After the controller determines that the target refueling pipeline type is the battery circuit, it only sends refueling drive commands to the battery water pump and the battery branch proportional valve, controlling their operation to achieve independent refueling and venting of the battery circuit. The hydraulic control execution modules of the heating circuit and the motor control circuit maintain normal operation, without affecting the normal operation of other systems of the mining truck. This solves the air intake problem of the battery circuit and ensures that other functions of the thermal management system are not affected.

[0068] In some embodiments of this application, during the process of controlling the circulation of coolant in the coolant pipeline corresponding to the target filling pipeline type, the method further includes: detecting the deviation data between the actual speed feedback value of the electronic water pump and the target speed corresponding to the filling drive command, and detecting the valve position feedback signal of the electromagnetic proportional valve; when the deviation data exceeds the calibration threshold, or the valve position feedback signal indicates that the electromagnetic proportional valve has not reached the preset opening state, controlling the human-machine interaction module to output fault prompt information.

[0069] In the above embodiments, the actual speed feedback value is the actual operating speed of the electronic water pump, collected by the speed sensor and fed back to the controller. It serves as the basis for the controller to determine whether the electronic water pump is operating according to the command. The deviation data is the difference between the actual speed feedback value of the electronic water pump and the target speed corresponding to the filling drive command. The magnitude of the deviation data represents the operating accuracy of the electronic water pump; the larger the deviation, the more abnormal the operating state. The valve position feedback signal is the actual opening state signal collected by the electromagnetic proportional valve through the valve position sensor and fed back to the controller. It serves as the basis for the controller to determine whether the electromagnetic proportional valve is opening according to the command. The calibration threshold is the maximum value of the deviation data preset by the controller. It is the critical value for determining whether the electronic water pump is operating abnormally. When the deviation data exceeds the above threshold, the electronic water pump is determined to be operating abnormally. The preset opening state is the opening state set by the controller for the electromagnetic proportional valve through the filling drive command. In coolant filling mode, it is usually the maximum opening state. The fault indication information is the text or audio-visual indication information output by the controller to the operator through the human-machine interface module. It is used to inform the operator of the abnormal operating state of the hydraulic control execution module. The indication content includes the faulty component, fault type, etc.

[0070] This application adds operational status detection and fault indication functions to the hydraulic control actuator module, achieving the technical effects of real-time fault detection of the hydraulic control actuator module, fault early warning during the filling and venting process, and pre-verification of the thermal management system functions. Specifically, after sending the filling drive command to the hydraulic control actuator module, the controller continuously receives the actual speed feedback value of the electronic water pump and the valve position feedback signal of the electromagnetic proportional valve, calculates the deviation data between the actual speed and the target speed in real time, and compares the valve position feedback signal with the preset opening state; when the deviation data exceeds the calibration threshold, it is determined that the electronic water pump has a malfunction, such as pump jamming or motor damage; when the valve position feedback signal indicates that the electromagnetic proportional valve has not reached the preset opening state, it is determined that the proportional valve has a malfunction, such as valve jamming or solenoid valve failure; after detecting any fault, the controller immediately outputs fault indication information through the human-machine interaction module, informing the operator of the faulty component and fault type, thus achieving real-time fault early warning. The above design can complete the functional verification of the hydraulic control module during the coolant filling process, promptly detect potential faults in the water pump and proportional valve, and prevent faulty components from suddenly failing during mine car operation, which could lead to thermal management system failure and mine car breakdown. At the same time, it can promptly check for faults before filling and venting, ensuring the smooth progress of the filling and venting process.

[0071] In one embodiment, the controller sends a refueling drive command to the battery water pump with a target speed of 3000 r / min. The actual speed feedback value of the battery water pump is 1000 r / min, resulting in a deviation of 2000 r / min, exceeding the controller's preset calibration threshold of 500 r / min. The controller determines that the battery water pump is malfunctioning and immediately outputs a fault message "Battery water pump malfunction, abnormal speed" on the central control screen. Operators can then promptly stop the machine to troubleshoot the fault, preventing refueling and venting from being impossible due to a battery water pump malfunction. This also allows for early detection of faults, preventing thermal runaway caused by insufficient cooling of the power battery due to battery water pump failure during mine car operation. If the preset opening state of the electromagnetic proportional valve is 100% maximum opening, but the valve position feedback signal indicates that its actual opening is 50%, the controller determines that the proportional valve is stuck and outputs a "Solenoid proportional valve malfunction, abnormal opening" message, allowing operators to handle the situation promptly.

[0072] In some embodiments of this application, the coolant filling method further includes detecting the power type of the mining car, which includes pure electric mining cars and hybrid mining cars; when the mining car is a pure electric mining car, while controlling the mining car to enter the coolant filling mode, a mode entry prompt message is output through the human-machine interaction module, and the high-voltage system is kept powered on; when the mining car is a hybrid mining car, and the target filling pipeline type is a heater circuit, a speed request is sent to the engine controller to drive the heater water pump through the engine; when the mining car is a hybrid mining car, and the target filling pipeline type is a motor control circuit or a battery circuit, a filling drive command is sent to the hydraulic control execution module corresponding to the target filling pipeline type.

[0073] In the above embodiments, the power type refers to the driving type of the mining truck, which is divided into pure electric mining trucks and hybrid mining trucks. Pure electric mining trucks are powered by a power battery, while hybrid mining trucks are equipped with both an engine and a power battery as dual power sources. Pure electric mining trucks are electric mining trucks powered solely by a power battery, without an engine; their thermal management system's hydraulic control execution modules are all powered by a high-voltage system. Hybrid mining trucks are equipped with both an engine and a power battery as dual power sources; their heating circuit can utilize the engine's waste heat for heating, thus the coolant circulation in the heating circuit can be driven by the engine. The mode entry prompt information is a prompt message output by the controller to the operator through the human-machine interface module when the mining truck enters the coolant filling mode, informing the operator that the filling mode has been successfully started, including the filling pipeline type, mode status, etc. The engine controller is a dedicated controller in the hybrid mining truck that controls the engine's operating status. It can receive instructions from the vehicle controller and adjust the engine's speed, start / stop, and other operating parameters. The speed request is a control command sent by the vehicle controller to the engine controller to require the engine to run at a preset speed. When the heating circuit of the hybrid mining truck is being filled, it is used to drive the engine to run the heating water pump.

[0074] This application adds detection of the mine car's power type and differentiated filling control logic, achieving full compatibility with pure electric / hybrid mine cars and optimizing the filling efficiency of the heating circuit in hybrid mine cars. Specifically, the implementation process is as follows: After responding to a coolant filling request, the controller first detects the mine car's power type and executes different filling control logic based on the structural differences between pure electric and hybrid mine cars. For pure electric mine cars, since there is no engine, all hydraulic control actuators in the pipelines are powered by the high-voltage system. Therefore, upon entering the coolant filling mode, the controller outputs a mode entry prompt message through the human-machine interface module to inform the operator that the filling mode has been activated and keeps the high-voltage system powered on, ensuring continuous power supply to the hydraulic control actuators and enabling normal filling and venting of each pipeline. For hybrid mining trucks, the heating circuit can be driven by the engine. Therefore, when the target filling pipeline type is a heating circuit, the controller does not directly send a filling drive command to the heating water pump. Instead, it sends a speed request to the engine controller, which then runs at a preset speed. The engine's mechanical power drives the heating water pump, achieving coolant circulation in the heating circuit. When the target filling pipeline type is a motor-controlled circuit or a battery circuit, since these two circuits lack an engine-driven structure, the controller still sends a filling drive command to the corresponding hydraulic control module, implementing filling and exhaust according to the control logic of a pure electric mining truck. This design fully considers the structural differences between pure electric and hybrid mining trucks, achieving full compatibility with both power types. Simultaneously, by utilizing the engine power of the hybrid mining truck to drive the heating circuit filling, there is no need for a high-pressure system to power the heating water pump, optimizing the energy utilization efficiency of the hybrid mining truck and improving the filling efficiency of the heating circuit.

[0075] In one embodiment, the controller detects that the mining car is a pure electric mining car and receives a heating circuit refueling request. After determining that the operating data meets the preset safety conditions, it controls the mining car to enter the refueling mode. At the same time, it outputs a "Heating circuit refueling mode activated" prompt message through the instrument, keeps the high-voltage system powered on, and sends refueling drive commands to the heating water pump and the heating three-way proportional valve to realize the refueling and venting of the heating circuit. If the controller detects that the mining car is a hybrid mining car and receives a heating circuit refueling request, it sends a speed request to the engine controller to control the engine to run at a preset speed. The engine drives the heating water pump to run at full speed, and at the same time controls the heating three-way proportional valve to open to the maximum degree to realize the circulation of coolant in the heating circuit. If the hybrid mining car receives a battery circuit refueling request, the controller directly sends a refueling drive command to the battery water pump and the battery branch proportional valve to realize the refueling and venting of the battery circuit according to the pure electric control logic.

[0076] like Figure 2 As shown, an embodiment of this application provides a method for adding coolant to a mining car, the steps of which further include:

[0077] Step 202: Check if the overall vehicle status meets the requirements. If yes, proceed to step 206; otherwise, proceed to step 204.

[0078] Step 204: Real-time monitoring of the vehicle's status;

[0079] Step 206: Check if the vehicle speed is 0, the gear is in neutral, and the parking handbrake signal is valid. If yes, proceed to step 208; otherwise, proceed to step 202.

[0080] Step 208: You can enter the refueling mode;

[0081] Step 210: After entering the refueling mode, respond to three types of refueling requests: heater refueling request, motor control refueling request, and battery refueling request.

[0082] like Figure 3 , Figure 4 and Figure 5 As shown, where, Figure 3 This is a connection diagram for the heating air hydraulic circuit filling module. Figure 4 This is a connection diagram for the motor-controlled hydraulic circuit filling module. Figure 5 The connection diagram of the power battery hydraulic circuit refueling module is a schematic diagram of the core hardware carrier supporting the electric mining truck thermal management reliability system and control method of this application. Figures 3 to 5 The VCU, short for Vehicle Control Unit, is the common control center of the circuit. It is responsible for receiving refueling mode trigger requests, determining the refueling mode entry conditions, outputting actuator control commands, and providing feedback on real-time refueling status. It is the core operating carrier of the thermal management refueling control logic of this application. Figure 3 , Figure 4 and Figure 5 The CAN line shown in the diagram stands for Controller Area Network, which is a dedicated communication link between the instruction input module and the VCU. It is used to issue refueling request instructions and transmit refueling status information. Figure 3 , Figure 4 and Figure 5 The PWM wave used to control the action of the actuator is called Pulse Width Modulation. It belongs to the Pulse Output (PO) signal and is the core signal type of the VCU to output precise control commands to actuators such as water pumps and proportional valves. The water pump speed and the opening of the proportional valve can be precisely adjusted by adjusting the pulse parameters. The VCU can also communicate via CAN line to achieve the same control function for the actuator with preset message parameters. Figure 3 , Figure 4 and Figure 5The DI signal that appears in the process is called Digital Input. It is used to transmit the switching status of the actuator, including the two states of on and off corresponding to digital signals 1 and 0, to the VCU. Its core function is to provide feedback on the fault status of the actuator to the VCU. Figure 3 , Figure 4 and Figure 5 The ECU mentioned in the text stands for Electronic Control Unit. It is a dedicated drive control module for the corresponding actuator. It is used to receive control commands from the VCU and drive the corresponding components to operate. The PTC is a positive temperature coefficient heater, which is the core component for low-temperature heating of the power battery. It heats the coolant and then circulates the coolant to heat the power battery evenly, avoiding the temperature difference problem of direct heating.

[0083] Figure 3 Connection diagram of the heating air hydraulic circuit filling module. Figure 3 The intermediate loop is one of the three independent branches of the liquid cooling circulation loop in this application. The diagram fully illustrates the composition of all modules, electrical connections and signal transmission paths under the above-mentioned loop filling mode. Figure 3 The instruction input module includes two types of devices: instrument panel / central control screen and host computer. The instrument panel is adapted to low-end models, while the central control screen is adapted to high-end models. Both have a dedicated refueling mode trigger interface and a "heating circuit refueling" touch button. The host computer is a debugging computer. Both types of devices communicate with the VCU through the aforementioned CAN line. Both can send a trigger request for the heating circuit refueling mode to the VCU, and at the same time receive the refueling status information returned by the VCU and display it in real time. Figure 3 The actuator module includes a heater pump, a heater three-way proportional valve, and an electronic air pump ECU. The heater pump and the heater three-way proportional valve together constitute the flow regulation module defined in this application, which is used to regulate the flow rate and flow path of the coolant in the heater circuit. The VCU establishes control connections with the heater pump and the heater three-way proportional valve respectively through the aforementioned PO signal (including PWM wave), and can output control commands to both. The electronic air pump ECU receives the speed control command from the VCU through the PO signal (including PWM wave), and at the same time feeds back its own fault status to the VCU through the DI signal, which also includes the AO signal, i.e., analog output signal (Analog Output). Figure 3 The circuit carrier is the heating hydraulic circuit, which is the heating circuit in this application. It is the pipeline carrier for the circulation, filling and venting of coolant. The heating water pump and the heating three-way proportional valve are connected to the above pipeline. The circulation state of the coolant in the pipeline can be adjusted by the control command of the VCU. Figure 3The connection relationship shown corresponds exactly to the heating circuit filling control logic of this application. After the VCU receives the heating circuit filling request sent by the instrument panel / central control screen or the host computer, it first determines whether the vehicle meets the preset filling mode entry conditions. After all conditions are met, the VCU outputs a 100% duty cycle control signal to the heating water pump and a 100% opening control signal to the heating three-way proportional valve. This controls both valves to operate at full speed and fully open during the filling and venting process, without being constrained by temperature parameters. This achieves rapid filling of the heating circuit coolant and rapid venting of air from the pipeline.

[0084] Figure 4 This is a connection diagram of the motor-controlled hydraulic circuit filling module, corresponding to the motor-controlled circuit filling control scheme. The above circuit is also one of the three independent branches of the liquid cooling circulation circuit in this application. Figure 4 The diagram fully illustrates the complete module composition, electrical connections, and signal transmission paths under the aforementioned loop filling mode. Figure 4 The instruction input module also includes two types of devices: instrument / central control screen and host computer. Both are equipped with a dedicated refueling mode trigger interface and a "motor control circuit refueling" touch button. Both communicate with VCU through CAN line, can send a trigger request to the generator control circuit refueling mode to VCU, and receive and display the refueling status information returned by VCU in real time. Figure 4 The actuator module includes a motor-controlled water pump and a motor-controlled branch three-way proportional valve, which together constitute the flow regulation module defined in this application, used to regulate the flow rate and flow path of the coolant in the motor-controlled circuit. The VCU establishes control connections with the motor-controlled water pump and the motor-controlled branch three-way proportional valve respectively through the aforementioned PO signal (including PWM wave), and can also control the two through CAN line communication with preset message parameters. Figure 4 The circuit carrier is the motor-controlled hydraulic circuit, which is the motor-controlled circuit of this application. It is the pipeline carrier for the circulation, filling and venting of the coolant in the above-mentioned branch. The motor-controlled water pump and the motor-controlled branch three-way proportional valve are all connected to the above-mentioned pipeline. The circulation state of the coolant in the pipeline can be adjusted by the control command of the VCU. Figure 4 The connection relationship shown corresponds exactly to the motor control circuit filling control logic of this application. That is, after the VCU receives the motor control circuit filling request sent by the instrument / central control screen or the host computer, it first determines whether the vehicle meets the preset filling mode entry conditions. After all conditions are met, the VCU outputs a 100% duty cycle control signal to the motor control water pump and a 100% opening control signal to the three-way proportional valve of the motor control branch. This controls both of them to operate at full speed and fully open during the filling and venting process without being constrained by temperature parameters, thereby realizing the rapid filling of coolant into the motor control circuit and the rapid venting of air in the pipeline.

[0085] Figure 5 The diagram shows the connection of the hydraulic circuit filling module for the power battery, corresponding to the battery circuit filling control scheme. The core of the circuit serves the temperature regulation requirements of the power battery. Figure 5 The diagram fully illustrates the complete module composition, electrical connection relationship and signal transmission path of the above-mentioned loop filling mode. Its basic architecture and signal specifications are completely consistent with the first two attached diagrams. Figure 5 The instruction input module also includes two types of devices: instrument / central control screen and host computer. Both are equipped with a dedicated refueling mode trigger interface and a "battery circuit refueling" touch button. Both communicate with VCU through CAN line, can send a battery circuit refueling mode trigger request to VCU, and receive the refueling status information returned by VCU and display it in real time. Figure 5 The actuator module includes a battery water pump and a battery branch proportional valve, which together constitute the flow regulation module defined in this application, used to regulate the flow rate and flow path of the coolant in the battery circuit. The VCU establishes control connections with the battery water pump and the battery branch proportional valve respectively through the aforementioned PO signal (including PWM wave), and can also control the two through CAN line communication with preset message parameters. Figure 5 The cooling target is the power battery, which is also the core protection target of the thermal management system of this application. The circuit carrier is the battery hydraulic circuit, which is the battery circuit in this application. It is the pipeline carrier for the circulation, filling and venting of the coolant in the above-mentioned branch. The battery water pump and the battery branch proportional valve are connected to the above-mentioned pipeline. The circulation state of the coolant in the pipeline can be adjusted by the control command of the VCU, thereby realizing the cooling or heating temperature regulation of the power battery. Figure 5 The connection relationship shown corresponds exactly to the battery circuit filling control logic of this application. After the VCU receives the battery circuit filling request sent by the instrument / central control screen or the host computer, it first determines whether the vehicle meets the preset filling mode entry conditions. After all conditions are met, the VCU outputs a 100% duty cycle control signal to the battery water pump and a 100% opening control signal to the battery branch proportional valve. This controls both of them to operate at full speed and fully open during the filling and venting process without being constrained by temperature parameters, thereby realizing the rapid filling of coolant into the battery circuit and the rapid venting of air in the pipeline.

[0086] like Figure 6As shown, an embodiment of this application provides a coolant filling device 300 for a mining car. The coolant filling device is used in a mining car, which includes a controller, a human-machine interface module, a thermal management temperature control module, multiple hydraulic control execution modules, and coolant pipelines. The human-machine interface module is communicatively connected to the controller and is used to send a coolant filling request to the controller. The thermal management temperature control module is communicatively connected to the controller and is used to control the operation of the hydraulic control execution modules according to temperature signals in normal operating mode. The controller is communicatively connected to the hydraulic control execution modules. The multiple hydraulic control execution modules include at least one electronic water pump and at least one electromagnetic proportional valve. The electronic water pump and electromagnetic proportional valve are connected to the coolant pipelines and are used to control the flow of coolant in the coolant pipelines. The device includes: a trigger response module 310, a first determination module 320, a first control module 330, a second control module 340, a first execution module 350, and a second execution module 360. The trigger response module 310 is used to respond to the coolant filling request, acquire the operating condition data of the mining car, and control the operation of the mining car when the operating condition data meets preset safety conditions. The vehicle enters the coolant filling mode; the first determining module 320 is used to determine the target filling pipeline type according to the coolant filling request, which is one or more of the following: heater circuit, motor control circuit, and battery circuit; the first control module 330 is used to send a filling drive command to the hydraulic control execution module corresponding to the target filling pipeline type to control the operation of the corresponding electronic water pump and control the opening of the corresponding electromagnetic proportional valve, so that the coolant circulates in the coolant pipeline corresponding to the target filling pipeline type; the second control module 340 is used to prevent the speed reduction command or shutdown command sent by the thermal management temperature control module to the hydraulic control execution module corresponding to the target filling pipeline type from taking effect in the coolant filling mode; the first execution module 350 is used to replenish coolant to the coolant pipeline corresponding to the target filling pipeline type during the coolant circulation process to expel the gas in the coolant pipeline; the second execution module 360 ​​is used to control the mine car to exit the coolant filling mode and restore the operation control of the hydraulic control execution module by the thermal management temperature control module when the exit filling condition is detected to be met.

[0087] The coolant filling device 300 for mining trucks provided by this invention, through the coordinated operation of a trigger response module 310, a first determination module 320, a first control module 330, a second control module 340, a first execution module 350, and a second execution module 360, can accurately respond to coolant filling requests. After meeting preset safety conditions, it activates a dedicated filling mode, specifically controlling the operation of the electronic water pump and electromagnetic proportional valve of the target pipeline to form coolant circulation. At the same time, it shields the deceleration or shutdown commands of the thermal management temperature control module, efficiently venting pipeline gas by replenishing coolant, and quickly restoring normal control when the exit conditions are met. This achieves the integration of coolant filling and venting, safe and convenient operation, and stable and reliable operation of the thermal management system, effectively reducing the operating and maintenance costs of mining trucks, adapting to the harsh operating conditions of mining trucks, and ensuring the uniformity of cooling and heating of core components.

[0088] like Figure 7 As shown, an embodiment of this application provides a coolant filling device 400 for a mining car, including a processor 402 and a memory 404. The memory 404 stores programs or instructions. When the processor 402 executes the programs or instructions in the memory 404, it implements the steps of the coolant filling method for a mining car as described in any of the above embodiments. Therefore, the coolant filling device 400 for a mining car possesses all the beneficial effects of the coolant filling method for a mining car as described in any of the above embodiments.

[0089] Embodiments of this application provide a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the coolant filling method for a mine car as described in any of the above embodiments. Therefore, the readable storage medium possesses all the beneficial effects of the coolant filling method for a mine car as described in any of the above embodiments.

[0090] In the claims, description, and accompanying drawings of this invention, the term "plural" refers to two or more. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and simplifying the descriptive process, and are not intended to indicate or imply that the device or element referred to must have the described specific orientation, or be constructed and operated in a specific orientation. Therefore, these descriptions should not be construed as limiting the invention. The terms "connected," "installed," "fixed," etc., should be interpreted broadly. For example, "connected" can be a fixed connection between multiple objects, a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects or an indirect connection between multiple objects through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this invention can be understood based on the specific circumstances described above.

[0091] In the claims, description, and accompanying drawings of this invention, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In the claims, description, and accompanying drawings of this invention, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0092] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for adding coolant to a mining car, characterized in that, The coolant filling method is used in a mine car. The mine car includes a controller, a human-machine interface module, a thermal management temperature control module, multiple hydraulic control execution modules, and coolant pipelines. The human-machine interface module is communicatively connected to the controller and is used to send a coolant filling request to the controller. The thermal management temperature control module is communicatively connected to the controller and is used to control the operation of the hydraulic control execution modules according to temperature signals in normal operating mode. The controller is communicatively connected to the hydraulic control execution modules. The multiple hydraulic control execution modules include at least one electronic water pump and at least one electromagnetic proportional valve. The electronic water pump and the electromagnetic proportional valve are connected to the coolant pipelines and are used to control the flow of coolant in the coolant pipelines. The method includes: In response to the coolant filling request, the operating data of the mine car is acquired, and when the operating data meets the preset safety conditions, the mine car is controlled to enter the coolant filling mode. The target filling pipeline type is determined based on the coolant filling request. The target filling pipeline type is one or more of the following: heater circuit, motor control circuit, and battery circuit. Send a filling drive command to the hydraulic control execution module corresponding to the target filling pipeline type to control the operation of the corresponding electronic water pump and control the opening of the corresponding electromagnetic proportional valve so that the coolant circulates in the coolant pipeline corresponding to the target filling pipeline type; In the coolant filling mode, the thermal management temperature control module is prohibited from issuing deceleration or shutdown commands to the hydraulic control execution module corresponding to the target filling pipeline type. During the coolant circulation process, coolant is added to the coolant pipeline corresponding to the target pipeline type to expel the gas in the coolant pipeline; When the exit conditions for refueling are met, the mine car is controlled to exit the coolant refueling mode, and the thermal management temperature control module resumes its operation control over the liquid control execution module.

2. The method for adding coolant to a mine car according to claim 1, characterized in that, The conditions for exiting refueling include at least one of the following: receiving a refueling exit command sent by the human-machine interaction module, or the working condition data of the mine truck no longer meeting the preset safety conditions; When the exit refueling condition is met, the mine car is controlled to exit the coolant refueling mode, and a recovery control command to cancel the refueling drive command is sent to the hydraulic control execution module corresponding to the target refueling pipeline type.

3. The method for adding coolant to a mine car according to claim 1, characterized in that, The preset security conditions include: The mine car is at zero speed, in neutral, with the parking brake active, and the high-voltage system is powered on.

4. The method for adding coolant to a mine car according to claim 1, characterized in that, The filling drive command is a pulse width modulation signal, which is used to control the speed of the electronic water pump and the opening degree of the electromagnetic proportional valve.

5. The method for adding coolant to a mine car according to claim 1, characterized in that, When the target filling pipeline type is a warm air circuit, the hydraulic control execution module corresponding to the target filling pipeline type includes a warm air water pump and a warm air three-way proportional valve; When the target filling pipeline type is a motor-controlled circuit, the hydraulic control execution module corresponding to the target filling pipeline type includes a motor-controlled water pump and a motor-controlled branch proportional valve; When the target filling pipeline type is a battery circuit, the hydraulic control execution module corresponding to the target filling pipeline type includes a battery water pump and a battery branch proportional valve.

6. The method for adding coolant to a mine car according to claim 1, characterized in that, In controlling the circulation of coolant in the coolant line corresponding to the target filling line type, the method further includes: The deviation data between the actual speed feedback value of the electronic water pump and the target speed corresponding to the filling drive command is detected, and the valve position feedback signal of the electromagnetic proportional valve is detected; When the deviation data exceeds the calibration threshold, or when the valve position feedback signal indicates that the electromagnetic proportional valve has not reached the preset opening state, the human-machine interaction module is controlled to output fault prompt information.

7. The method for adding coolant to a mine car according to claim 1, characterized in that, The method further includes detecting the power type of the mining truck, which includes pure electric mining trucks and hybrid mining trucks; When the mining car is a pure electric mining car, while controlling the mining car to enter the coolant filling mode, the mode entry prompt information is output through the human-machine interaction module, and the high-voltage system is kept in the powered state. When the mine car is a hybrid mine car and the target filling pipeline type is a warm air circuit, a speed request is sent to the engine controller to drive the warm air water pump through the engine. When the mining truck is a hybrid mining truck, and the target filling pipeline type is a motor control circuit or a battery circuit, the filling drive command is sent to the hydraulic control execution module corresponding to the target filling pipeline type.

8. A coolant filling device for a mining car, characterized in that, The coolant filling device is used in a mine car. The mine car includes a controller, a human-machine interface module, a thermal management temperature control module, multiple hydraulic control execution modules, and coolant pipelines. The human-machine interface module is communicatively connected to the controller and is used to send coolant filling requests to the controller. The thermal management temperature control module is communicatively connected to the controller and is used to control the operation of the hydraulic control execution modules according to temperature signals in normal operating mode. The controller is communicatively connected to the hydraulic control execution modules. The multiple hydraulic control execution modules include at least one electronic water pump and at least one electromagnetic proportional valve. The electronic water pump and the electromagnetic proportional valve are connected to the coolant pipelines and are used to control the flow of coolant in the coolant pipelines. The device includes: The trigger response module is used to respond to the coolant filling request, obtain the working condition data of the mine car, and control the mine car to enter the coolant filling mode when the working condition data meets the preset safety conditions. The first determining module is used to determine the target filling pipeline type according to the coolant filling request, wherein the target filling pipeline type is one or more of the following: heater circuit, motor control circuit, and battery circuit; The first control module is used to send a filling drive command to the hydraulic control execution module corresponding to the target filling pipeline type, so as to control the operation of the corresponding electronic water pump and control the opening of the corresponding electromagnetic proportional valve, so that the coolant circulates in the coolant pipeline corresponding to the target filling pipeline type. The second control module is used to prevent the thermal management temperature control module from taking effect the deceleration command or shutdown command sent by the hydraulic control execution module corresponding to the target filling pipeline type in the coolant filling mode. The first execution module is used to replenish coolant to the coolant pipeline corresponding to the target filling pipeline type during the coolant circulation process, so as to expel the gas in the coolant pipeline; The second execution module is used to control the mine car to exit the coolant filling mode and restore the operation control of the liquid control execution module by the thermal management temperature control module when the exit filling condition is detected to be met.

9. A coolant filling device for a mining car, characterized in that, include: processor; A memory, wherein the memory stores programs or instructions, and the processor, when executing the programs or instructions in the memory, implements the steps of the coolant filling method for the mine car as described in any one of claims 1 to 7.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the coolant filling method for the mine car as described in any one of claims 1 to 7.

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