Mining vehicle and method, apparatus and medium for brake compensation thereof

Abstract

This application discloses a mining vehicle and its braking compensation method, device, and medium, relating to the field of mining vehicle control technology. The method includes: predicting the braking effectiveness of a first braking mode to obtain a corresponding prediction result; and when the prediction result indicates that the first braking mode has failed, executing a preset braking compensation strategy in response to the activation of the first braking mode, wherein the braking compensation strategy is configured to activate a second braking mode for braking torque compensation. This application proactively predicts the effectiveness of the first braking mode before it is activated and promptly performs braking torque compensation using the second braking mode based on the prediction result, thereby avoiding sudden acceleration of the mining vehicle due to the failure of the first braking mode and improving the driving safety of the vehicle under various extreme conditions.

Description

Technical Field

[0001] This application relates to the field of mining vehicle control technology, specifically to a mining vehicle and its braking compensation method, device and medium. Background Technology

[0002] Mining vehicles, such as off-highway electric dump trucks, are extremely dangerous when descending long slopes. Relying solely on traditional foot brakes (the main braking method) causes the brakes to generate immense heat due to continuous high-intensity friction, leading to brake performance degradation or even complete failure. Therefore, compared to ordinary electric vehicles, mining vehicles are equipped with various auxiliary braking methods in addition to the main brake, such as electric motor braking and retarder braking. Furthermore, under heavy-load downhill conditions, auxiliary braking methods are typically prioritized to avoid potential brake failure caused by the main braking method.

[0003] However, due to the complex and harsh road conditions in mining areas, auxiliary braking systems often fail. For example, activation of ABS (Anti-lock Braking System) can trigger the disengagement of the electric motor brakes, and high temperatures can cause retarder malfunctions. Failure of auxiliary braking systems will cause the vehicle to suddenly accelerate under heavy loads on downhill slopes, causing driver panic and affecting driving safety. Similarly, failure of the main braking system can also lead to sudden acceleration of the vehicle under certain conditions, causing accidents. Summary of the Invention

[0004] The purpose of this application is to provide a mining vehicle and its braking compensation method, device and medium to at least partially solve the above-mentioned technical problems.

[0005] To achieve the above objectives, a first aspect of this application provides a braking compensation method for a mining vehicle, the mining vehicle having a first braking mode and a second braking mode, and the braking compensation method comprising: performing a braking effectiveness prediction on the first braking mode to obtain a corresponding prediction result; and when the prediction result indicates that the first braking mode has failed, executing a preset braking compensation strategy in response to the activation of the first braking mode, wherein the braking compensation strategy is configured to activate the second braking mode to perform braking torque compensation.

[0006] In this embodiment of the application, the first braking method is an auxiliary braking method, and the second braking method is a main braking method, wherein the auxiliary braking method includes any one or more of motor braking, eddy current retarder braking, hydraulic retarder braking and energy storage braking.

[0007] In this embodiment of the application, the braking effectiveness prediction includes: acquiring the wheel speed signal of the mining vehicle; predicting the slip ratio change trend of the mining vehicle based on the wheel speed signal; and determining whether the slip ratio will exceed the set ABS activation threshold based on the slip ratio change trend. If so, it is determined that activating ABS will trigger the withdrawal of the auxiliary braking mode.

[0008] In this embodiment of the application, the braking compensation method further includes: monitoring the real-time slip rate when it is determined that activating the ABS will trigger the withdrawal of the auxiliary braking mode; and reducing the output torque of the auxiliary braking mode to be withdrawn when the real-time slip rate is close to the ABS activation threshold.

[0009] In this embodiment of the application, the braking effectiveness prediction includes: obtaining the operating information of the associated components of the auxiliary braking method; and determining whether there is a component failure based on the operating information, and if so, determining that the auxiliary braking method has failed.

[0010] In this embodiment of the application, the braking compensation method further includes: when the auxiliary braking mode, which is predicted to be ineffective, restores its braking capability, increasing the output torque of the auxiliary braking mode and decreasing the output torque of the main braking mode according to a preset slope.

[0011] In this embodiment, the braking compensation strategy is configured to: determine the braking torque gap caused by the failure of the auxiliary braking mode; determine the target deceleration of the mining vehicle based on the braking torque gap; and control the electronic braking system (EBS) to activate the main braking mode of the mining vehicle based on the target deceleration to perform braking torque compensation.

[0012] A second aspect of this application provides a braking compensation device for a mining vehicle, the mining vehicle having a first braking mode and a second braking mode, and the braking compensation device comprising: a braking effectiveness prediction module for predicting the braking effectiveness of the first braking mode to obtain a corresponding prediction result; and a braking compensation module for executing a preset braking compensation strategy in response to the activation of the first braking mode when the prediction result indicates that the first braking mode has failed, wherein the braking compensation strategy is configured to activate the second braking mode to perform braking torque compensation.

[0013] In this embodiment of the application, the first braking method is an auxiliary braking method, and the second braking method is a main braking method, wherein the auxiliary braking method includes any one or more of motor braking, eddy current retarder braking, hydraulic retarder braking and energy storage braking.

[0014] In this embodiment, the braking effectiveness prediction module includes: a monitoring submodule for monitoring the slip ratio change trend of the mining vehicle or monitoring the operating information of the associated components of the auxiliary braking method; and an identification submodule for identifying whether the auxiliary braking method has failed based on the slip ratio change trend or the operating information.

[0015] In this embodiment, the braking compensation module includes: a torque gap determination submodule, used to determine the braking torque gap caused by the failure of the auxiliary braking mode; and an EBS braking compensation submodule, used to determine the target deceleration of the mining vehicle based on the braking torque gap, so that EBS can activate the main braking mode of the mining vehicle based on the target deceleration to perform braking torque compensation.

[0016] In this embodiment of the application, the braking compensation device further includes: a smooth handover control module, used to increase the output torque of the auxiliary braking mode and decrease the output torque of the main braking mode according to a preset slope when the braking capability of the auxiliary braking mode that is predicted to fail is restored; and / or a torque management module, used to decrease the output torque of the auxiliary braking mode that will fail when it is determined that the auxiliary braking mode has failed.

[0017] A third aspect of this application provides a braking compensation device for a mining vehicle, comprising: a memory configured to store instructions; and a processor configured to retrieve the instructions from the memory and, when executing the instructions, to implement the braking compensation method for any of the mining vehicles described above.

[0018] The fourth aspect of this application provides a mining vehicle that integrates any of the above-described braking compensation devices for mining vehicles.

[0019] The fifth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform any of the above-described braking compensation methods for mining vehicles.

[0020] Through the above technical solution, the embodiments of this application proactively predict the effectiveness of the first braking method before it is activated, and promptly compensate for the braking torque through the second braking method based on the prediction result. This can prevent the mining vehicle from suddenly accelerating due to the failure of the first braking method, thereby improving the driving safety of the vehicle under various extreme working conditions.

[0021] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0022] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 The schematic diagram illustrates a process flow diagram of a braking compensation method for a mining vehicle according to Embodiment 1 of this application; Figure 2 A schematic diagram illustrating the ABS prediction algorithm according to an embodiment of this application is shown. Figure 3 A schematic diagram illustrating the braking compensation strategy according to an embodiment of this application is shown. Figure 4 The diagram illustrates a unified safety takeover framework for "braking effectiveness judgment + braking torque compensation" according to an embodiment of this application. Figure 5 This schematic diagram illustrates the structure of a braking compensation device for a mining vehicle according to Embodiment 2 of this application; and Figure 6 The diagram schematically illustrates a structural block diagram of a braking compensation device for a mining vehicle according to Embodiment 3 of this application.

[0023] Explanation of reference numerals in the attached figures Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0025] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0026] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0027] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0028] Example 1 Figure 1 The diagram illustrates a flow chart of a braking compensation method for a mining vehicle according to Embodiment 1 of this application. This braking compensation method is, for example, executed by the VCU (Vehicle Control Unit) on the mining vehicle. Furthermore, the mining vehicle has a first braking mode and a second braking mode, wherein the first braking mode and the second braking mode are each one of an auxiliary braking mode and a main braking mode.

[0029] like Figure 1 As shown, Embodiment 1 of this application provides a braking compensation method for mining vehicles, which may include the following steps S100-S200.

[0030] Step S100: Predict the braking effectiveness of the first braking method to obtain the corresponding prediction result.

[0031] The first braking method is preferably an auxiliary braking method, which includes, but is not limited to, any one or more of electric motor braking, eddy current retarder braking, hydraulic retarder braking, and energy storage braking. Energy storage braking, also known as BMS (Battery Management System) braking, stores a portion of the electrical energy generated by the electric motor in a large-capacity supercapacitor bank or battery. When the vehicle needs to accelerate, the stored energy is released to assist in driving.

[0032] Step S200: When the prediction result indicates that the first braking mode has failed, a preset braking compensation strategy is executed in response to the activation of the first braking mode, wherein the braking compensation strategy is configured to activate the second braking mode to perform braking torque compensation.

[0033] The second braking method is preferably the main braking method, such as air braking.

[0034] Through the above steps S100-S200, this embodiment of the application proactively predicts the effectiveness of the first braking method before the first braking method is activated, and determines the braking compensation strategy in a timely manner based on the prediction result, so as to compensate for the braking torque through the second braking method. This can avoid the sudden acceleration of the mining vehicle caused by the failure of the first braking method, and improve the driving safety of the whole vehicle under various extreme working conditions (such as heavy-load downhill working conditions in various environments).

[0035] In summary, steps S100 and S200 involve two parts: determining the effectiveness of the auxiliary braking method and implementing a braking compensation strategy. These two parts will be described in detail below with examples. It should be noted that this example pertains to a scenario where the first braking method is an auxiliary braking method and the second braking method is the main braking method.

[0036] I. Effectiveness assessment of auxiliary braking methods.

[0037] In the example, the failure of the auxiliary braking method mainly manifests in the following two failure modes: 1) First failure mode: ABS activation triggers the disengagement of auxiliary braking methods such as motor braking.

[0038] 2) First type of failure: Failure of vehicle components associated with the auxiliary braking method, such as retarder failure due to high temperature environment, sudden drop in battery feedback capability, motor failure / protection shutdown, etc.

[0039] Regarding the first type of failure, given that ABS typically triggers only when tire slippage increases and the tire is about to enter the saturation zone, such as... Figure 2 As shown, the ABS prediction algorithm based on the following steps S110-S130 can be used to predict braking effectiveness: Step S110: Obtain the wheel speed signal of the mining vehicle.

[0040] For example, multiple wheel speed sensors can be configured for each vehicle so that the VCU (Vehicle Control Unit) can acquire the corresponding wheel speed signals collected by each wheel speed sensor in real time during downhill or braking conditions.

[0041] Step S120: Predict the slip ratio change trend of the mining vehicle based on the wheel speed signal.

[0042] The slip ratio is the ratio of the difference between vehicle speed and wheel speed (wheel speed difference) to the vehicle speed. Therefore, the VCU can calculate the slip ratio based on the vehicle speed and wheel speed signals and further predict the trend of slip ratio changes.

[0043] Step S130: Determine whether the slip ratio will exceed the set ABS activation threshold based on the slip ratio change trend. If so, determine that activating ABS will trigger the exit of the auxiliary braking mode.

[0044] It is understandable that if the slip ratio does not exceed the ABS activation threshold, the current braking method continues. However, if the slip ratio exceeds the set ABS activation threshold, it indicates that the vehicle is in a critical state for ABS activation. In this situation, if the vehicle is facing extreme conditions such as heavy-load downhill driving, to ensure the highest level of active safety (i.e., anti-lock braking), the VCU will require the auxiliary braking method to disengage quickly upon detecting ABS activation. That is, sacrificing the advantages of energy recovery and braking smoothness provided by the auxiliary braking method, priority is given to ensuring the functionality of the ABS system. Therefore, in step S130, it is determined whether ABS activation will trigger the disengagement of the auxiliary braking method based on the slip ratio change trend. If the auxiliary braking method is disengaged, it means that it has failed.

[0045] To address this first type of failure, in the example, the auxiliary braking torque can be proactively reduced before ABS activation to avoid the risk of vehicle acceleration caused by the instantaneous disengagement of the electric motor braking upon ABS activation. Specifically, the braking compensation method described above can be further enhanced by: monitoring the real-time slip rate when it is determined that activating the ABS will trigger the disengagement of the auxiliary braking mode; and reducing the output torque of the auxiliary braking mode to be disengaged when the real-time slip rate approaches the ABS activation threshold. For example, if it is determined that ABS will be activated when the slip rate reaches a set range associated with the ABS activation threshold, the electric motor braking torque can be proactively reduced.

[0046] In other words, when the slip ratio is close to the ABS activation threshold, taking proactive torque reduction strategies for assisted braking in advance can reduce the increase in tire slip and lower the probability of ABS triggering.

[0047] For the second type of failure, the effectiveness of braking can be predicted through the following steps: obtaining the operating information of the associated components of the auxiliary braking method; and determining whether there is a component failure based on the operating information. If so, the auxiliary braking method is determined to have failed. For example, obtaining the operating information of the retarder, including its temperature, indicates that the retarder may be disengaged due to overheating if the temperature exceeds a set threshold, thus determining that the retarder braking method has failed. Similarly, it is also possible to determine whether the motor braking method will disengage due to a fault / protection based on the motor operating information, and whether the energy storage braking method will disengage based on a sudden drop in battery feedback capability reflected by battery movement information.

[0048] II. Braking Compensation Strategy.

[0049] In the example, such as Figure 3 As shown, the braking compensation strategy can be configured to include the following steps S210-S230.

[0050] Step S210: Determine the braking torque gap caused by the failure of the auxiliary braking method.

[0051] For example, when the ABS actually triggers or detects a failure in the auxiliary braking, the VCU calculates the shortfall in the current auxiliary braking torque (e.g., the electric motor braking torque) relative to the normal value, i.e., the braking torque gap.

[0052] Step S220: Determine the target deceleration of the mining vehicle based on the braking torque gap.

[0053] For example, when ABS is triggered, the motor braking may be cut off or significantly reduced. At this time, the VCU calculates the target deceleration that needs to be compensated by EBS by using the braking torque gap.

[0054] Step S230: Control EBS to activate the main braking mode of the mining vehicle based on the target deceleration to perform braking torque compensation.

[0055] For example, the target deceleration is combined with information such as current vehicle speed, load, and gradient to map the EBS braking pressure demand of each axle, and closed-loop correction is performed based on feedback. Finally, the result is sent to the EBS ECU (Electronic Control Unit) via communication message to complete the braking gap compensation.

[0056] Thus, taking motor-assisted braking as an example, based on the above steps S210-S230, when ABS is activated or when a motor braking fault is detected, the original vehicle deceleration demand is calculated based on the original braking torque of the motor, and this deceleration is converted into air braking demand in real time, so that EBS automatically compensates for the motor braking torque gap and achieves continuous deceleration.

[0057] After completing the braking torque compensation in step S200, taking ABS as an example, when road surface adhesion conditions improve or braking operation weakens, ABS will deactivate. At this stage, if regenerative braking is immediately resumed without control and EBS braking is significantly reduced at the same time, it can easily cause sudden braking changes, or even cause slippage or longitudinal sway of the vehicle body again.

[0058] Therefore, in a preferred embodiment, after completing the braking torque compensation, the braking compensation method may further include: when the auxiliary braking mode, which was predicted to be ineffective, restores its braking capability, increasing the output torque of the auxiliary braking mode and decreasing the output torque of the main braking mode according to a preset slope.

[0059] For example, when ABS is disengaged or auxiliary braking capability is restored, regenerative braking torque is gradually restored according to a preset slope, while EBS air braking is reduced according to a corresponding slope, so as to achieve a smooth handover between the two braking sources, avoid changes in adhesion and sudden changes in vehicle speed, and ensure continuous braking force and consistency and stability of vehicle braking feel.

[0060] In summary, through the above examples, it can be seen that the braking compensation method for mining vehicles proposed in Embodiment 1 of this application has at least the following advantages: 1. Embodiment 1 of this application provides a unified braking compensation scheme for various auxiliary braking failure scenarios, that is, forming a system as follows: Figure 4 The unified safety takeover framework shown, which combines "braking effectiveness judgment + braking torque compensation", includes a unified control process of detection and prediction, control decision, execution, and recovery. It is applicable to various braking link failure scenarios such as electric eddy current retarders, hydraulic retarders, motors, and BMS, thereby improving the safety of the vehicle under various extreme conditions.

[0061] Understandably, this unified safety takeover framework can also be applied to scenarios where the main brake fails and compensation is made through auxiliary braking, i.e., where the primary braking method is the main braking method and the secondary braking method is the auxiliary braking method. In this scenario, the failure of the air braking system can be determined by comprehensively considering signals from the driver's brake pedal, accelerator pedal, and overall vehicle information. If air brake failure is determined, other auxiliary braking methods can be used to compensate and help decelerate the vehicle, improving safety. For example, if the driver depresses the brake pedal more than a certain opening (preset 90%) and the vehicle speed exceeds a certain threshold (preset 5 km / h), but the vehicle shows no deceleration or deceleration is too small, and the overall assessment indicates air brake failure, all auxiliary braking methods will be actively engaged to help decelerate the vehicle and prevent accidents caused by brake system failure.

[0062] It should be noted that for the scenario where the first braking method is the main braking method and the second braking method is the auxiliary braking method, other implementation details can be found in the example above where the first braking method is the auxiliary braking method and the second braking method is the main braking method, and will not be repeated here.

[0063] 2. In scenarios where ABS triggers auxiliary braking disengagement, slip ratio prediction and active torque reduction effectively reduce the frequency and intensity of ABS triggering, thereby mitigating the risk of passive regenerative braking disengagement. In other words, through "advance prediction + active torque reduction + main braking torque compensation" for ABS, mining vehicles can not only remedy the situation after ABS triggering but also reduce risks before triggering. It is understandable that active torque reduction can also be applied to scenarios where auxiliary braking disengagement is triggered due to component failure.

[0064] 3. By identifying torque gaps and mapping between torque gaps and deceleration, EBS is used to compensate for auxiliary braking gaps in a timely manner, thereby achieving continuity and controllability of the vehicle deceleration curve.

[0065] 4. When ABS is deactivated or the operating condition is restored, the slope limitation enables a smooth transition between regenerative braking recovery and EBS braking deactivation, significantly improving the driving experience and reducing vehicle longitudinal vibration.

[0066] 5. Based on the existing VCU / ABS / EBS / motor control architecture, it can be implemented through software strategy upgrades with minimal hardware modifications and low engineering implementation difficulty, making it suitable for direct application or rapid adaptation on existing platform vehicle models.

[0067] Example 2 Figure 5 The schematic diagram illustrates the structure of a braking compensation device for a mining vehicle according to Embodiment 2 of this application. It has the same inventive concept as the braking compensation method in Embodiment 1 above, and also requires the mining vehicle to have a first braking method and a second braking method.

[0068] like Figure 5 As shown, the braking compensation device of the mining vehicle may include: a braking effectiveness prediction module 100, used to predict the braking effectiveness of the first braking mode to obtain a corresponding prediction result; and a braking compensation module 200, used to execute a preset braking compensation strategy in response to the activation of the first braking mode when the prediction result indicates that the first braking mode has failed, wherein the braking compensation strategy is configured to activate the second braking mode to perform braking torque compensation.

[0069] In a preferred embodiment, for a scenario where the first braking method is an auxiliary braking method and the second braking method is a main braking method, the braking effectiveness prediction module 100 may further include: a monitoring submodule 110, used to monitor the slip ratio change trend of the mining vehicle or monitor the operating information of the associated components of the auxiliary braking method; and an identification submodule 120, used to identify whether the auxiliary braking method has failed based on the slip ratio change trend or the operating information.

[0070] In a preferred embodiment, for a scenario where the first braking mode is an auxiliary braking mode and the second braking mode is a main braking mode, the braking compensation module 200 may further include: a torque gap determination submodule 210, used to determine the braking torque gap caused by the failure of the auxiliary braking mode; and an EBS braking compensation submodule 220, used to determine the target deceleration of the mining vehicle based on the braking torque gap, so that EBS can activate the main braking mode of the mining vehicle based on the target deceleration to perform braking torque compensation.

[0071] In a more preferred embodiment, for a scenario where the first braking method is an auxiliary braking method and the second braking method is a main braking method, the braking compensation device may further include: a smooth handover control module 300, used to increase the output torque of the auxiliary braking method and decrease the output torque of the main braking method according to a preset slope when the braking capability of the auxiliary braking method that is predicted to fail is restored; and / or a torque management module 400, used to decrease the output torque of the auxiliary braking method that is about to fail when it is determined that the auxiliary braking method has failed.

[0072] In the example, the aforementioned braking effectiveness prediction module 100, braking compensation module 200, smooth handover control module 300, torque management module 400, and their respective sub-modules can serve as functional modules of the VCU. The VCU can obtain vehicle dynamic data and status information from the ABS ECU, EBS ECU, motor controller, BMS, etc., through the vehicle network, forming a unified data input to support the functional implementation of its various modules.

[0073] Thus, the VCU can serve as the core execution unit of the braking compensation scheme, interacting with the motor controller, EBS ECU, ABS ECU, and BMS via buses such as CAN. The VCU integrates multiple functional modules, including those mentioned above, to perform unified braking compensation processing on signals from the vehicle chassis and powertrain, and output the processed control commands. For example, it can output an air brake command to the ESB ECU, which then controls the wheel brakes, or output a torque execution command to the motor controller, which then controls the axle / wheel end to adjust the torque.

[0074] For more details on the implementation and effects of the braking compensation device in this embodiment, please refer to the braking compensation method in Embodiment 1 above, which will not be repeated here.

[0075] Example 3 Figure 6 The diagram schematically illustrates a structural block diagram of a braking compensation device for a mining vehicle according to Embodiment 3 of this application. Figure 6 As shown, this application provides a braking compensation device for a mining vehicle, which may include: a memory configured to store instructions; and a processor configured to retrieve instructions from the memory and, when executing the instructions, to implement the braking compensation method for a mining vehicle described in Embodiment 1 above.

[0076] The braking compensation device is, for example, a VCU, but in other examples, it could be a remote controller that communicates remotely with, for example, the VCU, motor controller, EBS ECU, ABS ECU, and BMS of the mining vehicle to achieve the corresponding braking compensation.

[0077] Other implementation details or technical effects of the braking compensation device in this embodiment can be found in Embodiment 1 of the braking compensation method described above, and will not be repeated here.

[0078] Other embodiments of this application also provide a mining vehicle that integrates the braking compensation device for mining vehicles described in Embodiment 2 or Embodiment 3 above. The mining vehicle, for example, is a pure electric mining dump truck, which, through the integrated braking compensation device, can achieve coordination and braking compensation between the main braking mode and the auxiliary braking mode in the event of a malfunction of ABS or auxiliary braking components.

[0079] Other embodiments of this application also provide a machine-readable storage medium storing instructions for causing a machine to perform the braking compensation method for a mining vehicle as described in Embodiment 1 above.

[0080] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0081] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0082] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0083] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0084] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0085] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0086] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0087] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0088] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A braking compensation method for mining vehicles, characterized in that, The mining vehicle has a first braking method and a second braking method, and the braking compensation method includes: The braking effectiveness of the first braking method is predicted to obtain the corresponding prediction result; and When the prediction result indicates that the first braking mode has failed, a preset braking compensation strategy is executed in response to the activation of the first braking mode, wherein the braking compensation strategy is configured to activate the second braking mode to perform braking torque compensation.

2. The braking compensation method for mining vehicles according to claim 1, characterized in that, The first braking method is an auxiliary braking method, and the second braking method is a main braking method. The auxiliary braking method includes any one or more of the following: electric motor braking, electric eddy current retarder braking, hydraulic retarder braking, and energy storage braking.

3. The braking compensation method for mining vehicles according to claim 2, characterized in that, The braking effectiveness prediction includes: Obtain the wheel speed signal of the mining vehicle; Predict the slip ratio change trend of the mining vehicle based on the wheel speed signal; and Based on the trend of slip ratio change, it is determined whether the slip ratio will exceed the set ABS activation threshold. If so, it is determined that activating ABS will trigger the exit of the auxiliary braking mode.

4. The braking compensation method for mining vehicles according to claim 3, characterized in that, The braking compensation method further includes: If activating the ABS will trigger the disengagement of the auxiliary braking mode, monitor the real-time slip ratio; and When the real-time slip ratio approaches the ABS activation threshold, the output torque of the auxiliary braking mode to be discontinued is reduced.

5. The braking compensation method for mining vehicles according to claim 2, characterized in that, The braking effectiveness prediction includes: Obtain the operating information of the associated components of the auxiliary braking method; and Based on the operational information, determine whether there is a component failure; if so, determine that the auxiliary braking method has failed.

6. The braking compensation method for mining vehicles according to claim 2, characterized in that, The braking compensation method further includes: When an auxiliary braking method that was predicted to fail regains its braking capability, the output torque of the auxiliary braking method is increased and the output torque of the main braking method is decreased according to a preset slope.

7. The braking compensation method for mining vehicles according to any one of claims 2 to 6, characterized in that, The braking compensation strategy is configured as follows: Determine the braking torque gap caused by the failure of the auxiliary braking method; The target deceleration of the mining vehicle is determined based on the braking torque gap. as well as The Electronic Braking System (EBS) activates the main braking mode of the mining vehicle based on the target deceleration to perform braking torque compensation.

8. A braking compensation device for mining vehicles, characterized in that, The mining vehicle has a first braking method and a second braking method, and the braking compensation device includes: A braking effectiveness prediction module is used to predict the braking effectiveness of the first braking method to obtain a corresponding prediction result; and A braking compensation module is configured to execute a preset braking compensation strategy in response to the activation of the first braking mode when the prediction result indicates that the first braking mode has failed, wherein the braking compensation strategy is configured to activate the second braking mode to perform braking torque compensation.

9. The braking compensation device for mining vehicles according to claim 8, characterized in that, The first braking method is an auxiliary braking method, and the second braking method is a main braking method. The auxiliary braking method includes any one or more of the following: electric motor braking, electric eddy current retarder braking, hydraulic retarder braking, and energy storage braking.

10. The braking compensation device for mining vehicles according to claim 9, characterized in that, The braking effectiveness prediction module includes: The monitoring submodule is used to monitor the slip ratio change trend of the mining vehicle or monitor the operating information of related components of the auxiliary braking method; and The identification submodule is used to identify whether the auxiliary braking method has failed based on the slip ratio change trend or the operation information.

11. The braking compensation device for mining vehicles according to claim 9, characterized in that, The braking compensation module includes: The torque gap determination submodule is used to determine the braking torque gap caused by the failure of the auxiliary braking method; and The EBS braking compensation submodule is used to determine the target deceleration of the mining vehicle based on the braking torque gap, so that EBS can activate the main braking mode of the mining vehicle based on the target deceleration to perform braking torque compensation.

12. The braking compensation device for mining vehicles according to claim 9, characterized in that, The braking compensation device further includes: The smooth handover control module is used to, when an auxiliary braking mode that has been pre-determined to have failed regains braking capability, increase the output torque of the auxiliary braking mode and decrease the output torque of the main braking mode according to a preset slope; and / or The torque management module is used to reduce the output torque of the auxiliary braking method that is about to fail when it is determined that the auxiliary braking method has failed.

13. A braking compensation device for a mining vehicle, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the braking compensation method for a mining vehicle according to any one of claims 1 to 7.

14. A mining vehicle, characterized in that, The vehicle is equipped with a braking compensation device as described in any one of claims 8 to 13.

15. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the braking compensation method for a mining vehicle according to any one of claims 1 to 7.

Images