Method of avoiding overloading of a vehicle, vehicle and loading and unloading device

Abstract

The present disclosure provides a method for avoiding vehicle overload, a vehicle and a loading and unloading device, the method comprising: monitoring the load information of the vehicle during loading; and limiting the motion state of the vehicle if the load state of the vehicle is determined to be an overload state according to the load information; and sending overload monitoring information to the loading and unloading device to make the loading and unloading device adopt an overload control strategy to remove the overload state of the vehicle if the overload monitoring information indicates that the vehicle is overloaded.

Description

Technical Field

[0001] This disclosure relates to the fields of autonomous driving and vehicle control technology, and in particular to a method, vehicle, and loading / unloading equipment for avoiding vehicle overloading. Background Technology

[0002] All types of driverless mining trucks are designed with a maximum load capacity at the factory; however, overloading is common in mining operations. The main causes of overloading include: high material density and mixed loading operations across different working conditions. Vehicle overloading can lead to various adverse effects, such as: 1. Safety hazards: When the vehicle is overloaded and going downhill, the component of the vehicle's weight exceeds the deceleration limit of the electric brake, which can easily lead to insufficient braking force, brake failure or heat fade, and can easily cause serious safety accidents.

[0003] 2. Reduced operational efficiency: Overloading while climbing hills can easily cause the motor and electronic control system to overheat, triggering the vehicle's speed limit and shutdown protection, resulting in traffic congestion, increased downtime, and reduced on-site transportation efficiency.

[0004] 3. Equipment wear and tear: Overloading will exacerbate wear and tear on core components such as suspension systems, tires, and transmission systems, increasing maintenance frequency and parts replacement costs. Summary of the Invention

[0005] This disclosure provides a method, vehicle, and loading / unloading equipment for avoiding vehicle overloading, in order to solve the existing problem of vehicle overloading.

[0006] In view of the above problems, firstly, this disclosure provides a method for avoiding vehicle overloading, comprising: The vehicle's load information is monitored during the loading process; and If, based on the load information, the vehicle's load condition is determined to be overloaded, the vehicle's movement is restricted; and Send overload monitoring information to the loading and unloading equipment so that, if the overload monitoring information indicates that the vehicle is overloaded, the loading and unloading equipment can take overload control strategies to relieve the overloaded state of the vehicle.

[0007] In conjunction with the first aspect, in one possible implementation, it further includes: According to the overload control strategy of the loading and unloading equipment, the overload state of the vehicle is relieved, including: Upon receiving a first control command from the loading / unloading equipment, the material unloading operation is executed according to the first control command; upon receiving a second control command from the loading / unloading equipment, the vehicle's load status is determined based on the current load information; wherein, the second control command is used to instruct the vehicle to leave the working area of ​​the loading / unloading equipment; if the current load status is empty, the loading operation continues; or, Upon receiving a third control command from the loading and unloading equipment, the vehicle is controlled to leave the operating area of ​​the loading and unloading equipment; wherein the third control command is used to indicate that the loading and unloading equipment has completed the material unloading operation for the vehicle, and that the vehicle has completed the current loading operation task.

[0008] In conjunction with the first aspect, in one possible implementation, the loading operation continues, including: Report the reasons for the shutdown while waiting for the replacement of loading and unloading equipment; Upon receiving a fourth control command, and if the vehicle meets the conditions for changing the loading and unloading equipment, the vehicle is controlled to proceed to the new loading and unloading equipment operating area for loading operations; wherein, the fourth control command is used to instruct the vehicle to change the loading and unloading equipment. If the vehicle does not meet the conditions for replacing the loading and unloading equipment, the vehicle is controlled to maintain its current restricted movement state, and the reason for the parking failure due to the failure to replace the loading and unloading equipment is reported.

[0009] In conjunction with the first aspect, in one possible implementation, the load-bearing state includes at least one of the following: a loadable state, an impending overload state, and an overload state; The method further includes: Acquire load limit information and the status of the load sensing device; the load limit information includes: maximum load and / or recommended load. Based on the load information, the load status of the vehicle is determined, including: Based on the load information, determine the average load change value of the loading and unloading equipment after performing a preset number of loading operations on the vehicle; If the difference between the load limit value corresponding to the load limit information and the current load represented by the load information is greater than the average load change value, the vehicle's load status is determined to be a loadable state; and / or, If the difference between the load limit value and the current load is less than or equal to the average load change value, and the load limit value is greater than or equal to the current load, the vehicle's load status is determined to be an impending overload state; and / or, If the load limit value is less than the current load, the vehicle's load status is determined to be overloaded.

[0010] Secondly, a method for avoiding vehicle overloading is provided, including: Receive overload monitoring information; When the overload monitoring information indicates that the vehicle is overloaded, a prompt message is issued and an overload control strategy is adopted to remove the overload status of the vehicle.

[0011] In conjunction with the second aspect, in one possible implementation, the overload monitoring information includes: load information; the overload monitoring information further includes: the reason for overload stopping and / or the load status; The overload control strategy is adopted to relieve the overload state of the vehicle, including: When the overload monitoring information indicates that the vehicle is overloaded, a first control command is sent to the vehicle; wherein, the first control command is used by the vehicle to perform a material unloading operation according to the first control command; After the load information indicates that the vehicle has completed unloading the materials, a second control command is sent to the vehicle; the second control command is used to instruct the vehicle to leave the working area of ​​the loading and unloading equipment.

[0012] In conjunction with the second aspect, in one possible implementation, the overload monitoring information includes: load information and load limit information; the overload monitoring information also includes: overload stopping reason and / or load status; The overload control strategy is adopted to relieve the overload state of the vehicle, including: The loading and unloading equipment is controlled to perform material unloading operations on the vehicle. If the current load indicated by the load information is less than the load limit value corresponding to the load limit information, stop controlling the loading and unloading equipment to unload materials from the vehicle; and A third control command is sent to the vehicle; wherein the third control command indicates that the vehicle has completed the current loading task.

[0013] In conjunction with the second aspect, in one possible implementation, Also includes: When the overload monitoring information indicates that a vehicle is overloaded, a fifth control command is sent to surrounding vehicles to prevent them from entering the loading and unloading equipment's operating area; and / or, After the overload status of the vehicle is removed, a sixth control command is reported to the cleaning operation area; after the cleaning operation area is detected to be completed, a seventh control command is sent to the surrounding vehicles to allow the surrounding vehicles to enter the operation area of ​​the loading and unloading equipment. The prompt information includes at least one of the following: visual warning information and voice warning information.

[0014] Thirdly, a vehicle is provided, comprising: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the vehicle is in operation, the processor communicates with the memory via the bus, and the machine-readable instructions, when executed by the processor, perform steps of the method for avoiding vehicle overloading as described in the first aspect or any possible embodiment of the first aspect.

[0015] Fourthly, a loading / unloading device is provided, comprising: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the loading / unloading device is in use, the processor communicates with the memory via the bus, and when the machine-readable instructions are executed by the processor, they perform the steps of the method for avoiding vehicle overloading as described in the second aspect or any possible embodiment of the second aspect.

[0016] The beneficial effects of the embodiments disclosed herein include: This disclosure provides a method, vehicle, and loading / unloading equipment for avoiding vehicle overloading, including: monitoring the vehicle's load information during loading; restricting the vehicle's movement when the load information indicates an overloaded state; and sending overload monitoring information to the loading / unloading equipment so that the equipment can implement an overload control strategy to remove the overloaded state. The method for avoiding vehicle overloading provided in this disclosure identifies when a vehicle is overloaded. When an overloaded state is identified, the overloaded state is efficiently removed through bidirectional collaborative control between the unmanned mining truck and the loading / unloading equipment. On one hand, by restricting the vehicle's movement and locking its starting and driving permissions, overloaded vehicles are prohibited from leaving the loading / unloading equipment's operating area, preventing overloaded vehicles from operating on the road and avoiding various safety risks associated with overloaded driving. On the other hand, the vehicle simultaneously uploads overload monitoring information to the loading and unloading equipment, and the loading and unloading equipment is linked to execute overload control strategies. By stopping continuous filling and clearing excess loaded materials, the actual load weight of the vehicle is accurately corrected from the source of loading, which completely solves various adverse problems caused by vehicle overloading, effectively standardizes the unmanned loading and transportation operation process in the mining area, and significantly improves the overall safety and operation standardization of unmanned operation scenarios. Attached Figure Description

[0017] Figure 1 One of the flowcharts for a method to avoid vehicle overloading provided in this disclosure embodiment; Figure 2 A second flowchart illustrating a method for avoiding vehicle overloading provided in this embodiment of the disclosure; Figure 3 Flowchart 3 of the method for avoiding vehicle overloading provided in the embodiments of this disclosure; Figure 4 The fourth flowchart is a method for avoiding vehicle overloading provided in the embodiments of this disclosure. Detailed Implementation

[0018] This disclosure provides a method, vehicle, and loading / unloading equipment for avoiding vehicle overloading. Preferred embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of this disclosure. Furthermore, the embodiments and features described herein can be combined with each other unless otherwise specified.

[0019] This disclosure provides a method for avoiding vehicle overloading, applicable to vehicles, such as... Figure 1 As shown, it includes: S101. Monitor the vehicle's load information during the loading process; and S102. If, based on load information, the vehicle's load condition is determined to be overloaded, the vehicle's movement is restricted; and S103. Send overload monitoring information to the loading and unloading equipment so that when the overload monitoring information indicates that the vehicle is overloaded, the loading and unloading equipment can take overload control strategies to remove the overload status of the vehicle.

[0020] In this embodiment, the vehicle can refer to an unmanned mining truck, and the loading / unloading equipment can refer to an excavator. Unmanned mining trucks are mainly used for material transportation operations in mining areas. Existing unmanned mining trucks are all manufactured with set load standards, such as maximum load and recommended load. In actual mining operations, overloading problems frequently occur due to factors such as high material density and vehicles loading across different working conditions. For example, unmanned mining trucks used for coal transportation operations may carry heavy materials such as rocks and slag, and the vehicle model's adaptation to the working conditions does not match the actual cargo type, leading to overloading problems. Long-term overloading of vehicles can cause the gravity component to exceed the electric braking deceleration limit when going downhill, easily resulting in brake performance degradation or even failure, significantly increasing the risk of safety operation. When climbing, it can also easily cause the motor and electronic control system to overheat, triggering vehicle speed limits and shutdown protection, causing traffic congestion and reducing the overall transportation efficiency. Furthermore, overloading will accelerate the wear and tear on core components such as the suspension system, tires, and transmission system, resulting in high maintenance frequency and parts replacement costs, which is detrimental to the stable operation and maintenance of vehicles in the mining area.

[0021] In this embodiment of the disclosure, during the loading and unloading operation of the vehicle by the loading and unloading equipment, a load information monitoring device is used to monitor the vehicle's load information. The load information monitoring device can be a weighing sensor, which is installed on the unmanned mining truck body and can monitor the vehicle's load information in real time. For example, during the operation of an excavator loading materials such as coal into the unmanned mining truck, the current load of the vehicle is collected in real time. Based on the load information, it is determined whether the vehicle's load status is overloaded. For example, if the current load represented by the load information is greater than the maximum load, the vehicle's load status is determined to be overloaded. When the vehicle is overloaded, the vehicle's movement is restricted. For example, if the material density is high, causing the vehicle to be overloaded, the vehicle's speed is restricted, the vehicle's starting and driving permissions are locked, and the overloaded vehicle is prohibited from leaving the operating area of ​​the loading and unloading equipment.

[0022] Furthermore, when a vehicle is found to be overloaded, the vehicle and loading / unloading equipment work together to resolve the overload issue. Once an overload is detected, the vehicle sends overload monitoring information to the supporting loading / unloading equipment. Upon receiving this information, the equipment activates an overload control strategy, adjusting loading operations to reduce the total amount of material loaded and ultimately eliminating the overload, restoring the vehicle's load to within acceptable limits. For example, upon receiving overload monitoring information from an unmanned mining truck, the excavator immediately stops loading and unloads excess material, resolving the overload and ensuring the actual load is less than the maximum capacity.

[0023] In this embodiment, when an overloaded vehicle is identified, a two-way collaborative control effect between the vehicle and the loading / unloading equipment can be achieved, effectively resolving the overload situation. On one hand, by restricting the vehicle's movement and locking its driving and starting permissions, overloaded vehicles are prevented from leaving the operating area of ​​the loading / unloading equipment, thus promptly blocking the risk of overloaded vehicles operating on the road. On the other hand, overload monitoring information is simultaneously transmitted to the loading / unloading equipment, which then executes overload control strategies. Through coordinated operations such as stopping filling and clearing excess loaded material, the actual load weight of the vehicle is quickly corrected from the source of the loading operation, thereby addressing the various adverse effects caused by vehicle overloading at its source and significantly improving the standardization and overall safety of unmanned loading and transportation operations.

[0024] In another embodiment of this disclosure, the method further includes: According to the overload control strategy of the loading and unloading equipment, the overload status of the vehicle is relieved, including: Scenario 1: Upon receiving a first control command from the loading / unloading equipment, perform the material unloading operation according to the first control command; upon receiving a second control command from the loading / unloading equipment, determine the vehicle's load status based on the current load information; wherein, the second control command is used to instruct the vehicle to leave the working area of ​​the loading / unloading equipment; if the current load status is empty, continue the loading operation; or, Scenario 2: Upon receiving a third control command from the loading and unloading equipment, control the vehicle to leave the operating area of ​​the loading and unloading equipment; wherein the third control command is used to indicate that the loading and unloading equipment has completed the material unloading operation for the vehicle and that the vehicle has completed the current loading operation task.

[0025] In this embodiment, the loading and unloading equipment controls the vehicle to unload material in place via a first control command. After the vehicle finishes unloading, the overload state is lifted, and loading operations continue. Alternatively, the loading and unloading equipment performs a material unloading operation on the vehicle, and after lifting the overload state, notifies the vehicle that the current loading task has been completed via a third control command. Regarding situation 1 above, because the unmanned mining truck has a rear baffle, it cannot unload some material automatically after being overloaded. If it unloads some material automatically, the rear baffle will not close properly, causing material spillage during transportation. After receiving overload monitoring information, the loading and unloading equipment sends a first control command to the vehicle if the overload monitoring information indicates that the vehicle is overloaded. The first control command controls the vehicle to unload material in place. For example, completely unloading the material in the unmanned mining truck's bucket. Upon receiving the first control command from the loading and unloading equipment, the unmanned mining truck performs a material unloading operation according to the first control command, for example, lowering the bucket to the lower stop point. After monitoring the load information indicating that the vehicle has completed material unloading, for example, if the vehicle's load status is empty, the loading and unloading equipment sends a second control command to the vehicle. The second control command instructs the vehicle to leave the operating area of ​​the loading and unloading equipment. Upon receiving the second control command from the loading and unloading equipment, the unmanned mining truck determines its load status based on the current load information. If the current load status is empty, loading operations continue. For example, after self-checking and confirming the vehicle is empty, it repositions itself or replaces the loading and unloading equipment to continue loading. Through coordinated control of the loading and unloading equipment and the vehicle, the vehicle can be completely emptied of overloaded materials, eliminating any residual overload risks. Loading operations are only resumed after a re-inspection confirms the vehicle is empty, preventing repeated overloading and incomplete corrections at the source, ensuring a compliant and stable loading status.

[0026] Regarding scenario 2 above, upon receiving overload monitoring information, the loading / unloading equipment controls the unloading operation to unload materials from the vehicle. It compares the vehicle's current load with the load limit in real time. If the current load is less than the load limit, it indicates that the overload status of the vehicle has been resolved by the loading / unloading equipment, and a third control command is sent to the vehicle. This third control command signifies that the vehicle has completed the current loading task. Upon receiving the third control command from the loading / unloading equipment, the vehicle is controlled to leave the operating area of ​​the equipment, thus resolving the overload status and completing the current loading / unloading task. Controlling the vehicle to leave directly via the third control command is suitable for operation scenarios where a single loading operation is completed without the need for further loading. The loading / unloading equipment accurately removes excess overloaded material, eliminating the need for unmanned mining trucks to unload the entire load. While resolving the overload status, it retains the compliant loading volume, avoiding resource waste from ineffective unloading and repeated loading, and improving the economy of a single loading operation.

[0027] In another embodiment of this disclosure, in case 2 above, continuing the loading operation includes: Step 1) Report the reason for the shutdown while waiting for the replacement of loading and unloading equipment; Step 2) Receive the fourth control command, and if the vehicle meets the conditions for changing the loading and unloading equipment, control the vehicle to go to the new loading and unloading equipment operation area to perform loading operations; wherein, the fourth control command is used to instruct the vehicle to change the loading and unloading equipment. Step 3) If the vehicle does not meet the conditions for changing the loading and unloading equipment, control the vehicle to maintain its current restricted movement state and report the reason for the parking failure due to the failure of changing the loading and unloading equipment.

[0028] In this embodiment, after the vehicle is unloaded and reset, in cases where the original unloading equipment cannot continue loading operations and the work scheduling cannot be resumed, when the vehicle needs to continue loading operations after completing the material unloading operation and is in an empty state, it first reports the reason for stopping while waiting for the replacement of the loading and unloading equipment. Then, based on whether the fourth control command is received and whether the equipment replacement conditions are met, branch control is executed: if the equipment replacement conditions are met, the vehicle moves to the new loading and unloading equipment area to continue loading operations; if the equipment replacement conditions are not met, the vehicle maintains a restricted movement state and reports the reason for stopping due to the failure to replace the loading and unloading equipment, thus achieving orderly scheduling and closed-loop recording of operations under abnormal working conditions. Regarding step 1) above, when the vehicle is released from the overload state and is in an empty state, it needs to continue loading operations, but the original unloading equipment cannot continue to provide loading services for the vehicle. For example, the work area of ​​the original unloading equipment needs to be cleaned up due to scattered materials. The vehicle reports the current stopping reason as waiting for the replacement of the loading and unloading equipment to the scheduling platform, such as the swarm / configuration center, for record-keeping so that the background can schedule the replacement of the loading and unloading equipment. For example, after the mining truck completes material unloading and self-checks that it is empty, the vehicle immediately reports the reason for stopping and enters a waiting-for-dispatch state. Regarding step 2) above, the vehicle receives a fourth control command sent by the dispatch platform. This fourth control command instructs the vehicle to change the loading / unloading equipment. The vehicle further self-checks whether it meets the conditions for changing the loading / unloading equipment. For example, if the vehicle status, driving path, and new loading / unloading equipment resources all meet the requirements, the vehicle's movement restriction is lifted, and the vehicle is controlled to drive to the new loading / unloading equipment operating area to resume loading operations, ensuring continuity of work. For example, after the unmanned mining truck reports the reason for stopping and waits for the replacement of loading / unloading equipment, the dispatch platform issues a fourth control command. Upon detecting the presence of an idle excavator in the vicinity and the unobstructed driving path, the unmanned mining truck drives to the new excavator operating point to continue loading. Regarding step 3) above, if the vehicle, upon receiving the fourth control command, determines through self-check that it does not meet the conditions for changing loading / unloading equipment (e.g., no available equipment, congested route, abnormal vehicle status), it will not perform the site change operation, will remain in a restricted movement state, will not allow the vehicle to drive arbitrarily, and will report the reason for the failed equipment change to the dispatch platform, thus completing the abnormal working condition record and status lockout. For example, if an unmanned mining truck needs to change loading / unloading equipment but there is no available equipment on site, the vehicle will remain stationary with a speed limit and locked, and will report the reason for the failed equipment change, awaiting secondary dispatch. By reporting the reason for stopping, the vehicle can accurately grasp the cause of the shutdown, avoid misjudging vehicle malfunctions or ineffective standby, and improve the standardization of unmanned operation dispatch. By setting up a dispatch mechanism that links the fourth control command to the changing loading / unloading equipment, the vehicle can quickly switch to a new loading / unloading equipment to continue loading operations when conditions permit, avoiding long-term vehicle stagnation, effectively shortening the waiting time, and ensuring the continuity and efficiency of the overall transportation operations in the mining area.

[0029] In another embodiment of this disclosure, the load-bearing state includes at least one of the following: a loadable state, an impending overload state, and an overload state; The method also includes: Acquire load limit information and the status of the load sensing device; the load limit information includes: maximum load and / or recommended load. In step S102 above, determining the vehicle's load status based on the load information includes: Step 1) Based on the load information, determine the average load change value of the vehicle after a preset number of loading operations by the loading and unloading equipment; Step 2) If the difference between the load limit value corresponding to the load limit information and the current load represented by the load information is greater than the average load change value, determine that the vehicle's load status is a loadable state; and / or, Step 3) If the difference between the load limit and the current load is less than or equal to the average load change, and the load limit is greater than or equal to the current load, the vehicle's load status is determined to be an impending overload; and / or, Step 4) If the load limit is less than the current load, the vehicle's load status is determined to be overloaded.

[0030] In this embodiment, by acquiring the vehicle's load limit information and the status of the load sensing device, the validity of the judgment benchmark and the reliability of the collected data are ensured. Then, by statistically analyzing the average load change value of a preset number of loading operations, and combining this with the difference between the load limit value and the vehicle's current load, a differentiated judgment of the load status is completed, accurately distinguishing between a loadable state, an impending overload state, and an overload state. The status of the load sensing device refers to the working status of the vehicle's load information acquisition equipment, used to ensure the effectiveness and accuracy of load information collection. For example, the status of the weighing sensor installed on the vehicle. When the weighing sensor is working normally, the weighing sensor fault flag is normal. When the weighing sensor is faulty or absent, the weighing sensor fault flag is abnormal. This yields the status of the load sensing device. The load limit information includes: maximum load and / or recommended load. The maximum load is the maximum allowable load value specified by the vehicle manufacturer, representing the highest constraint threshold for vehicle load. The recommended load is the preferred standard load value for vehicle operation, representing the optimal loading threshold that balances operational safety and equipment lifespan. The load limit information may also include an empty-load threshold. If the current load is greater than or equal to the empty-load threshold, the current load status is determined to be heavy-load; if the current load is less than the empty-load threshold, the current load status is determined to be empty. The load limit information includes the corresponding load limit value. Regarding step one above, based on the vehicle's real-time load information, the load change data corresponding to the preset number of loading operations performed by the loading and unloading equipment on the vehicle is statistically analyzed. The average load change value is calculated by averaging, and this value accurately reflects the material weight increase of a single loading operation under the current working conditions. For example, the load increment of the excavator during five consecutive filling operations is statistically analyzed, and the average weight increase value per operation is calculated. Regarding step two above, the difference between the load limit value corresponding to the load limit information and the vehicle's current load is calculated. This difference represents the vehicle's remaining loadable capacity. When the remaining loadable capacity is greater than the average load change value, it indicates that the vehicle has sufficient remaining load space to accommodate at least one loading operation without triggering overload, thus determining the vehicle to be in a loadable state. Regarding step three above, when the load limit is greater than or equal to the vehicle's current load, the vehicle is not currently overloaded, but the difference between the load limit and the current load is less than or equal to the average load change value, it indicates that the vehicle's remaining load capacity is insufficient to support a single loading operation. Continuing the filling operation will likely trigger overloading, thus the vehicle is determined to be in an impending overload state. Regarding step four above, directly comparing the load limit with the vehicle's current load, when the load limit is less than the vehicle's current load, it indicates that the vehicle's actual loaded weight has exceeded the compliance threshold, and the vehicle is determined to be overloaded. Introducing the average load change value as a dynamic judgment criterion, unlike the traditional fixed threshold judgment method, can adapt to different chemical conditions such as different material densities and different loading equipment operating ranges. The judgment logic fits the actual loading operation scenario in the mining area, making it more adaptable.It enables precise classification and judgment of loading status, impending overload status, and overload status. It can not only identify overload status that has already occurred, but also identify critical overload conditions in advance, realizing the prediction and early intervention of overload risks, reducing the occurrence of overload conditions from the source, and reducing safety hazards.

[0031] Overload monitoring information includes: load limit information, load sensing device status, load information, load status, and reasons for overload-related shutdown. Send overload monitoring information to the loading and unloading equipment, including: Send load limit information, load sensing device status, and overload shutdown reasons to the loading and unloading equipment; and Send vehicle load information and load status to loading and unloading equipment in real time; Methods for sending overload monitoring information to loading and unloading equipment include: Send overload monitoring information to the loading / unloading equipment using V2V communication; and / or, The overload monitoring information is sent to the scheduling platform via V2N communication, and then forwarded to the loading and unloading equipment by the scheduling platform.

[0032] like Figure 2 As shown, Figure 2 The second flowchart for methods to avoid vehicle overloading includes the following: Vehicle 201 obtains load limit information, as well as the status of the load sensing device and load information from the dispatch platform 202. Based on the load information, it determines the vehicle's load status. If the load status is overloaded, the vehicle's movement is restricted. Using V2N communication, the vehicle sends the load information, load status, load limit information, load sensing device status, and reason for overload stopping to the dispatch platform 202. The dispatch platform 202 then forwards this information to the loading / unloading equipment 203 using V2N communication. Alternatively, vehicle 201 can use V2V communication to send the load information, load status, load limit information, load sensing device status, and reason for overload stopping to the loading / unloading equipment 203. The loading / unloading equipment 203 issues a warning message if the vehicle is overloaded.

[0033] This disclosure provides a method for preventing vehicle overloading, applicable to loading and unloading equipment, such as... Figure 3 As shown, it includes: S301, Receive overload monitoring information; S302. When the overload monitoring information indicates that the vehicle is overloaded, issue a prompt message and take overload control strategies to remove the overload status of the vehicle.

[0034] In this embodiment, the loading and unloading equipment receives overload monitoring information uploaded by the unmanned mining truck. Upon confirming that the vehicle is overloaded, it simultaneously outputs a prompt and initiates a corresponding overload control strategy. Through coordinated control of the vehicle and the loading and unloading equipment, the overload problem is resolved at its source, achieving automated identification and linkage correction of the unmanned mining truck's overload status. During the unmanned mining truck loading operation, the loading and unloading equipment receives the overload monitoring information uploaded by the unmanned mining truck in real time. For example, when the unmanned mining truck is overloaded, it uploads overload monitoring information to the excavator, which receives this information in real time.

[0035] The loading and unloading equipment analyzes the received overload monitoring information. If the overload monitoring information indicates that the vehicle is overloaded, it generates and outputs a prompt message to complete the working condition warning. For example, the overload reminder is displayed on the excavator's application client page. If the voice reminder switch is turned on, a voice reminder will also be given. Furthermore, the overload control strategy is invoked to proactively adjust the loading operation behavior and remove the vehicle from the overload state. For example, operations such as stopping the loading of materials into the vehicle and unloading excess materials from the vehicle are stopped, bringing the vehicle's load back to the compliant range. For instance, after receiving overload monitoring information from the unmanned mining truck and confirming the overload, the excavator triggers an overload warning, stops the filling operation, and unloads some excess materials, thus eliminating the overload state of the unmanned mining truck.

[0036] In another embodiment of this disclosure, the overload monitoring information includes: load information; the overload monitoring information also includes: overload stopping reason and / or load status; In step S302 above, adopting an overload control strategy to remove the vehicle's overload state includes: Step 1: When the overload monitoring information indicates that the vehicle is overloaded, send a first control command to the vehicle; wherein, the first control command is used by the vehicle to perform material unloading operation according to the first control command. Step 2: After monitoring the load information to indicate that the vehicle has completed unloading the materials, send a second control command to the vehicle; the second control command is used to instruct the vehicle to leave the working area of ​​the loading and unloading equipment.

[0037] In this embodiment, after confirming vehicle overload, the linkage control is executed in stages. First, a first control command is issued to instruct the vehicle to cooperate in unloading materials. After monitoring confirms that the vehicle has completed unloading, a second control command is issued to control the vehicle to leave the working area of ​​the loading and unloading equipment, thereby realizing the release of the overload state and the orderly switching of the work process. Regarding step 1 above, when the overload monitoring information indicates that the vehicle is overloaded, a first control command is sent to the vehicle. The first control command is used for the vehicle to perform the material unloading operation according to the first control command. Upon receiving the first control command sent by the loading and unloading equipment, the vehicle performs the material unloading operation according to the first control command, completely unloading the materials. For example, the loading and unloading equipment operates an unmanned mining truck for on-site unloading via near-field remote control. The excavator sends the first control command for unloading to the vehicle via near-field remote control. After the unmanned mining truck's bucket falls to the lower stop point, the material unloading is completed, and the vehicle's load status is empty. Regarding step 2 above, after the loading and unloading equipment monitors the load information indicating that the vehicle has completed material unloading, for example, when the vehicle's load status is empty, it sends a second control command to the vehicle. The second control command instructs the vehicle to leave the loading / unloading equipment's operating area, thus resolving the overload condition. Upon receiving the second control command from the loading / unloading equipment, the vehicle determines its load status based on current load information. If the current load status is empty, loading operations continue. For example, an unmanned mining truck may replace an excavator for loading operations. The purpose of replacing the excavator is to facilitate the cleanup of scattered materials within the original excavator's operating area. By linking the vehicle with the first control command to unload materials, overloading issues are precisely corrected at the source of loading, completely eliminating vehicle overloading operations. The loading / unloading equipment and the unmanned mining truck work together to unload materials, improving the targeting and accuracy of overload control.

[0038] In another embodiment of this disclosure, the overload monitoring information includes: load information and load limit information; the overload monitoring information also includes: overload stopping reason and / or load status; In step S302 above, adopting an overload control strategy to remove the vehicle's overload state includes: Step 1: Control the loading and unloading equipment to unload materials from the vehicle; Step 2: If the current load indicated by the load information is less than the load limit value corresponding to the load limit information, stop controlling the loading and unloading equipment to unload materials from the vehicle; and Step 3: Send a third control command to the vehicle; the third control command indicates that the vehicle has completed the current loading task.

[0039] In this embodiment, the loading and unloading equipment performs material unloading operations on overloaded vehicles based on overload monitoring information, including load information and load limit information. It compares the vehicle's current load with the load limit value in real time. Once the vehicle's current load falls back to within the load limit range, the material unloading operation stops, and a third control command is sent to the vehicle to release the overload status and complete the current loading task. For step one, when the overload monitoring information indicates the vehicle is overloaded, the loading and unloading equipment is controlled to perform a material unloading operation, for example, controlling an excavator to remove some material from the truck bed of an unmanned mining truck. For step two, when the current load is less than the load limit value, it indicates that the overload status of the vehicle has been released by the loading and unloading equipment. At this time, the loading and unloading equipment stops the material unloading operation for the vehicle. For step three, after releasing the vehicle from the overload status and completing the vehicle's current task, a third control command is sent to the vehicle. The third control command indicates that the vehicle has completed the current loading task. Upon receiving a third control command from the loading and unloading equipment, the vehicle is controlled to leave the operating area of ​​the equipment, completing the current loading and unloading task. By using the loading and unloading equipment to perform material unloading operations on the vehicle, there is no need to completely empty the vehicle of all materials; only the overloaded and redundant portions are removed. This completely eliminates overloading conditions while retaining the compliant loading amount, avoiding material waste and repetitive loading operations caused by full unloading, thus improving the efficiency and economy of loading operations in the mining area.

[0040] In another embodiment of this disclosure, the method further includes: Step (1): When the overload monitoring information indicates that the vehicle is overloaded, send a fifth control command to surrounding vehicles to prevent them from entering the operation area of ​​the loading and unloading equipment; and / or, Step (2): After the overload status of the vehicle is removed, the sixth control command for the cleaning operation area is reported; after the cleaning operation area is detected to be completed, the seventh control command is sent to the surrounding vehicles to allow the surrounding vehicles to enter the operation area of ​​the loading and unloading equipment. The alert information shall include at least one of the following: visual alert information and voice alert information.

[0041] In this embodiment, area control is implemented around the occurrence and resolution of overload. When overload monitoring information indicates that a vehicle is overloaded, a fifth control command is issued to seal off the work area and prevent surrounding vehicles from entering. After the overload status is resolved, a sixth control command is sent to confirm the cleanup requirement. After the work area is cleaned up, a seventh control command is issued to restore traffic in the work area. This achieves temporary isolation and compliant restoration of the work area under overload conditions, ensures the orderly conduct of overload correction operations, and avoids the risk of cross-interference between surrounding vehicles in the area. Regarding step (1) above, when overload monitoring information indicates that a vehicle is overloaded, the loading and unloading equipment sends a fifth control command to surrounding vehicles. This fifth control command is used to restrict the driving rights of surrounding vehicles, prohibiting surrounding vehicles from entering the current loading and unloading equipment's work area, and temporarily closing the work area. For example, after an unmanned mining truck loads materials, it is determined to be overloaded and needs to stay in the work area to perform unloading operations. Then, a fifth control command is sent to the unmanned mining trucks waiting in line to be loaded, preventing surrounding vehicles from entering the work area and avoiding vehicle crowding and interference. Regarding step (2) above, after the vehicle overload status is lifted, the loading and unloading equipment reports the sixth control command for cleaning the work area, informing the maintenance personnel or dispatch platform that the work area needs to be cleaned up to remove scattered materials and avoid affecting the next loading operation. The status of the work area is continuously monitored. After confirming that the scattered materials in the work area have been completely cleaned up and the conditions for normal operation are met, the seventh control command is sent to the surrounding vehicles to lift the restrictions on the work area and allow the surrounding vehicles to enter the loading and unloading equipment work area to carry out loading operations. For example, after the unmanned mining truck finishes unloading excess materials and the materials are completely unloaded, the loading and unloading equipment reports the sixth control command to start cleaning the work area; after there are no residual materials in the work area and the site is restored to normal order, the seventh control command is issued to allow the surrounding vehicles in the queue to enter the point for normal operation. This effectively avoids the risks of collisions and work obstruction caused by multiple vehicles mixing during the overloaded operation, while ensuring that the vehicle overload status is lifted and the work link is quickly restored, reducing the overall operation standby time and stabilizing the efficiency of mining area transportation operations.

[0042] like Figure 4 As shown, Figure 4 The fourth flowchart for methods to avoid vehicle overloading includes the following: When overload monitoring information indicates that a vehicle is overloaded, the loading / unloading equipment 203 sends a fifth control command to surrounding vehicles 401 to prevent them from entering the equipment's operating area. The loading / unloading equipment 203 sends a first control command to vehicle 201. Upon receiving the first control command, vehicle 201 performs material unloading according to the command. After monitoring load information indicating that the vehicle has completed material unloading, the loading / unloading equipment 203 sends a second control command to the vehicle. Upon receiving the second control command, vehicle 201 determines its load status based on the current load information. If the current load status is empty, it reports the reason for stopping to wait for equipment replacement to the dispatch platform. The dispatch platform 202 sends a fourth control command to the vehicle. Vehicle 201 receives the fourth control command, and if the vehicle meets the conditions for equipment replacement, it moves to the new loading / unloading equipment's operating area for loading operations. If the vehicle does not meet the conditions for equipment replacement, it maintains its current restricted movement state and reports the reason for stopping due to equipment replacement failure to the dispatch platform 202. After the overload condition of the vehicle is relieved, the loading and unloading equipment 203 reports the sixth control command for the cleanup operation area to the dispatch platform 202. The dispatch platform 202 then dispatches the cleanup of scattered materials. After detecting that the work area has been cleaned, the loading and unloading equipment 203 sends a seventh control command to surrounding vehicles to allow them to enter the work area of ​​the loading and unloading equipment. Alternatively, the loading and unloading equipment 203 performs material unloading operations for the vehicle; if the current load indicated by the load information is less than the load limit value corresponding to the load limit information, the loading and unloading equipment 203 stops the material unloading operation for the vehicle and sends a third control command to the vehicle 201. Upon receiving the third control command from the loading and unloading equipment, the vehicle 201 controls the vehicle to leave the work area of ​​the loading and unloading equipment.

[0043] Based on the same disclosed concept, this disclosure provides a vehicle including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the vehicle is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of the method for avoiding vehicle overloading as described in any of the above embodiments.

[0044] Based on the same disclosed concept, this disclosure provides a loading and unloading device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the loading and unloading device is in operation, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of the method for avoiding vehicle overloading as described in any of the above embodiments.

[0045] Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments of this disclosure can be implemented in hardware or by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of this disclosure.

[0046] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes in the drawings are not necessarily essential for implementing this disclosure.

[0047] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0048] The sequence numbers of the embodiments disclosed above are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0049] Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, this disclosure is also intended to include such modifications and variations.

Claims

1. A method for avoiding vehicle overloading, characterized in that, include: The vehicle's load information is monitored during the loading process; and If, based on the load information, it is determined that the vehicle is overloaded, the movement of the vehicle is restricted. and Send overload monitoring information to the loading and unloading equipment so that, if the overload monitoring information indicates that the vehicle is overloaded, the loading and unloading equipment can take overload control strategies to relieve the overloaded state of the vehicle.

2. The method as described in claim 1, characterized in that, Also includes: According to the overload control strategy of the loading and unloading equipment, the overload state of the vehicle is relieved, including: Upon receiving a first control command from the loading / unloading equipment, the material unloading operation is executed according to the first control command; upon receiving a second control command from the loading / unloading equipment, the vehicle's load status is determined based on the current load information; wherein, the second control command is used to instruct the vehicle to leave the working area of ​​the loading / unloading equipment; if the current load status is empty, the loading operation continues; or, Upon receiving a third control command from the loading and unloading equipment, the vehicle is controlled to leave the operating area of ​​the loading and unloading equipment; wherein the third control command is used to indicate that the loading and unloading equipment has completed the material unloading operation for the vehicle, and that the vehicle has completed the current loading operation task.

3. The method as described in claim 2, characterized in that, Continue the loading operation, including: Report the reasons for the shutdown while waiting for the replacement of loading and unloading equipment; Upon receiving a fourth control command, and if the vehicle meets the conditions for changing the loading and unloading equipment, the vehicle is controlled to proceed to the new loading and unloading equipment operating area for loading operations; wherein, the fourth control command is used to instruct the vehicle to change the loading and unloading equipment. If the vehicle does not meet the conditions for replacing the loading and unloading equipment, the vehicle is controlled to maintain its current restricted movement state, and the reason for the parking failure due to the failure to replace the loading and unloading equipment is reported.

4. The method as described in claim 1, characterized in that, The load condition includes at least one of the following: loadable condition, impending overload condition, and overload condition; The method further includes: Acquire load limit information and the status of the load sensing device; the load limit information includes: maximum load and / or recommended load. Based on the load information, the load status of the vehicle is determined, including: Based on the load information, determine the average load change value of the loading and unloading equipment after performing a preset number of loading operations on the vehicle; If the difference between the load limit value corresponding to the load limit information and the current load represented by the load information is greater than the average load change value, the vehicle's load status is determined to be a loadable state; and / or, If the difference between the load limit value and the current load is less than or equal to the average load change value, and the load limit value is greater than or equal to the current load, the vehicle's load status is determined to be an impending overload state; and / or, If the load limit value is less than the current load, the vehicle's load status is determined to be overloaded.

5. A method for avoiding vehicle overloading, characterized in that, include: Receive overload monitoring information; When the overload monitoring information indicates that the vehicle is overloaded, a prompt message is issued and an overload control strategy is adopted to remove the overload status of the vehicle.

6. The method as described in claim 5, characterized in that, The overload monitoring information includes: load information; the overload monitoring information also includes: reason for overload stopping and / or load status; The overload control strategy is adopted to relieve the overload state of the vehicle, including: When the overload monitoring information indicates that the vehicle is overloaded, a first control command is sent to the vehicle; wherein, the first control command is used by the vehicle to perform a material unloading operation according to the first control command; After the load information indicates that the vehicle has completed unloading the materials, a second control command is sent to the vehicle; the second control command is used to instruct the vehicle to leave the working area of ​​the loading and unloading equipment.

7. The method as described in claim 5, characterized in that, The overload monitoring information includes: load information and load limit information; the overload monitoring information also includes: reason for overload stopping and / or load status. The overload control strategy is adopted to relieve the overload state of the vehicle, including: The loading and unloading equipment is controlled to perform material unloading operations on the vehicle. If the current load indicated by the load information is less than the load limit value corresponding to the load limit information, stop controlling the loading and unloading equipment to unload materials from the vehicle; and A third control command is sent to the vehicle; wherein the third control command indicates that the vehicle has completed the current loading task.

8. The method as described in claim 5, characterized in that, Also includes: When the overload monitoring information indicates that a vehicle is overloaded, a fifth control command is sent to surrounding vehicles to prevent them from entering the operation area of ​​the loading and unloading equipment. And / or, After the overload status of the vehicle is removed, a sixth control command is reported to the cleaning operation area; after the cleaning operation area is detected to be completed, a seventh control command is sent to the surrounding vehicles to allow the surrounding vehicles to enter the operation area of ​​the loading and unloading equipment. The prompt information includes at least one of the following: visual warning information and voice warning information.

9. A vehicle, characterized in that, include: The system includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the vehicle is in operation, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of the method for avoiding vehicle overloading as described in any one of claims 1 to 4.

10. A loading and unloading device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the device is loaded or unloaded, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of the method for avoiding vehicle overloading as described in any one of claims 5 to 8.

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