A method and system for testing travel and braking of an underground shovel

Abstract

The application discloses a kind of underground shovel's driving and brake test method and system, belong to engineering machinery safety detection technical field.The method includes: obtaining parking state signal, front and rear axle pressure signal, vehicle body inclination signal and brake pedal pressure signal, gear signal, engine start signal;Satisfy the precondition before parking brake, control engine speed to promote to first speed threshold and switch to first forward gear, determine parking brake test qualified;Satisfy the precondition before driving brake, control engine to keep idle, switch to second forward gear and apply maximum brake pressure, if vehicle does not walk, then determine driving brake test qualified.The application obtains multidimensional sensor data by whole vehicle electronic control module and carries out intelligent research and judgment, realizes the automation, standardization detection of parking brake and driving brake, effectively avoids artificial detection oversight, improves underground shovel operation safety.

Description

Technical Field

[0001] This invention relates to a method and system for testing the travel and braking of an underground loader, belonging to the field of engineering machinery technology. Background Technology

[0002] In the underground mining production environment, loaders, as key trackless transportation equipment, undertake the core task of transferring materials such as ore and waste rock. The safety and reliability of their travel and braking systems are the lifeline for ensuring continuous, efficient and safe production in the mine.

[0003] Due to the long-term effects of underground operations, latent faults such as aging and leakage of brake hydraulic lines, failure of brake electronic control components, and abnormal fluctuations in brake hydraulic pressure are difficult to detect and identify in a timely manner. Once core parameters such as front and rear axle brake pressure, engine speed, and brake pedal pressure deviate from normal operating thresholds, they will directly cause serious problems such as insufficient braking force, delayed braking response, and brake failure. This can lead to major underground safety accidents such as vehicle collisions in tunnels, rear-end collisions, rollovers, and runaway collisions. These accidents not only seriously threaten the personal safety of front-line workers but also damage mine production equipment and halt all underground production, causing significant casualties and economic losses to mining companies.

[0004] Currently, the safety status monitoring and braking performance testing technologies for loaders used in domestic underground mines still have many shortcomings and limitations. Existing equipment safety monitoring modes are mostly single, independent parameter threshold alarm monitoring modes, which can only monitor and warn of basic operating parameters such as engine water temperature and oil pressure. They cannot systematically and comprehensively test and evaluate key safety indicators such as the overall operating conditions of the loader, the overall braking efficiency of the braking system, the front and rear axle braking pressure distribution, and the trend of braking performance degradation. Regarding the implementation of braking safety testing, traditional braking testing procedures are cumbersome and complex, lacking a unified standardized testing operation procedure. The testing work relies entirely on manual operation by on-site personnel, requiring regular equipment inspections by professional technicians. The testing process is highly specialized and has a high operational threshold, making it difficult for ordinary front-line workers to operate. In routine underground production operations, problems such as missed braking tests, simplified testing procedures, and perfunctory testing are prone to occur, making it impossible to achieve full coverage testing of braking performance before operation.

[0005] Therefore, developing a braking safety detection method that adapts to the operating habits of grassroots workers, can automatically collect and intelligently analyze braking-related data, and save key data has become an urgent need for safe production in underground mines. Summary of the Invention

[0006] The purpose of this invention is to provide a method and system for testing the driving and braking of underground loader. By using a comprehensive perception and intelligent judgment approach, it can effectively prevent driving and braking accidents caused by improper operation, abnormal vehicle status and sudden environmental changes, and significantly improve the inherent safety level and production management efficiency of underground mining loader operations.

[0007] To achieve the above objectives / to solve the above technical problems, the present invention is implemented using the following technical solution.

[0008] On one hand, the present invention provides a method for testing the travel and braking of an underground loader, comprising: Acquire parking status signals, front and rear axle pressure signals, vehicle tilt angle signals, brake pedal pressure signals, gear signals, and engine start signals; The system determines whether the following conditions are met simultaneously: the vehicle is in engine start-up, parked, front and rear axle pressure signals are below the first pressure threshold, gear is in neutral, brake pedal pressure is zero, and the vehicle body is on a level surface. If all conditions are met simultaneously, the system controls the engine speed to increase to the first speed threshold and controls the gear to switch to the first forward gear. Within a preset first time threshold, it is determined whether the engine speed has reached the first speed threshold and whether the gear has been switched to the first forward gear; if the engine speed has reached the first speed threshold and the gear has been switched to the first forward gear, the parking brake test is deemed to be qualified, and the front and rear axle pressure signals and the brake pedal pressure signal are obtained after the gear is switched to neutral. Determine whether the front and rear axle pressure signals are greater than or equal to the second pressure threshold and whether the brake pedal pressure is zero at the same time. If they are at the same time, control the engine to maintain the second speed threshold idling state, control the gear to switch to the second forward gear, and control the brake pedal pressure to reach the third pressure threshold. If, within the preset second time threshold, the engine maintains the second speed threshold idling state, the gear is shifted to the second forward gear, the brake pedal pressure reaches the third pressure threshold, and the vehicle does not move, then the service brake test is deemed to be qualified, and the green indicator light flashes; otherwise, the service brake test is deemed to be unsuccessful, indicating a brake malfunction and the red warning light flashes.

[0009] Furthermore, if any of the following conditions are not met: the vehicle is in engine start-up, parked, front or rear axle pressure signals are below the first pressure threshold, gear is in neutral, brake pedal pressure is zero, or the vehicle body is on a level surface, the test will terminate, indicating that the condition is not met and a red warning light will flash.

[0010] Furthermore, if the engine speed does not reach the first speed threshold or the gear is not shifted to the first forward gear within the preset first time threshold, the test will be terminated, indicating insufficient speed or incorrect gear and the red warning light will flash.

[0011] Furthermore, if the pressure signals of the front and rear axles are less than the second pressure threshold or the brake pedal pressure is not zero, the test will be terminated, indicating insufficient pressure and the red warning light will flash.

[0012] Furthermore, the first pressure threshold is 20 bar, the second pressure threshold is 110 bar, and the third pressure threshold is 150 bar; the first speed threshold is 1800 r / min, and the second speed threshold is 800 r / min; the first forward gear is 2, and the second forward gear is 1; the first time threshold and the second time threshold are both 3 seconds.

[0013] Furthermore, the brake pedal pressure signal is acquired by a 0-5V potentiometer sensor with a range of 0 bar to 150 bar. The front and rear axle pressure signals are acquired by 4-20mA current sensors with a range of 0bar-400bar. The vehicle body tilt angle is acquired by a 4-20mA current sensor with a range of 0-360°.

[0014] Secondly, the present invention provides a testing system for the travel and braking of an underground loader, comprising: The acquisition module is used to acquire parking status signals, front and rear axle pressure signals, vehicle tilt angle signals, brake pedal pressure signals, gear signals, and engine start signals. The parking brake test preprocessing module is used to determine whether the following conditions are met simultaneously: the vehicle is in a state of engine start-up, parking, front and rear axle pressure signals are below the first pressure threshold, the gear is in neutral, the brake pedal pressure is zero, and the vehicle body is on a level ground. If all conditions are met simultaneously, the engine speed is controlled to increase to the first speed threshold, and the gear is controlled to switch to the first forward gear. The parking brake test module is used to determine whether the engine speed has reached the first speed threshold and whether the gear has been switched to the first forward gear within a preset first time threshold. If the engine speed has reached the first speed threshold and the gear has been switched to the first forward gear, the parking brake test is deemed to be qualified. After the gear is switched to neutral, the front and rear axle pressure signals and the brake pedal pressure signal are obtained. The vehicle braking test preprocessing module is used to determine whether the front and rear axle pressure signals are greater than or equal to the second pressure threshold and whether the brake pedal pressure is zero at the same time. If they are simultaneously satisfied, the engine is controlled to maintain the second speed threshold idling state, the gear is controlled to switch to the second forward gear, and the brake pedal pressure is controlled to reach the third pressure threshold. The service brake test module is used to determine whether the vehicle passes the service brake test within a preset second time threshold. If the engine maintains an idle speed of the second speed threshold, the gear is shifted to the second forward gear, the brake pedal pressure reaches the third pressure threshold, and the vehicle does not move, the green indicator light will flash. Otherwise, the service brake test will be determined to have failed, indicating a brake malfunction and the red warning light will flash.

[0015] Thirdly, the present invention provides a testing device for the travel and braking of an underground loader, comprising: Memory, used to store computer programs / instructions; A processor is used to execute the computer program / instructions to implement the steps of the above-described method for testing the travel and braking of an underground loader.

[0016] Fourthly, the present invention provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implements the steps of the above-described method for testing the travel and braking of an underground shovel.

[0017] Fifthly, the present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the above-described method for testing the driving and braking of an underground shovel.

[0018] Compared with existing technologies, the beneficial effects achieved by this invention are as follows: By acquiring multi-dimensional data such as parking status signals, front and rear axle pressure signals, vehicle tilt angle signals, brake pedal pressure signals, gear signals, and engine start signals, this invention performs multi-condition comprehensive verification before the test starts. This overcomes the shortcomings of existing technologies where single-parameter threshold alarms cannot comprehensively evaluate the overall status of the braking system. It achieves a comprehensive and systematic perception of the safety status of the braking system. Furthermore, by setting different pre-condition verification logics before parking brake tests and service brake tests, it ensures that the tests are started in a safe and standard vehicle condition, avoiding misjudgments of test results or safety accidents caused by abnormal vehicle conditions. At the same time, the test is terminated immediately when any condition is not met, and the unmet condition is specifically indicated, reducing the difficulty of troubleshooting. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the parking brake test process in this embodiment; Figure 2 This is a schematic diagram of the service brake test process in this embodiment. Detailed Implementation

[0020] It should be noted that: The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0021] The term "and / or" simply describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Example

[0022] like Figures 1 to 2 One embodiment of the above provides a method for testing the travel and braking of an underground loader, specifically including the following steps: Step S101: Acquire parking status signal, front and rear axle pressure signals, vehicle tilt angle signal, brake pedal pressure signal, gear signal, and engine start signal; The brake pedal pressure signal is acquired by a 0-5V potentiometer sensor, with an analog voltage of 0-150 bar corresponding to a pedal opening of 0%-100%. The front and rear axle pressure signals are acquired by a 4-20mA current sensor, with a range of 0-400 bar. The gear position signal is emitted from the lever and interpreted by the gearbox, with 1-4 gears. The engine speed signal ranges from 800r / min to 1800r / min, corresponding to a pedal opening of 0%-100%. The vehicle tilt angle is acquired by a 4-20mA current sensor, corresponding to an angle of 0-360° between the vehicle and the horizontal ground. The vehicle's electronic control module acquires the above sensor data with a period of 10ms.

[0023] Step S102: Determine whether the following conditions are met simultaneously: the vehicle is in engine start-up, parked state, front and rear axle pressure signals are below the first pressure threshold, gear is in neutral, brake pedal pressure is zero, and the vehicle body is on a level surface. If all conditions are met, proceed to step S103. If any condition is not met, terminate the test, indicate the unmet condition, and flash the red warning light. The first pressure threshold is 20 bar. The purpose of setting the front and rear axle pressure signals below 20 bar is to eliminate the interference of inherent residual pressures such as residual oil pressure in the vehicle's braking circuit and static residual pressure in the pipeline on the test judgment. The judgment of the vehicle's level ground status is based on the vehicle tilt angle collected by the tilt sensor being 0°.

[0024] Step S103: Control the engine speed to increase to the first speed threshold and control the gear to switch to the first forward gear; within the preset first time threshold, determine whether the engine speed has reached the first speed threshold and whether the gear has been switched to the first forward gear; if both have been reached and switched, the parking brake test is deemed qualified, and the gear is switched to neutral before proceeding to step S104; if neither has been reached or switched, the test is terminated, indicating insufficient speed or incorrect gear and the red warning light flashes. The first speed threshold is 1800 r / min, the first forward gear is 2, and the first time threshold is 3 seconds. The core logic of the parking brake test is: if the vehicle can resist the driving force generated by the 2nd forward gear and remain stationary when the parking brake is active, it proves that the parking brake system has sufficient locking force.

[0025] Step S104: Obtain the front and rear axle pressure signals and the brake pedal pressure signal; determine whether the front and rear axle pressure signals are greater than or equal to the second pressure threshold and the brake pedal pressure is zero at the same time; if they are satisfied at the same time, proceed to step S105; if they are not satisfied, terminate the test, indicate insufficient pressure and flash the red alarm light. The second pressure threshold is 110 bar. The purpose of setting the front and rear axle pressures to be greater than or equal to 110 bar as a prerequisite for the service brake test is to ensure that the brake hydraulic system has established sufficient working pressure to provide reliable hydraulic power for the service brake test.

[0026] Step S105: Control the engine to maintain the second speed threshold idling state, control the gear to switch to the second forward gear, and control the brake pedal pressure to reach the third pressure threshold; within the preset second time threshold, determine whether the engine speed is maintained at the second speed threshold, whether the gear has been switched to the second forward gear, whether the brake pedal pressure has reached the third pressure threshold, and whether the vehicle is moving; if all three control commands have been executed and the vehicle is not moving, the service brake test is deemed qualified, and the green indicator light flashes; otherwise, the service brake test is deemed unsuccessful, a brake malfunction is indicated, and the red warning light flashes. Among them, the vehicle not moving can be determined by the speed value detected by the vehicle speed sensor or wheel speed sensor being continuously zero within a preset time; the second speed threshold is 800r / min (engine idle speed), the second forward gear is 1st gear, the third pressure threshold is 150bar (maximum brake pedal pressure), and the second time threshold is 3 seconds; the core logic of the service brake test is: when the engine outputs starting torque in 1st gear (maximum driving force gear), if the service brake system can keep the vehicle completely stationary with maximum braking force, it proves that the braking performance of the service brake system is qualified. Example

[0027] This embodiment provides a testing system for the travel and braking of an underground loader, including: The acquisition module is used to acquire parking status signals, front and rear axle pressure signals, vehicle tilt angle signals, brake pedal pressure signals, gear signals, and engine start signals. The parking brake test preprocessing module is used to determine whether the following conditions are met simultaneously: the vehicle is in a state of engine start-up, parking, front and rear axle pressure signals are below the first pressure threshold, the gear is in neutral, the brake pedal pressure is zero, and the vehicle body is on a level ground. If all conditions are met simultaneously, the engine speed is controlled to increase to the first speed threshold, and the gear is controlled to switch to the first forward gear. The parking brake test module is used to determine whether the engine speed has reached the first speed threshold and whether the gear has been switched to the first forward gear within a preset first time threshold. If the engine speed has reached the first speed threshold and the gear has been switched to the first forward gear, the parking brake test is deemed to be qualified. After the gear is switched to neutral, the front and rear axle pressure signals and the brake pedal pressure signal are obtained. The vehicle braking test preprocessing module is used to determine whether the front and rear axle pressure signals are greater than or equal to the second pressure threshold and whether the brake pedal pressure is zero at the same time. If they are simultaneously satisfied, the engine is controlled to maintain the second speed threshold idling state, the gear is controlled to switch to the second forward gear, and the brake pedal pressure is controlled to reach the third pressure threshold. The service brake test module is used to determine whether the vehicle passes the service brake test within a preset second time threshold. If the engine maintains an idle speed of the second speed threshold, the gear is shifted to the second forward gear, the brake pedal pressure reaches the third pressure threshold, and the vehicle does not move, the green indicator light will flash. Otherwise, the service brake test will be determined to have failed, indicating a brake malfunction and the red warning light will flash. Example

[0028] This embodiment provides a testing device for the travel and braking of an underground loader, including: Memory, used to store computer programs / instructions; A processor is used to execute the computer program / instructions to implement the steps of Embodiment 1 described above. Example

[0029] This embodiment provides a computer-readable storage medium storing a computer program / instruction. When the computer program / instruction is executed by a processor, it implements the steps of Embodiment 1 described above. Example

[0030] This embodiment provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of Embodiment 1 described above.

[0031] The method of this invention aims to fundamentally improve the proactive safety defense capability of loader operations, transforming "post-event remediation" into "pre-event prevention," which is of great significance for promoting the intelligent and automated transformation of mine safety management.

[0032] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention 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.

[0033] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. 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 illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0034] 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.

[0035] 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.

[0036] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for testing the travel and braking of an underground loader, characterized in that, include: Acquire parking status signals, front and rear axle pressure signals, vehicle tilt angle signals, brake pedal pressure signals, gear signals, and engine start signals; The system determines whether the following conditions are met simultaneously: the vehicle is in engine start-up, parked, front and rear axle pressure signals are below the first pressure threshold, gear is in neutral, brake pedal pressure is zero, and the vehicle body is on a level surface. If all conditions are met simultaneously, the system controls the engine speed to increase to the first speed threshold and controls the gear to switch to the first forward gear. Within a preset first time threshold, determine whether the engine speed has reached the first speed threshold and whether the gear has been switched to the first forward gear; If the engine speed has reached the first speed threshold and the gear has been switched to the first forward gear, the parking brake test is deemed to be qualified, and the front and rear axle pressure signals and the brake pedal pressure signal are obtained after the gear is switched to neutral. Determine whether the front and rear axle pressure signals are greater than or equal to the second pressure threshold and whether the brake pedal pressure is zero at the same time. If they are at the same time, control the engine to maintain the second speed threshold idling state, control the gear to switch to the second forward gear, and control the brake pedal pressure to reach the third pressure threshold. If, within the preset second time threshold, the engine maintains the second speed threshold idling state, the gear is shifted to the second forward gear, the brake pedal pressure reaches the third pressure threshold, and the vehicle does not move, then the service brake test is deemed to be qualified; otherwise, the service brake test is deemed to have failed, and a brake malfunction is indicated.

2. The method for testing the travel and braking of an underground loader according to claim 1, characterized in that, If any of the following conditions are not met: the vehicle is in engine start-up, parked, front or rear axle pressure signals are below the first pressure threshold, gear is in neutral, brake pedal pressure is zero, or the vehicle body is on a level surface, the test will terminate and a message indicating that the condition is not met will be displayed.

3. The method for testing the travel and braking of an underground loader according to claim 2, characterized in that, If the engine speed does not reach the first speed threshold or the gear is not shifted to the first forward gear within the preset first time threshold, the test will be terminated and a message will be displayed indicating insufficient speed or incorrect gear.

4. The method for testing the travel and braking of an underground loader according to claim 3, characterized in that, If the pressure signals of the front and rear axles are less than the second pressure threshold or the brake pedal pressure is not zero, the test will be terminated and an insufficient pressure will be indicated.

5. The method for testing the travel and braking of an underground loader according to claim 1, characterized in that, The first pressure threshold is 20 bar, the second pressure threshold is 110 bar, and the third pressure threshold is 150 bar; the first rotational speed threshold is 1800 r / min, and the second rotational speed threshold is 800 r / min; the first time threshold and the second time threshold are both 3 seconds.

6. The method for testing the travel and braking of an underground loader according to claim 1, characterized in that, The brake pedal pressure signal is acquired by a 0-5V potentiometer sensor with a range of 0 bar to 150 bar. The front and rear axle pressure signals are acquired by 4-20mA current sensors with a range of 0bar-400bar. The vehicle body tilt angle is acquired by a 4-20mA current sensor with a range of 0-360°.

7. A testing system for the travel and braking of an underground loader, characterized in that, include: The acquisition module is used to acquire parking status signals, front and rear axle pressure signals, vehicle tilt angle signals, brake pedal pressure signals, gear signals, and engine start signals. The parking brake test preprocessing module is used to determine whether the following conditions are met simultaneously: the vehicle is in a state of engine start-up, parking, front and rear axle pressure signals are below the first pressure threshold, the gear is in neutral, the brake pedal pressure is zero, and the vehicle body is on a level ground. If all conditions are met simultaneously, the engine speed is controlled to increase to the first speed threshold, and the gear is controlled to switch to the first forward gear. The parking brake test module is used to determine whether the engine speed has reached the first speed threshold and whether the gear has been switched to the first forward gear within a preset first time threshold. If the engine speed has reached the first speed threshold and the gear has been switched to the first forward gear, the parking brake test is deemed to be qualified, and the front and rear axle pressure signals and the brake pedal pressure signal are obtained after the gear is switched to neutral. The vehicle braking test preprocessing module is used to determine whether the front and rear axle pressure signals are greater than or equal to the second pressure threshold and whether the brake pedal pressure is zero at the same time. If they are simultaneously satisfied, the engine is controlled to maintain the second speed threshold idling state, the gear is controlled to switch to the second forward gear, and the brake pedal pressure is controlled to reach the third pressure threshold. The service brake test module is used to determine whether the vehicle passes the service brake test if, within a preset second time threshold, the engine maintains a second speed threshold idling state, the gear is shifted to the second forward gear, the brake pedal pressure reaches a third pressure threshold, and the vehicle does not move; otherwise, the service brake test fails and a brake malfunction is indicated.

8. A testing device for the travel and braking of an underground loader, characterized in that, include: Memory, used to store computer programs / instructions; A processor for executing the computer program / instructions to implement the steps of the method for testing the travel and braking of the underground loader according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instruction is executed by the processor, it implements the steps of the method for testing the driving and braking of the underground loader as described in any one of claims 1-6.

10. A computer program product, comprising a computer program / instructions, characterized in that, When the computer program / instruction is executed by the processor, it implements the steps of the method for testing the driving and braking of the underground loader as described in any one of claims 1-6.

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