CN111469666A - Automatic electric slow-moving system and method for electric drive mining dump truck - Google Patents
Automatic electric slow-moving system and method for electric drive mining dump truck Download PDFInfo
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- CN111469666A CN111469666A CN202010355062.XA CN202010355062A CN111469666A CN 111469666 A CN111469666 A CN 111469666A CN 202010355062 A CN202010355062 A CN 202010355062A CN 111469666 A CN111469666 A CN 111469666A
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- 238000005065 mining Methods 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000005259 measurement Methods 0.000 claims abstract description 6
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- B60K35/10—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
Abstract
The invention discloses an automatic electric slow-moving system and method for an electric drive mining dump truck, wherein the slow-moving system comprises a controller, and a manual electric slow-moving switch, an automatic electric slow-moving switch, an electric slow-moving adjusting knob, a load measuring system, a vehicle speed sensor, an inclination angle sensor and a distance measuring sensor which are connected with the controller, wherein the manual electric slow-moving switch is used for enabling a manual mode of an electric slow-moving function of a vehicle; the automatic electric slow moving switch is used for enabling the automatic electric slow moving function of the vehicle, and the control of the automatic electric slow moving switch is effective under the condition that the manual electric slow moving switch is disconnected; the electric slow moving adjusting knob is used for adjusting the electric slow moving speed of the vehicle; the load measurement system realizes real-time measurement of vehicle load data; the vehicle speed sensor is used for measuring the vehicle speed in real time; the inclination angle sensor is used for acquiring gradient data of the vehicle in real time; the distance measuring sensor is used for measuring the downhill distance of the vehicle. The invention effectively improves the running efficiency and the intelligent degree of the vehicle.
Description
Technical Field
The invention relates to an automatic electric slow-moving method for an electric drive mining dump truck, and belongs to the technical field of engineering machinery.
Background
During the operation process of the electric drive mining dump truck, the electric drive mining dump truck is often in a long-distance continuous downhill state. In order to adapt to the road condition, the electric drive mining dump truck basically has an electric slow-moving function. At present, when an electric transmission mining dump truck implements an electric slow-moving function, a driver needs to firstly operate a switch to start the electric slow-moving function of the vehicle and then operate an electric slow-moving function adjusting knob to adjust the electric slow-moving speed of the vehicle. When the electric slow-moving function is quitted, the vehicle can quit the electric slow-moving state only by manually operating the switch by a driver. When the vehicle needs to frequently run in a downhill state, the manual operation mode is particularly complicated, and the regulation of the vehicle speed greatly depends on the driving experience of a driver, so that the improvement of the vehicle running efficiency is not facilitated.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the automatic electric slow-moving system and the automatic electric slow-moving method for the electric drive mining dump truck, which can effectively control the electric drive mining dump truck to automatically enter and exit an electric slow-moving state, keep the vehicle running at a proper speed, avoid complicated manual operation and are beneficial to improving the running efficiency and the man-machine friendliness of the vehicle.
In order to achieve the purpose, the invention is realized by the following technical scheme:
an automatic electric slow-moving system of an electric drive mining dump truck comprises:
a controller;
the manual electric slow-moving switch is connected with the input end of the controller and is used for enabling a manual mode of an electric slow-moving function of the vehicle;
the automatic electric slow-moving switch is connected with the input end of the controller and is used for enabling the automatic electric slow-moving function of the vehicle, and the control of the automatic electric slow-moving switch is effective under the condition that the manual electric slow-moving switch is disconnected;
the electric slow moving adjusting knob is connected with the input end of the controller, is effective in a manual mode and is used for adjusting the electric slow moving speed of the vehicle;
the load measuring system is connected with the input end of the controller, and realizes real-time measurement of vehicle load data;
the vehicle speed sensor is connected with the input end of the controller and is used for measuring the vehicle speed in real time;
the inclination angle sensor is connected with the input end of the controller and is used for acquiring gradient data of the vehicle in real time;
and the distance measuring sensor is connected with the input end of the controller and is used for measuring the downhill distance of the vehicle.
Further, the load measuring system comprises a data processor and four suspension pressure sensors; the four suspension pressure sensors are connected with the input end of the data processor, and the output end of the data processor is connected with the controller.
Further, the load measuring system, the inclination angle sensor and the inclination angle sensor are connected with the controller through a CAN bus.
Further, manual electric delay switch, automatic electric delay switch, electric delay adjusting knob all are located the driver's cabin, install the position of being convenient for vehicle driver's operation.
Furthermore, two vehicle speed sensors are respectively arranged at the left rear wheel traction motor and the right rear wheel traction motor of the electric drive mining dump truck.
Further, the tilt sensor is mounted on a horizontal plane of the vehicle; the distance measuring sensor is installed at the front part of the vehicle body.
A creep method based on an automatic electric creep system of an electric drive mining dump truck is disclosed, and the method comprises the following steps:
firstly, judging whether a manual slow-moving switch is applied or not, and if the manual slow-moving switch is in an applied state, enabling the vehicle to enter a manual slow-moving mode; the electric slow-moving knob is manually operated by a driver, and the vehicle enters an electric slow-moving state; the driver adjusts the opening degree of the electric slow moving knob, and the controller reads the opening degree of the electric slow moving knob and controls the electric slow moving speed of the vehicle; when the vehicle needs to exit from the electric slow moving state, the driver needs to return the electric slow moving knob to zero, and the vehicle exits from the electric slow moving state;
if the manual electric slow-moving switch is not applied, the vehicle can enter an automatic electric slow-moving mode; the driver presses the automatic electric slow moving switch, and the vehicle enters an automatic electric slow moving mode;
when the inclination angle sensor detects that the running gradient of the vehicle is generated and the vehicle speed begins to increase, the vehicle is judged to enter a downhill running working condition;
reading the inclination angle sensor, the distance measuring sensor and the vehicle load data by the controller to obtain the downhill distance, the gradient and the vehicle load information; the controller calculates the size of electric slow running required by the vehicle when the vehicle descends, controls the relevant execution unit of the vehicle to enable the vehicle to enter an electric slow running state, and keeps the vehicle descending at a proper speed;
if the inclination angle sensor detects that the running condition of the vehicle has no gradient or has a gradient, but the vehicle speed is not increased any more, the vehicle is judged to exit from the downhill and enter a horizontal road surface or an uphill working condition, and the controller controls the vehicle to exit from an electric slow running state.
The invention has the beneficial effects that:
the invention can control the vehicle to automatically enter and exit the electric slow-moving state according to the running condition of the vehicle and keep the vehicle running at a proper electric slow-moving speed. The complicated manual operation is avoided, and the labor intensity of a driver is reduced. The vehicle faults caused by insufficient driving experience of the driver are reduced. The operating efficiency and the intelligent degree of the vehicle are effectively improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. The present invention will be described in detail below with reference to the accompanying drawings and examples.
FIG. 1 is a block diagram of the system of the present invention;
fig. 2 is a flow chart of the system of the present invention.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention.
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the automatic electric slow moving system of the electric drive mining dump truck comprises a manual electric slow moving switch, an automatic electric slow moving switch, a load measuring system, an inclination angle sensor, a distance measuring sensor, a vehicle speed sensor, an electric slow moving adjusting knob and a controller.
The manual electric slow moving switch, the automatic electric slow moving switch, the vehicle speed sensor and the electric slow moving adjusting knob are electrically connected with the controller. The load measuring system, the inclination angle sensor and the inclination angle sensor are connected with the controller through a CAN bus. The manual electric slow moving switch, the automatic electric slow moving switch and the electric slow moving adjusting knob are all positioned in the cab and are arranged at the positions convenient for a vehicle driver to operate. And the manual electric slow-moving switch is used for enabling a manual mode of the electric slow-moving function of the vehicle. The automatic electric slow running switch is used for enabling the automatic electric slow running function of the vehicle, and the control of the automatic electric slow running switch is effective under the condition that the manual electric slow running switch is disconnected. The electric creep adjusting knob is effective in a manual mode and is used for adjusting the electric creep speed of the vehicle. The two vehicle speed sensors are respectively arranged at the left rear wheel traction motor and the right rear wheel traction motor of the electric drive mining dump truck and are used for measuring the vehicle speed in real time. The load measurement system is composed of four suspension pressure sensors and a data processor, and real-time measurement of vehicle load data is achieved. The inclination angle sensor is arranged on a certain horizontal plane of the vehicle and used for acquiring gradient data of the vehicle in real time. The distance measuring sensor is arranged at the front part of the vehicle body and used for measuring the downhill distance of the vehicle. The controller is used as a core unit, reads signals of an automatic electric slow moving switch and a manual electric slow moving switch, collects data of a load measuring system, an inclination angle sensor, a distance measuring sensor, a vehicle speed sensor and an electric slow moving adjusting knob, analyzes and calculates the data, and controls related execution units of the vehicle under automatic and manual electric slow moving modes to realize the electric slow moving function of the vehicle.
As shown in fig. 2, in the automatic electric slow moving method of the electric drive mining dump truck, whether a manual electric slow moving switch is applied or not is judged, and if the manual electric slow moving switch is in an applied state, the vehicle enters a manual electric slow moving mode. The electric creep knob is manually operated by a driver, and the vehicle enters an electric creep state. The driver adjusts the opening degree of the electric slow moving knob, and the controller reads the opening degree of the electric slow moving knob and controls the electric slow moving speed of the vehicle. When the vehicle needs to exit from the electric slow moving state, the driver needs to return the electric slow moving knob to zero, and the vehicle exits from the electric slow moving state.
If the manual creep switch is not applied, the vehicle can enter the automatic creep mode. When the driver presses the automatic electric slow-moving switch, the vehicle enters the automatic electric slow-moving mode. When the inclination angle sensor detects that the running gradient of the vehicle is generated and the vehicle speed begins to increase, the vehicle is judged to enter the downhill running working condition. The controller reads the tilt angle sensor, the distance measuring sensor and the vehicle load data to obtain the downhill distance, the gradient and the vehicle load information. The controller calculates the size of electric slow running required by the vehicle when the vehicle descends, controls the relevant execution unit of the vehicle to enable the vehicle to enter an electric slow running state, and keeps the vehicle descending at a proper speed. If the inclination angle sensor detects that the running condition of the vehicle has no gradient or has a gradient, but the vehicle speed is not increased any more, the vehicle is judged to exit from the downhill and enter a horizontal road surface or an uphill working condition, and the controller controls the vehicle to exit from an electric slow running state.
As described above, the automatic electric slow-moving system and method for the electric drive mining dump truck disclosed by the invention can automatically judge the operation condition of the vehicle, control the vehicle to automatically enter an electric slow-moving state when the vehicle goes down a slope, and keep the vehicle going down the slope at a proper electric slow-moving speed. When the vehicle exits the downhill, the electric slow running state is automatically exited. The automatic control mode avoids complex manual operation and reduces the labor intensity of drivers. The vehicle faults caused by insufficient driving experience of the driver are reduced. The operating efficiency and the intelligent degree of the vehicle are effectively improved.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides an automatic electric slow-moving system of electric drive mining dump truck which characterized in that includes:
a controller;
the manual electric slow-moving switch is connected with the input end of the controller and is used for enabling a manual mode of an electric slow-moving function of the vehicle;
the automatic electric slow-moving switch is connected with the input end of the controller and is used for enabling the automatic electric slow-moving function of the vehicle, and the control of the automatic electric slow-moving switch is effective under the condition that the manual electric slow-moving switch is disconnected;
the electric slow moving adjusting knob is connected with the input end of the controller, is effective in a manual mode and is used for adjusting the electric slow moving speed of the vehicle;
the load measuring system is connected with the input end of the controller, and realizes real-time measurement of vehicle load data;
the vehicle speed sensor is connected with the input end of the controller and is used for measuring the vehicle speed in real time;
the inclination angle sensor is connected with the input end of the controller and is used for acquiring gradient data of the vehicle in real time;
and the distance measuring sensor is connected with the input end of the controller and is used for measuring the downhill distance of the vehicle.
2. The automatic electric creep system of the electric drive mining dump truck according to claim 1, characterized in that:
the load measuring system comprises a data processor and four suspension pressure sensors;
the four suspension pressure sensors are connected with the input end of the data processor, and the output end of the data processor is connected with the controller.
3. The automatic electric creep system of the electric drive mining dump truck according to claim 1, characterized in that:
the load measuring system, the inclination angle sensor and the inclination angle sensor are connected with the controller through a CAN bus.
4. The automatic electric creep system of the electric drive mining dump truck according to claim 1, characterized in that:
the manual electric slow-moving switch, the automatic electric slow-moving switch and the electric slow-moving adjusting knob are all located in the cab and are installed at the position where a vehicle driver can operate conveniently.
5. The automatic electric creep system of the electric drive mining dump truck according to claim 1, characterized in that:
the two vehicle speed sensors are respectively arranged at the left rear wheel traction motor and the right rear wheel traction motor of the electric drive mining dump truck.
6. The automatic electric creep system of the electric drive mining dump truck according to claim 1, characterized in that:
the inclination angle sensor is arranged on the horizontal plane of the vehicle; the distance measuring sensor is installed at the front part of the vehicle body.
7. A creep method based on an automatic electric creep system of an electric drive mining dump truck is characterized by comprising the following steps:
firstly, judging whether a manual slow-moving switch is applied or not, and if the manual slow-moving switch is in an applied state, enabling the vehicle to enter a manual slow-moving mode; the electric slow-moving knob is manually operated by a driver, and the vehicle enters an electric slow-moving state; the driver adjusts the opening degree of the electric slow moving knob, and the controller reads the opening degree of the electric slow moving knob and controls the electric slow moving speed of the vehicle; when the vehicle needs to exit from the electric slow moving state, the driver needs to return the electric slow moving knob to zero, and the vehicle exits from the electric slow moving state;
if the manual electric slow-moving switch is not applied, the vehicle can enter an automatic electric slow-moving mode; the driver presses the automatic electric slow moving switch, and the vehicle enters an automatic electric slow moving mode;
when the inclination angle sensor detects that the running gradient of the vehicle is generated and the vehicle speed begins to increase, the vehicle is judged to enter a downhill running working condition;
reading the inclination angle sensor, the distance measuring sensor and the vehicle load data by the controller to obtain the downhill distance, the gradient and the vehicle load information; the controller calculates the size of electric slow running required by the vehicle when the vehicle descends, controls the relevant execution unit of the vehicle to enable the vehicle to enter an electric slow running state, and keeps the vehicle descending at a proper speed;
if the inclination angle sensor detects that the running condition of the vehicle has no gradient or has a gradient, but the vehicle speed is not increased any more, the vehicle is judged to exit from the downhill and enter a horizontal road surface or an uphill working condition, and the controller controls the vehicle to exit from an electric slow running state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010355062.XA CN111469666A (en) | 2020-04-29 | 2020-04-29 | Automatic electric slow-moving system and method for electric drive mining dump truck |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010355062.XA CN111469666A (en) | 2020-04-29 | 2020-04-29 | Automatic electric slow-moving system and method for electric drive mining dump truck |
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| CN111469666A true CN111469666A (en) | 2020-07-31 |
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| CN202010355062.XA Pending CN111469666A (en) | 2020-04-29 | 2020-04-29 | Automatic electric slow-moving system and method for electric drive mining dump truck |
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| JPH06135260A (en) * | 1992-10-23 | 1994-05-17 | Komatsu Ltd | Device for automatically controlling vehicle speed during descending slope |
| EP1241069A1 (en) * | 2001-03-15 | 2002-09-18 | Westinghouse Air Brake Technologies Corporation | Spring applied parking brake for railcars |
| US20050096183A1 (en) * | 2002-10-28 | 2005-05-05 | Yutaka Watanabe | Downhill speed controller |
| CN103595308A (en) * | 2013-11-15 | 2014-02-19 | 湖北三江航天红峰控制有限公司 | Method for controlling slow running and electric braking of electric-wheel mining cart based on braking energy feedback |
| CN104015727A (en) * | 2014-06-09 | 2014-09-03 | 三一矿机有限公司 | Automatic amble quitting method of mechanical vehicle |
| CN107848538A (en) * | 2015-07-29 | 2018-03-27 | 日本艺美极株式会社 | The automated driving system of vehicle |
| CN208515586U (en) * | 2018-03-20 | 2019-02-19 | 星展测控科技股份有限公司 | A kind of long descending control system of automobile |
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2020
- 2020-04-29 CN CN202010355062.XA patent/CN111469666A/en active Pending
Patent Citations (8)
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|---|---|---|---|---|
| JPH06135260A (en) * | 1992-10-23 | 1994-05-17 | Komatsu Ltd | Device for automatically controlling vehicle speed during descending slope |
| EP1241069A1 (en) * | 2001-03-15 | 2002-09-18 | Westinghouse Air Brake Technologies Corporation | Spring applied parking brake for railcars |
| US20050096183A1 (en) * | 2002-10-28 | 2005-05-05 | Yutaka Watanabe | Downhill speed controller |
| CN103595308A (en) * | 2013-11-15 | 2014-02-19 | 湖北三江航天红峰控制有限公司 | Method for controlling slow running and electric braking of electric-wheel mining cart based on braking energy feedback |
| CN104015727A (en) * | 2014-06-09 | 2014-09-03 | 三一矿机有限公司 | Automatic amble quitting method of mechanical vehicle |
| CN107848538A (en) * | 2015-07-29 | 2018-03-27 | 日本艺美极株式会社 | The automated driving system of vehicle |
| CN208515586U (en) * | 2018-03-20 | 2019-02-19 | 星展测控科技股份有限公司 | A kind of long descending control system of automobile |
| CN110654385A (en) * | 2018-06-29 | 2020-01-07 | 郑州宇通客车股份有限公司 | Vehicle cruise control method and system |
Non-Patent Citations (1)
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Application publication date: 20200731 |