CN115731706A - Mine car running road selection method - Google Patents
Mine car running road selection method Download PDFInfo
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Abstract
The invention provides a mine car running road selection method, which divides road conditions into three types of road conditions, each type of road condition has different degrees of road conditions, whether a mine car is more suitable for the road than a historical vehicle can be determined by normally running the mine car on a certain road, and a first real-time parameter value obtained by a device is compared with a historical parameter value, and the road which is most suitable for the type of road conditions of the vehicle can be obtained by the first real-time parameter value, and the road which is most suitable for and is less suitable for the degree of road conditions is calculated to help the mine car to find the most suitable road, and the running road of the existing mine car can be adjusted to ensure that all mine cars can run on the most suitable road or partially on the less suitable road, thereby further improving the mining efficiency.
Description
Technical Field
The invention relates to the technical field of mine car driving, in particular to a mine car running road selection method.
Background
Along with the development of computer control technology, unmanned driving is a trend nowadays, more and more unmanned technology is applied to automobiles, and a mine car is taken as one of the automobiles, and the unmanned mine car also becomes an important development direction of the mine car industry.
The existing mine cars have a plurality of brands, such as the same-force heavy industry and the Shandong temporary industry, and each brand of mine car also has a plurality of car types, the performance of each brand of mine car is different, and the mine cars can adapt to different mine roads. In order to improve the mining efficiency, the mining road with which type of mine car runs and which road condition is a technical problem which needs to be solved urgently at present.
Disclosure of Invention
The invention solves the technical problem of low mining efficiency in the prior art because the mining vehicle does not run on the optimal mining road.
In order to solve the problems, the invention provides a mine car running road selection method, which comprises the following steps: s1, acquiring historical parameter values of the most-preferred vehicle adopting the unmanned technology under K driving roads, wherein the K driving roads comprise at least three groups of different road conditions, and each group of different road conditions comprises road conditions of different degrees; s2, controlling a vehicle to run on a running road through an unmanned technology, wherein the running road is a certain road condition in a certain type of road conditions, and acquiring a first real-time parameter; s3, comparing the historical parameter values with the first real-time parameter values, and determining the most suitable road for which type of road condition, the most suitable road for which degree of road condition and the most suitable road for which degree of road condition are available; s4, controlling the vehicle to run on a road with the optimal type and the optimal degree of road conditions through an unmanned technology, and obtaining a second real-time parameter value; s5: comparing the historical parameter value on the road with the optimal degree road condition with the second real-time parameter value, and if the vehicle is suitable for the road with the optimal degree road condition, replacing the historical parameter value on the road with the optimal degree road condition with the second real-time parameter value; if the vehicle is not suitable for the road with the most applicable road condition, jumping to S6; s6, controlling the vehicle to run on a road with a sub-applicability road condition through an unmanned technology, and obtaining a third real-time parameter value; s7, comparing the historical parameter value on the road with the applicability road condition with the third real-time parameter value, and if the vehicle is applicable to the road with the applicability road condition, replacing the historical parameter value on the road with the applicability road condition with the third real-time parameter value; if the vehicle is not suitable for the road with the secondary applicability degree road condition, historical parameter values on the road with the secondary applicability degree road condition are not updated; s8: and repeating the steps S2-S7, and selecting the most suitable road for the road conditions for all vehicles.
Compared with the prior art, the technical effect that this scheme of adoption can reach: the road condition is divided into three types of road conditions, and each type of road condition has roads with different degrees, whether the mine car is more suitable for the road than the historical vehicle can be determined by normally driving the mine car on a certain road, and the first real-time parameter value obtained by the device is compared with the historical parameter value, and which type of road condition the mine car is most suitable for can be obtained by the first real-time parameter value, and the road condition which is most suitable for and is less suitable for can be calculated by comparing with the road, so as to help the mine car to find the most suitable road, the driving road of the existing mine car can be adjusted to enable all mine car to be most suitable for the road condition, or part of the driving road can be less suitable for the road condition, and further improve the mining efficiency.
In the present embodimentThe historical parameter value comprises historical average carrier amount information G Calendar Historical average velocity information V Calendar Historical uphill average speed V Calendar slope Historical mean velocity V of overbending Calendar elbow (ii) a The first real-time parameter value, the second real-time parameter value and the third real-time parameter value all comprise real-time average load information G Fruit of Chinese wolfberry Real-time average velocity information V Fruit of Chinese wolfberry Real-time cross slope average speed V Solid slope Real-time bending average speed V Solid curve 。
The technical effect of the technical scheme is that the average load capacity information and the average speed information can reflect the total transportation efficiency of the mine car, and the real-time average load capacity information and the real-time average speed information are compared with the historical average load capacity information and the historical average speed information, so that the transportation efficiency of the mine car on the road can be compared with the transportation efficiency of the historical car on the road, and whether the mine car is suitable for the road condition or not can be judged. The ratio of the average load capacity information to the bend-passing average speed and the ratio of the average load capacity information to the slope-passing average speed can respectively reflect the bend-passing capacity and the slope-passing capacity of the mine car, so that whether the mine car is suitable for a road with more bends and less bends or a road with balanced bends can be judged, and the type of road suitable for the mine car can be selected.
In this embodiment, the comparing the historical parameter values with the first real-time parameter values to determine which type of road condition the vehicle is most suitable for includes: s10, comparing the historical average carrier quantity information G Calendar And the real-time average carrier amount information G Fruit of Chinese wolfberry And comparing the historical average velocity information V Calendar And said real-time average velocity information V Fruit of Chinese wolfberry (ii) a If (V) Fruit of Chinese wolfberry /V Calendar )*( G Fruit of Chinese wolfberry /G Calendar ) If the vehicle speed is more than 1, the vehicle is more suitable for the historical vehicle to run on the road; s20, comparing the historical gradient passing weight ratio with the real-time gradient passing weight ratio, wherein the historical gradient passing weight ratio is G Calendar /V Calendar slope The real-time slope-crossing weight ratio is G Fruit of Chinese wolfberry /V Solid slope (ii) a Comparing the ratio of the historical bending weight to the actual bending weightThe time bending weight ratio is G Calendar /V Calendar elbow The real-time bending-passing weight ratio is G Fruit of Chinese wolfberry /V Solid curve (ii) a If (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope ) > 1, and (G) Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) If the number of the road blocks is less than 1, the vehicle is more suitable for running on a road with more slopes and less bends; if (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope ) < 1, and (G) Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) If the speed is more than 1, the vehicle is more suitable for running on a road with few slopes and many curves; if (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope ) > 1, and (G) Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) If the speed is more than 1, the vehicle is more suitable for running on a road with a balanced slope and a curved road.
The technical effect after the technical scheme is adopted is that the vehicle can be more accurately and precisely judged to be suitable for the road with more slopes and less curves or the road with less slopes and more curves or the road with balanced slopes and curves by adopting the judging mode, so that the road condition of which degree the vehicle is most suitable for and the road condition of which degree the vehicle is most suitable for under the road with the most suitable type can be selected in subsequent judgment.
In this embodiment, determining the most suitable road for which degree of road condition the vehicle is used and the least suitable road for which degree of road condition the vehicle is used includes: s30-1, judging when the vehicle is more suitable for running on a road with more slopes and less curves (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope ) Is in the first range or the second range or the third range; s30-2, when the vehicle is more suitable for running on a road with less slope and more curves, judging (G) Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) Is in the first range or the second range or the third range; s30-3, when the vehicle is more suitable for running on a road with a slope and a curved road, judging (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope )}/{(G Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) The value of is within the first error range or the second error range or the third error range; in the step S30-1, the step S30-2, and the step S30-3, when the determination value is within a certain range or error range, the vehicle is most suitable for roads in the range and is less suitable for roads in an adjacent range to the certain range or error range.
The technical effect after the technical scheme is adopted is that in order to judge the degree of the vehicle suitable for the road, the judgment (G) is carried out Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope ) If the value of (b) is in the first range, the second range or the third range, if so, the vehicle is most suitable for the road condition in the first range and for the road condition in the second range; the road condition of which degree the vehicle is most suitable for and the road condition of which degree the vehicle is most suitable for under the road of the most suitable type can be selected.
In the present embodiment, the first range is 1 to 1.1, the second range is 1.1 to 1.21, and the third range is 1.21 or more; the first error range is 0.95-1.05, the second error range is 0.9025-0.95 and 1.05-1.1025, and the third error range is less than 0.9025 and more than 1.1025.
The technical effect after the technical scheme is adopted is that the first range, the second range and the third range are road conditions in a third degree, the road conditions in the first degree, the second degree and the third degree are sequentially increased, and correspondingly, the road conditions in the first error range, the second error range and the third error range are sequentially increased; and each error range or the range is +/-10 percent, so that each range or error range is ensured to be distributed in a step shape.
In this embodiment, the historical parameter values further include historical oil consumption be Calendar The first real-time parameter value, the second real-time parameter value and the third real-time parameter value all further comprise real-time oil consumption be Fruit of Chinese wolfberry 。
The technical effect after the technical scheme is adopted is that the oil consumption can be considered in the parameter values, and the vehicle cost is fed back through the oil consumption.
In this embodiment, step S10 further includes: comparing the historical oil consumption be Calendar And the real-time oil consumption be Fruit of Chinese wolfberry If (V) Fruit of Chinese wolfberry * G Fruit of Chinese wolfberry /be Fruit of Chinese wolfberry )/( V Calendar *G Calendar /be Calendar ) > 1, and V Fruit of Chinese wolfberry /V Calendar ＞1，G Fruit of Chinese wolfberry /G Calendar ＞1，be Fruit of Chinese wolfberry / be Calendar If the number is less than 1, the vehicle is more suitable for the historical vehicle to travel on the road.
The technical effect after the technical scheme is adopted is that the mine car vehicle can be accurately judged and selected to be suitable for which type of road by adopting the judging mode on the basis of considering the vehicle cost.
The invention also provides a mine car running road selection device, which adopts the method, and the mine car running road selection device comprises: the weight analysis module is used for obtaining real-time average load capacity information and historical average load capacity information of the vehicle; the speed analysis module is used for obtaining real-time speed information and historical speed information of the vehicle; the road condition identification module is used for identifying that the vehicle is positioned at a turning part and a steep slope; the fuel quantity identification module is used for identifying the real-time fuel consumption and the historical fuel consumption of the vehicle; and the calculation analysis module is used for calculating and analyzing and determining the most suitable road condition of the vehicle.
The technical effects described in any of the above examples can be achieved, and are not described herein again.
The present invention also provides an electronic device, including: at least one processor;
a memory; at least one application, wherein the at least one application is stored in the memory and configured to be executed by the at least one processor, the at least one application configured to: the mine car running road selection method is implemented.
The technical effects described in any of the above examples can be achieved, and are not described herein again.
The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed on a computer, causes the computer to execute a method of selecting a mine car travel path.
The technical effects described in any of the above examples can be achieved, and are not described herein again.
Drawings
FIG. 1 is a schematic flow chart of a method for selecting a driving route for a mine car according to the present invention;
FIG. 2 is a schematic flow diagram of a portion of FIG. 1;
FIG. 3 is a schematic flow diagram of another portion of FIG. 1;
fig. 4 is a schematic flow chart illustrating the process of determining the type of road condition most suitable for the vehicle according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
The invention provides a method for selecting a running road of a mine car, which is shown in figures 1-4 and comprises the following steps: s1, acquiring historical parameter values of the most-preferred vehicle adopting the unmanned technology under K driving roads, wherein the K driving roads comprise at least three groups of different road conditions, and each group of different road conditions comprises road conditions of different degrees; s2, controlling a vehicle to run on a running road through an unmanned technology, wherein the running road is a certain degree of road condition in a certain type of road condition, and acquiring a first real-time parameter value; s3, comparing the historical parameter values with the first real-time parameter values, and determining the most suitable road for which type of road condition, the most suitable road for which degree of road condition and the least suitable road condition; s4, controlling the vehicle to run on a road with the optimal type and the optimal degree of road conditions through an unmanned technology, and obtaining a second real-time parameter value; s5: comparing the historical parameter value on the road with the optimal degree road condition with the second real-time parameter value, and if the vehicle is suitable for the road with the optimal degree road condition, replacing the historical parameter value on the road with the optimal degree road condition with the second real-time parameter value; if the vehicle is not suitable for the road with the most applicable road condition, jumping to S6; s6, controlling the vehicle to run on a road with a secondary applicability degree road condition through an unmanned technology, and obtaining a third real-time parameter value; s7, comparing the historical parameter value on the road with the applicability road condition with the third real-time parameter value, and if the vehicle is applicable to the road with the applicability road condition, replacing the historical parameter value on the road with the applicability road condition with the third real-time parameter value; if the vehicle is not suitable for the road with the secondary applicability degree road condition, the historical parameter value on the road with the secondary applicability degree road condition is not updated; s8: and repeating the steps S2-S7, and selecting the most suitable road for the road conditions for all vehicles.
The road conditions of the first type are road conditions with more bends and less slopes, the road conditions of the second type are road conditions with less bends and more slopes, the road conditions of the third type are road conditions with balanced bends, each road condition of the first type comprises road conditions of at least three degrees, the road conditions of the first degree, the road conditions of the second degree and the road conditions of the third degree are divided, the number of the bends and the slopes of the first degree is the least, the number of the bends and the slopes of the first degree, the second degree and the third degree is increased in sequence, and the number of the bends and the slopes of the third degree is the largest.
The unmanned technology is adopted to drive the mine car, which is the prior art, because mine personnel are fewer, roads are not complex, and the unmanned technology can be adopted to well control the running of the mine car, so that the personnel cost is reduced.
The invention can be applied in the following scenarios: 1. when more mine car vehicles are newly purchased, the new mine car vehicles need to be arranged on the road; 2. when the most suitable road arrangement is carried out on all the used vehicles.
Firstly, the road corresponding to each road condition comprises a historical parameter value of a historical vehicle running on the road, namely the historical vehicle is suitable for running on the road at present.
When N vehicles are required to be arranged on the most suitable road, the first mine car is firstly arranged to any road to run under the normal working state, and the road of any road is preferably the road condition of the first degree under the condition of balanced slope. The first real-time parameter value of the first mine car is measured to be compared with the historical parameter value, so that the type of road condition which the first mine car is suitable for is analyzed, and the road condition with the most suitable degree and the road condition with the next most suitable degree are analyzed in the road condition of the type.
And then verifying whether the road condition of the mine car in the suitable type is correct, whether the road condition of the most suitable degree and the road condition of the secondary suitable degree are correct, arranging the mine car to the road condition of the most suitable degree and the road condition of the secondary suitable degree, driving the mine car in the normal working state if the road condition is correct, and replacing the historical parameter values under the road condition with the real-time parameter values of the mine car.
Finally, the arrangement of the driving roads of the N vehicles is completed, wherein, when the first mine car is arranged to the most suitable degree road condition, the historical parameter values of the next mine car on the road condition are changed into the real-time parameter values of the first mine car, and the next mine car is arranged to the most suitable degree road condition and the corresponding first mine car is arranged to the next most suitable degree road condition when the next mine car is more suitable for the most suitable degree road condition.
Preferably, the historical parameter values include historical average carrier amount information G Calendar Historical average velocity information V Calendar Historical uphill average speed V Calendar slope Historical mean velocity V of overbending Calendar elbow (ii) a The first real-time parameter value, the second real-time parameter value and the third real-time parameter value all comprise real-time average load information G Fruit of Chinese wolfberry Real-time average velocity information V Fruit of Chinese wolfberry Real-time slope-crossing average speed V Solid slope Real-time bending average speed V Solid curve 。
In order to analyze the driving efficiency, the bending performance and the grade performance of the mine car, the average speed, the bending average speed, the grade average speed and the average load capacity of the mine car running on the road are obtained through a weight analysis module, a speed analysis module and a road condition identification module.
The average load capacity is an average value of the load capacity of the mine car after loading the ore at the mining part and the load capacity of the mine car after loading the ore at the dumping part, and the average load capacity considers that part of ore falls off due to the influence of factors such as overbending and slope passing during the transportation process of the mine car, so that the average value is considered more reasonably.
Average speed, refers to the total distance traveled by the vehicle on the road divided by the total time.
The mean speed of a turn is the distance the vehicle takes to make the turn on the road divided by the time required to make the turn.
The hill-crossing average speed is the distance the vehicle travels through a hill on a road divided by the time required to traverse the hill.
Similarly, in order to compare the previous and current real-time parameter values, the previous parameter values obtained by the vehicle running on the road are historical parameter values, and the real-time parameter values are the first parameter value, the second parameter value and the third parameter value.
Preferably, the comparing the historical parameter value with the first real-time parameter value to determine which type of road condition the vehicle is most suitable for includes: s10, comparing the historical average carrier quantity information G Calendar And the real-time average carrier amount information G Fruit of Chinese wolfberry And comparing the historical average velocity information V Calendar And the real-time average velocity information V Fruit of Chinese wolfberry (ii) a If (V) Fruit of Chinese wolfberry /V Calendar )*( G Fruit of Chinese wolfberry /G Calendar ) If the speed is more than 1, the vehicle is more suitable for the historical driving on the road; s20, comparing the historical slope-crossing weight ratio with the real-time slope-crossing weight ratio, wherein the historical slope-crossing weight ratio is G Calendar /V Calendar slope The real-time over-slope gravity-speed ratio is G Fruit of Chinese wolfberry /V Solid slope (ii) a Comparing the historical bending weight passing speed ratio with the real-time bending weight passing speed ratio, wherein the historical bending weight passing speed ratio is G Calendar /V Calendar elbow The real-time bending-passing weight ratio is G Fruit of Chinese wolfberry /V Solid curve (ii) a If (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope ) > 1, and (G) Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) If the number of the road blocks is less than 1, the vehicle is more suitable for running on a road with more slopes and less curves; if (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope ) < 1, and (G) Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) If the road surface is more than 1, the vehicle is more suitable for running on a road with few slopes and many curved roads; if (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope ) > 1, and (G) Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) If the speed is more than 1, the vehicle is more suitable for running on a road with a balanced slope and a curved road.
The average load information and the average speed information may reflect the transport efficiency of the tramcar vehicle on the roadway, with higher average load information and higher average speed information reflecting higher transport efficiency of the tramcar vehicle on the roadway.
Accordingly, in order to compare the real-time first parameter value with the past historical parameter value, (V) Fruit of Chinese wolfberry /V Calendar )*( G Fruit of Chinese wolfberry /G Calendar ) > 1, and V Fruit of Chinese wolfberry /V Calendar ＞1，G Fruit of Chinese wolfberry /G Calendar The real-time load capacity of the vehicle is heavier than that of the historical vehicle in comparison with the historical vehicle, the real-time average speed is higher than that of the historical vehicle, and therefore the real-time transportation efficiency is higher than that of the historical vehicle, and the tramcar is more in line with the current road than the historical vehicle.
When V is Fruit of Chinese wolfberry /V Calendar ＜1，G Fruit of Chinese wolfberry /G Calendar A value > 1 may reflect that the real-time vehicle load is heavier than the historical vehicle load, and that the real-time average speed is slower than the historical vehicle average speed, but (V) Fruit of Chinese wolfberry /V Calendar )*( G Fruit of Chinese wolfberry /G Calendar ) The transport efficiency is higher than that of the historical vehicles if the transport efficiency is higher than 1.
In the same way, when V Fruit of Chinese wolfberry /V Calendar ＞1，G Fruit of Chinese wolfberry /G Calendar < 1 can reflect that the real-time load amount is lighter than the historical vehicle load amount, and the real-time average speed is faster than the historical vehicle average speed, but (V) Fruit of Chinese wolfberry /V Calendar )*( G Fruit of Chinese wolfberry /G Calendar ) The transport efficiency is higher than that of the historical vehicles if the transport efficiency is higher than 1.
In order to further identify which type of road condition the vehicle is most suitable for, historical speed ratio of the uphill gradient and real-time speed ratio of the uphill gradient are compared, and historical speed ratio of the uphill gradient and real-time speed ratio of the uphill gradient are compared, wherein the speed ratio of the uphill gradient reflects the performance of the vehicle in the uphill gradient, and the speed ratio of the overbending gradient reflects the performance of the vehicle in the uphill gradient.
Three cases occur if (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope ) > 1, and (G) Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) If the number of the road curves is less than 1, the vehicle is more suitable for running on a road with more slopes and less curves.
If (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope ) < 1, and (G) Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) If the road surface is more than 1, the vehicle is more suitable for running on a road with few slopes and many curves.
If (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope ) > 1, and (G) Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) If the road surface is more than 1, the vehicle is more suitable for running on a road with a balanced slope and a curved road.
It is now possible to determine which type of road conditions the vehicle is most suitable for.
Preferably, determining which degree of road conditions the vehicle is best suited for and which degree of road conditions the vehicle is next to be suited for includes: s30-1, when the vehicle is more suitable for running on a road with more slopes and less curves, judging (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope ) Is in the first range or the second range or the third range; s30-2, when the vehicle is more suitable for running on the road with less slope and more curves, judging (G) Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) Is in the first range or the second range or the third range; s30-3, when the vehicle is more suitable for running on a road with a slope and a curved road, judging (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope )}/{(G Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) The value of is within the first error range or the second error range or the third error range; in the step S30-1, the step S30-2, and the step S30-3, when the determination value is within a certain range or error range, the vehicle is most suitable for a road in the range and is less suitable for a road in an adjacent range to the certain range or error range.
Furthermore, the vehicle can accurately judge the degree of road condition suitable for the most suitable type of road condition.
And judging the ratio of the existing slope-passing speed ratio to the historical slope-passing speed ratio aiming at the road with more slopes and less curves, and determining the range of the ratio to determine the appropriate road condition of the vehicle.
And judging the ratio of the existing bending speed ratio to the historical bending speed ratio aiming at the road with less slope and more bending roads, and determining the range of the ratio to determine the suitable road condition of the vehicle.
And judging the road condition of the vehicle in which range to determine the appropriate degree of the vehicle according to the ratio of the current slope passing weight ratio to the historical slope passing weight ratio, the ratio of the current curve passing weight ratio to the historical curve passing weight ratio and the ratio of the current curve passing weight ratio to the historical curve passing weight ratio.
Preferably, wherein the first range is 1 to 1.1, the second range is 1.1 to 1.21, and the third range is 1.21 or more; the first error range is 0.95-1.05, the second error range is 0.9025-0.95 and 1.05-1.1025, and the third error range is less than 0.9025 and more than 1.1025.
Wherein the first range to the third range are ratios and are all larger than 1, and the first error range to the third error range are ratios and fluctuate around 1, respectively representing the first degree, the second degree and the third degree. The first range is a range shifted to the right by 10% from 1 as the center, the second range is a range shifted to the right by 10% from 1.1, and the third range is a range of 1.21 or more. The first error range is a range shifted by 5% to the left and right respectively with 1 as the center, and the second error range is a range shifted by 5% to the left and right respectively with both ends of the first error range.
The following is illustrated by means of a table:
the historical reference value of the road at the first degree of slope equalization is G Calendar =1.2T，V Calendar =25km/h, V Calendar slope =20km/h, V Calendar elbow =15km/h. Then, the vehicle runs on the road with a first degree of slope and curve balance, and a first real-time parameter value is measured to be G Fruit of Chinese wolfberry =1.3T，V Fruit of Chinese wolfberry =24km/h，V Solid slope =22km/h，V Solid curve =13km/h, so (V) Fruit of Chinese wolfberry /V Calendar )*( G Fruit of Chinese wolfberry /G Calendar )=1.04＞1，V Fruit of Chinese wolfberry /V Calendar =0.96＜1，G Fruit of Chinese wolfberry /G Calendar And =1.18 > 1, the vehicle is more suitable for historical vehicle running on a road with a first degree of slope and curve balance. To identify the road to which the vehicle is to be fitted, (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope )=0.98＜1，（G Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) And the vehicle is more suitable for running on a road with few slopes and many curves when the number of the curves is not less than 1.25 and is more than 1.
In order to accurately judge the degree of road condition to which the vehicle is suitable under the most suitable type of road condition, (G) Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) =1.25, and is more suitable for the third-degree road travel with a small slope and a large number of curves, and is less suitable for the second-degree road travel with a small slope and a large number of curves.
Preferably, the historical parameter values further include historical oil consumption be Calendar The first real-time parameter value, the second real-time parameter value and the third real-time parameter value also comprise real-time oil consumption be Fruit of Chinese wolfberry 。
The oil consumption reflects the oil consumption cost of the vehicle, and the tramcar vehicle can be selected by more accurately judging which type of road the tramcar vehicle is suitable for by referring to the data of the oil consumption.
Preferably, step S10 further includes: comparing the historical oil consumption be Calendar And the real-time oil consumption be Fruit of Chinese wolfberry If (V) Fruit of Chinese wolfberry * G Fruit of Chinese wolfberry /be Fruit of Chinese wolfberry )/( V Calendar *G Calendar /be Calendar ) > 1, and V Fruit of Chinese wolfberry /V Calendar ＞1，G Fruit of Chinese wolfberry /G Calendar ＞1，be Fruit of Chinese wolfberry / be Calendar If the number is less than 1, the vehicle is more suitable for the historical vehicle to travel on the road.
By combining the fuel consumption and the average vehicle speed information and the average load capacity information, it is possible to select which type of road and which degree of road the mine vehicle is suitable for on the basis of taking into account the vehicle cost. The difference between the selection method and the above principle is only that the oil consumption information is added.
[ second embodiment ] A tramcar running road selecting device, which adopts the above method, comprises: the weight analysis module is used for obtaining real-time average load capacity information and historical average load capacity information of the vehicle, and the speed analysis module is used for obtaining real-time speed information and historical speed information of the vehicle; the road condition identification module is used for identifying that the vehicle is positioned at a turning part and a steep slope; the fuel quantity identification module is used for identifying the real-time fuel consumption and the historical fuel consumption of the vehicle; and the calculation analysis module is used for calculating and analyzing and determining the most suitable road condition of the vehicle.
[ third embodiment ] an electronic apparatus, comprising: at least one processor; a memory; at least one application, wherein the at least one application is stored in the memory and configured to be executed by the at least one processor, the at least one application configured to: the mine car running road selection method is implemented.
A computer-readable storage medium having stored thereon a computer program which, when executed on a computer, causes the computer to execute the method of selecting a roadway on which a mine car is traveling.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected by one skilled in the art without departing from the spirit and scope of the invention, as defined in the appended claims.
Claims (10)
1. A mine car running road selection method is characterized by comprising the following steps:
s1, acquiring historical parameter values of the most-preferred unmanned vehicle under K driving roads, wherein the K driving roads comprise at least three groups of different road conditions, and each group of different road conditions comprises different degrees of road conditions;
s2, controlling a vehicle to run on a running road through an unmanned technology, wherein the running road is a certain degree of road condition in a certain type of road condition, and acquiring a first real-time parameter value;
s3, comparing the historical parameter values with the first real-time parameter values, and determining the most suitable road type, degree and level of the vehicle;
s4, controlling the vehicle to run on a road with the optimal type and the optimal degree of road conditions through an unmanned technology, and obtaining a second real-time parameter value;
s5: comparing the historical parameter value on the road with the optimal degree road condition with the second real-time parameter value, and if the vehicle is suitable for the road with the optimal degree road condition, replacing the historical parameter value on the road with the optimal degree road condition with the second real-time parameter value; if the vehicle is not suitable for the road with the most applicable road condition, jumping to S6;
s6, controlling the vehicle to run on a road with a secondary applicability degree road condition through an unmanned technology, and obtaining a third real-time parameter value;
s7, comparing the historical parameter value on the road with the applicability road condition with the third real-time parameter value, and if the vehicle is applicable to the road with the applicability road condition, replacing the historical parameter value on the road with the applicability road condition with the third real-time parameter value; if the vehicle is not suitable for the road with the secondary applicability degree road condition, the historical parameter value on the road with the secondary applicability degree road condition is not updated;
s8: and repeating the steps S2-S7, and selecting the most suitable road for the road conditions for all vehicles.
2. The method for selecting a tramcar running road according to claim 1, wherein the historical parameter values comprise historical average load capacity information G Calendar Historical average velocity information V Calendar Historical average speed V of passing through a slope Calendar slope Historical mean velocity V of overbending Calendar elbow (ii) a The first real-time parameter value, the second real-time parameter value and the third real-time parameter value all comprise real-time average load information G Fruit of Chinese wolfberry Real-time average velocity information V Fruit of Chinese wolfberry Real-time cross slope average speed V Solid slope Real-time bending average speed V Solid curve 。
3. The method of claim 2, wherein said comparing said historical parameter value with said first real-time parameter value to determine which type of road condition the vehicle is best suited for comprises:
s10, comparing the historical average carrier quantity information G Calendar And the real-time average carrier amount information G Fruit of Chinese wolfberry And comparing the historical average velocity information V Calendar And said real-time average velocity information V Fruit of Chinese wolfberry (ii) a If (V) Fruit of Chinese wolfberry /V Calendar )*( G Fruit of Chinese wolfberry /G Calendar ) If the vehicle speed is more than 1, the vehicle is more suitable for the historical vehicle to run on the road;
s20, comparing the historical slope-crossing weight ratio with the real-time slope-crossing weight ratio, wherein the historical slope-crossing weight ratio is G Calendar /V Calendar slope The real-time over-slope gravity-speed ratio is G Fruit of Chinese wolfberry /V Solid slope (ii) a Comparing the historical bending weight passing speed ratio with the real-time bending weight passing speed ratio, wherein the historical bending weight passing speed ratio is G Calendar /V Calendar elbow The real-time bending weight ratio is G Fruit of Chinese wolfberry /V Solid curve ；
If (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope ) > 1, and (G) Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) If the number of the road blocks is less than 1, the vehicle is more suitable for running on a road with more slopes and less bends;
if (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope ) < 1, and (G) Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) If the road surface is more than 1, the vehicle is more suitable for running on a road with few slopes and many curved roads;
if (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope ) > 1, and (G) Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) If the road surface is more than 1, the vehicle is more suitable for running on a road with a balanced slope and a curved road.
4. A method according to claim 3, wherein determining which degree of road conditions the vehicle is best suited for and which degree of road conditions the vehicle is next to, comprises:
s30-1, when the vehicle is more suitable for running on a road with more slopes and less curves, judging (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope ) Is in the first range or the second range or the third range;
s30-2, when the vehicle is more suitable for running on a road with less slope and more curves, judging (G) Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) Is in the first range or the second range or the third range;
s30-3, when the vehicle is more suitable for running on a road with a slope and a curved road, judging (G) Fruit of Chinese wolfberry /V Solid slope )/( G Calendar /V Calendar slope )}/{(G Fruit of Chinese wolfberry /V Solid curve ）/( G Calendar /V Calendar elbow ) The value of is within the first error range or the second error range or the third error range;
in the step S30-1, the step S30-2, and the step S30-3, when the determination value is within a certain range or error range, the vehicle is most suitable for roads in the range and is less suitable for roads in an adjacent range to the certain range or error range.
5. The method for selecting a running road for a mine car according to claim 4, wherein the first range is 1 to 1.1, the second range is 1.1 to 1.21, and the third range is 1.21 or more; the first error range is 0.95-1.05, the second error range is 0.9025-0.95 and 1.05-1.1025, and the third error range is less than 0.9025 and more than 1.1025.
6. The method of claim 5, wherein the historical parameter values further include historical oil consumption be Calendar The first real-time parameter value, the second real-time parameter value and the third real-time parameter value also comprise real-time oil consumption be Fruit of Chinese wolfberry 。
7. The method for selecting a running road for a mine car according to claim 6, wherein the step S10 further comprises: comparing the historical oil consumption be Calendar And the real-time oil consumption be Fruit of Chinese wolfberry If (V) Fruit of Chinese wolfberry * G Fruit of Chinese wolfberry /be Fruit of Chinese wolfberry )/( V Calendar *G Calendar /be Calendar ) > 1, and V Fruit of Chinese wolfberry /V Calendar ＞1，G Fruit of Chinese wolfberry /G Calendar ＞1，be Fruit of Chinese wolfberry / be Calendar If the number is less than 1, the vehicle is more suitable for the historical vehicle to travel on the road.
8. A mine car travel path selection apparatus, using the method of claim 7, the mine car travel path selection apparatus comprising:
the weight analysis module is used for obtaining real-time average load capacity information and historical average load capacity information of the vehicle;
the speed analysis module is used for obtaining real-time speed information and historical speed information of the vehicle;
the road condition identification module is used for identifying that the vehicle is positioned at a turning part and a steep slope;
the fuel quantity identification module is used for identifying the real-time fuel consumption and the historical fuel consumption of the vehicle;
and the calculation analysis module is used for calculating and analyzing and determining the most suitable road of the vehicle.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor;
a memory;
at least one application, wherein the at least one application is stored in the memory and configured to be executed by the at least one processor, the at least one application configured to: a mine car travel route selection method according to any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that: when the computer program is executed on a computer, the computer is caused to carry out a method of selecting a mine car driving route according to any one of claims 1 to 7.
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