CN117445922A - Method and device for controlling abnormal working conditions of unmanned mine car - Google Patents

Method and device for controlling abnormal working conditions of unmanned mine car Download PDF

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Publication number
CN117445922A
CN117445922A CN202311396082.1A CN202311396082A CN117445922A CN 117445922 A CN117445922 A CN 117445922A CN 202311396082 A CN202311396082 A CN 202311396082A CN 117445922 A CN117445922 A CN 117445922A
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CN
China
Prior art keywords
working condition
abnormal
mine car
unmanned
unmanned mine
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Granted
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CN202311396082.1A
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Chinese (zh)
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CN117445922B (en
Inventor
田滨
熊晓宇
孟石
张才集
王俊辉
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Institute of Automation of Chinese Academy of Science
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Institute of Automation of Chinese Academy of Science
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Priority claimed from CN202311396082.1A external-priority patent/CN117445922B/en
Publication of CN117445922A publication Critical patent/CN117445922A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides a method and a device for controlling abnormal working conditions of an unmanned mine car, wherein the method for controlling the abnormal working conditions of the unmanned mine car comprises the following steps: acquiring abnormal working condition information of the unmanned mine car, wherein the abnormal working condition information comprises at least one abnormal working condition; identifying abnormal working condition information according to the abnormal working condition type to obtain a working condition identification result, wherein the abnormal working condition type comprises at least one of sliding, slipping, path deviation and overspeed; under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies, a control instruction is generated to control the unmanned mining vehicle to adjust abnormal working conditions according to the target working condition compensation strategy, wherein the target working condition compensation strategy is at least one of the preset various working condition compensation strategies. The method can improve the regulation and control capability of the unmanned mine car on various abnormal working conditions, and improves the driving safety of the unmanned mine car in a complex environment.

Description

Method and device for controlling abnormal working conditions of unmanned mine car
Technical Field
The invention relates to the technical field of vehicle control, in particular to a method and a device for controlling abnormal working conditions of an unmanned mine car.
Background
In the related art, the occurrence position of the mine car within a few seconds in the future is calculated through the current running direction included angle and the running transverse deviation of the unmanned mine car, and a control measure of deceleration or scram is implemented in advance according to the occurrence position, but in practice, the vehicle is influenced by external factors such as environmental factors and road surface factors, so that various abnormal working conditions possibly occur at the same time, and if only abnormal control when the unmanned mine car deviates from a target position is considered, the safety of the unmanned mine car in the running process is low, and the safety running requirement of the unmanned mine car in a severe environment cannot be met.
Disclosure of Invention
The invention provides a method and a device for controlling abnormal working conditions of an unmanned mine car, which are used for solving the defect that in the prior art, only abnormal control that the unmanned mine car deviates from a target position is considered to cause larger safety risk of the mine car running in a severe environment, and improving the running safety of the unmanned mine car in a complex environment.
The invention provides a method for controlling abnormal working conditions of an unmanned mine car, which comprises the following steps:
acquiring abnormal working condition information of the unmanned mine car, wherein the abnormal working condition information comprises at least one abnormal working condition;
identifying the abnormal working condition information according to the abnormal working condition type to obtain a working condition identification result, wherein the abnormal working condition type comprises at least one of sliding, slipping, path deviation and overspeed;
generating a control instruction under the condition that the working condition identification result belongs to the working conditions corresponding to the preset various working condition compensation strategies; the control instruction is used for controlling the unmanned mine car to adjust abnormal working conditions according to a target working condition compensation strategy, and the target working condition compensation strategy is at least one of the preset various working condition compensation strategies.
According to the method for controlling the abnormal working condition of the unmanned mine car, the working condition identification result comprises abnormal sliding or abnormal sliding early warning;
and under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies, generating a control instruction comprises the following steps:
under the condition that the working condition identification result comprises the abnormal sliding of the unmanned mining car, calculating a first scram braking value according to a first scram braking increment step length of the unmanned mining car, and generating the control instruction according to the first scram braking value;
and under the condition that the working condition identification result comprises the abnormal early warning of the sliding car, calculating an accelerator compensation amount or a braking value of the unmanned mining car according to the gear of the speed changer of the unmanned mining car, pitch angle data of the unmanned mining car and a braking increment step length, and generating the control instruction according to the accelerator compensation amount or the braking value.
According to the method for controlling the abnormal working condition of the unmanned mine car, the calculation of the throttle compensation amount or the brake value of the unmanned mine car according to the gear of the transmission of the unmanned mine car, the pitch angle data of the unmanned mine car and the brake increment step length comprises the following steps:
under the condition that the transmission gear is a forward gear, obtaining the throttle compensation amount according to the pitch angle data and the brake increment step length;
and under the condition that the transmission gear is neutral, obtaining the brake value according to the brake increment step length.
According to the method for controlling the abnormal working condition of the unmanned mine car, the working condition identification result comprises abnormal slip or abnormal slip early warning;
and under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies, generating a control instruction, and further comprising:
under the condition that the working condition identification result comprises the slip abnormality, calculating a first target speed according to the speed decreasing step length of the unmanned mine car and the steering wheel corner of the unmanned mine car, and obtaining the control instruction according to the first target speed; the control instruction is used for controlling the unmanned mine car to adjust the current running speed to 0 according to the first target speed;
and under the condition that the working condition identification result comprises the slip early warning abnormality, determining and calculating a second target speed according to the speed decreasing step length and the minimum running speed of the unmanned mine car, and obtaining the control instruction according to the second target speed, wherein the control instruction is used for controlling the unmanned mine car to adjust the current running speed to a first safe speed according to the second target speed.
According to the method for controlling the abnormal working condition of the unmanned mine car, the working condition identification result comprises overspeed abnormality or overspeed early warning abnormality;
and under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies, generating a control instruction, and further comprising:
under the condition that the working condition identification result comprises the overspeed abnormality, calculating a second scram braking value according to a second scram braking increment step length of the unmanned mining car, and generating the control instruction according to the second scram braking value;
and under the condition that the working condition identification result comprises the overspeed early warning abnormality, calculating a third target speed according to the speed decreasing step length of the unmanned mine car and the steering wheel corner of the unmanned mine car, and obtaining the control instruction according to the third target speed, wherein the control instruction is used for controlling the unmanned mine car to adjust the current running speed to a second safety speed according to the third target speed.
According to the method for controlling the abnormal working condition of the unmanned mine car, the working condition identification result comprises abnormal path deviation or abnormal path deviation early warning;
and under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies, generating a control instruction, and further comprising:
under the condition that the working condition identification result comprises the abnormality of the path deviation, calculating a third scram braking value according to a third scram braking increment step length of the unmanned mining car, and generating the control instruction according to the third scram braking value;
under the condition that the working condition identification result comprises the path deviation early warning abnormality, calculating a third target speed according to the speed decreasing step length of the unmanned mine car, the steering wheel angle of the unmanned mine car and the curvature compensation parameter of the steering wheel angle, and obtaining the control instruction according to the third target speed; the control instruction is used for controlling the unmanned mine car to adjust the current running speed to a third safe speed according to the third target speed.
The invention also provides a method for controlling the abnormal working condition of the unmanned mine car, which comprises the following steps:
the information acquisition module is used for acquiring abnormal working condition information of the unmanned mine car, wherein the abnormal working condition information comprises at least one abnormal working condition;
the working condition identification module is used for identifying the abnormal working condition information according to the abnormal working condition type to obtain a working condition identification result, wherein the abnormal working condition type comprises at least one of sliding, slipping, path deviation and overspeed;
the working condition compensation module is used for generating a control instruction under the condition that the working condition identification result belongs to the working conditions corresponding to the preset various working condition compensation strategies; the control instruction is used for controlling the unmanned mine car to adjust abnormal working conditions according to a target working condition compensation strategy, and the target working condition compensation strategy is at least one of the preset various working condition compensation strategies.
The invention also provides electronic equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the method for controlling the abnormal working condition of the unmanned mining car according to any one of the above when executing the program.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which when executed by a processor implements a method of controlling abnormal conditions of an unmanned mining vehicle as described in any one of the above.
The invention also provides a computer program product, which comprises a computer program, wherein the computer program is executed by a processor to realize the method for controlling the abnormal working condition of the unmanned mine car.
According to the method and the device for controlling the abnormal working conditions of the unmanned mine car, the abnormal working condition information is identified through the types of the abnormal working conditions such as sliding, slipping, path deviation and overspeed, the working condition identification result is obtained, and under the condition that the working condition identification result belongs to the working conditions corresponding to the preset various working condition compensation strategies, a control instruction is generated to control the unmanned mine car to conduct abnormal working condition adjustment according to the target working condition compensation strategies, so that the regulation capacity of the unmanned mine car on various abnormal working conditions can be improved, and the driving safety of the unmanned mine car in a complex environment is improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for controlling abnormal conditions of an unmanned mine car;
FIG. 2 is a schematic flow chart of a method for controlling an unmanned mine car under a car sliding condition;
FIG. 3 is a schematic flow chart of a method for controlling an unmanned mine car under slip conditions provided by the invention;
FIG. 4 is a flow chart of a method for controlling an unmanned mine car under overspeed conditions provided by the present invention;
FIG. 5 is a schematic flow chart of a method for controlling an unmanned mine car under a path deviation condition provided by the invention;
FIG. 6 is a schematic diagram of the control device for the abnormal working condition of the unmanned mine car;
fig. 7 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The method and apparatus for controlling the abnormal condition of the unmanned mining vehicle according to the present invention will be described with reference to fig. 1 to 6.
FIG. 1 is a schematic flow chart of the method for controlling the abnormal working condition of the unmanned mine car, as shown in FIG. 1, comprising the following steps:
step 110, obtaining abnormal working condition information of the unmanned mine car, wherein the abnormal working condition information comprises at least one abnormal working condition.
In this step, the unmanned mine car may be a pure electric car, a diesel mine car or a hybrid mine car.
In this step, the abnormal condition information may include one or more different abnormal conditions, and each condition may include condition abnormal information and condition early warning abnormal information.
For example, the abnormal condition information includes abnormal conditions such as sliding, overspeed and the like which are adapted to the road conditions of the ramp, and abnormal conditions such as slipping, path deviation and the like which are adapted to the road conditions of the mud pit.
In this embodiment, the anomaly diagnosis module of the unmanned mine car acquires the anomaly condition information of the unmanned mine car through the unmanned mine car data and the road surface data acquired by the chassis module.
And 120, identifying abnormal working condition information according to the abnormal working condition type, and obtaining a working condition identification result, wherein the abnormal working condition type comprises at least one of vehicle sliding, slipping, path deviation and overspeed.
In this step, each abnormal condition type includes at least two abnormal conditions, for example, a rolling stock includes a rolling stock abnormal condition and a rolling stock early warning abnormal condition; the slipping comprises a slipping abnormal working condition and a slipping early warning abnormal working condition; the path deviation comprises a path deviation abnormal working condition and a path deviation early warning abnormal working condition; overspeed comprises overspeed abnormal conditions and overspeed early warning abnormal conditions.
In this embodiment, the anomaly diagnosis module classifies the abnormal condition information according to a pre-stored classification model, and determines a specific condition recognition result.
In this embodiment, the condition recognition result may include at least one abnormal condition, for example, the condition recognition result may be a rolling abnormality and an overspeed abnormality.
Step 130, generating a control instruction under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies; the control command is used for controlling the unmanned mine car to adjust abnormal working conditions according to a target working condition compensation strategy, and the target working condition compensation strategy is at least one of a plurality of preset working condition compensation strategies.
In the step, various working condition compensation strategies are prestored in an anomaly diagnosis module of the unmanned mining car, after the anomaly diagnosis module obtains a working condition identification result, the working condition identification result is matched with the prestored various working condition compensation strategies to determine a target compensation strategy corresponding to the working condition identification result, and a control signal for executing the strategy is generated to realize the adjustment of the abnormal working condition of the unmanned mining car.
In this embodiment, the various working condition compensation strategies may specifically include throttle compensation amount or slow-stepping braking control for the unmanned mine car obtained under the condition of sliding; the following describes an example of adjusting the rolling condition by the condition compensation strategy:
in some embodiments, the condition recognition result includes a rolling anomaly or a rolling pre-warning anomaly; under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies, generating a control instruction comprises: under the condition that the working condition identification result comprises abnormal sliding, calculating a first scram braking value according to a first scram braking increment step length of the unmanned mine car, and generating a control instruction according to the first scram braking value; under the condition that the working condition recognition result comprises a car sliding early warning abnormality, calculating an accelerator compensation amount or a brake value of the unmanned mining car according to a speed changer gear of the unmanned mining car, pitch angle data of the unmanned mining car and a brake increment step length, and generating a control instruction according to the accelerator compensation amount or the brake value.
In this embodiment, the anomaly diagnostic module selects different condition compensation strategies based on the condition recognition result and the gear information output by the chassis module.
In this embodiment, in the case that the condition recognition result is abnormal in rolling, the first scram braking value may be calculated by the following formula:
brake1+＝c1；
wherein, brake1 is the first sudden stop braking value, c1 is the incremental step of the first sudden stop braking, which is a calibratable value and needs to be adjusted according to the actual situation.
In this embodiment, the gear information includes the current real-time display gear of the transmission, for example, the throttle compensation strategy may be selected when the current display gear is a forward gear (D gear), and the slow-to-step brake control strategy may be selected when the current display gear is neutral (N gear).
In this embodiment, calculating the throttle compensation amount or the brake value for the unmanned mining vehicle from the transmission gear of the unmanned mining vehicle, the pitch angle data of the unmanned mining vehicle, and the brake increment step comprises: and under the condition that the gear of the transmission is a forward gear, obtaining the accelerator compensation amount according to the pitch angle data and the brake increment step length.
For example, the throttle compensation of the unmanned mine car is obtained by applying the following formula:
throttle＝pitch*a；
wherein, the throttle is the throttle compensation quantity, pitch is pitch angle data acquired by an inertial navigation system of the unmanned mine car, and a is the throttle compensation coefficient;
under the condition that the gear of the transmission is neutral, obtaining a braking value according to the incremental step of braking; for example, the brake value is calculated using the following formula:
brake+＝b；
wherein, brake is the brake value, pitch is the pitch angle data that the inertial navigation system of unmanned mine car gathered, and b is brake increment step length, and c1 is greater than b.
In this embodiment, the brake value brake is incremented by a brake increment step b each time it is calculated.
In this embodiment, pitch angle data is collected by an inertial navigation system (Inertial Navigation System, INS) of the unmanned mining vehicle, which integrates it over time by measuring the acceleration of the inertial reference frame of the unmanned mining vehicle, and transforms it into the navigational coordinate system to obtain information on speed, pitch angle, position, etc. in the navigational coordinate system.
FIG. 2 is a schematic flow chart of a control method of an unmanned mine car under a car sliding condition, in the embodiment shown in FIG. 2, an abnormality diagnosis module sends out an abnormal state corresponding to an abnormal condition as a car sliding early warning abnormal state according to a condition identification result, a car sliding early warning abnormal state sign is triggered, if an actual gear of a transmission of the unmanned mine car is a D gear, throttle compensation is calculated according to pitch angle data pitch and a compensation coefficient a, and if not (for example, the actual gear of the transmission is an N gear), a braking strategy of braking and gradual increase is performed, namely, the movement of the unmanned mine car is controlled by using slow stepping braking; if the abnormal working condition sent by the abnormal diagnosis module is a car sliding abnormal condition, a car sliding abnormal condition sign is triggered, an unmanned mine car is braked urgently by adopting a brake strategy of sudden increase of the brake, and the regulation and control capability of the unmanned mine car on the car sliding early warning abnormal working condition and the car sliding abnormal working condition is improved.
In this embodiment, the various operating condition compensation strategies may also include speed control or steering wheel angle control during a slip operating condition; the following describes an example of adjustment of the slip condition by the condition compensation strategy:
in some embodiments, the condition recognition result includes a slip anomaly or a slip warning anomaly; under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies, generating a control instruction further comprises: under the condition that the working condition identification result comprises a slip abnormality, calculating a first target speed according to a speed decreasing step length of the unmanned mine car and a steering wheel corner of the unmanned mine car, and obtaining a control instruction according to the first target speed; the control instruction is used for controlling the unmanned mine car to adjust the current running speed to 0 according to the first target speed; and under the condition that the working condition identification result comprises the slip early warning abnormality, determining and calculating a second target speed according to the speed decreasing step length and the minimum running speed of the unmanned mine car, and obtaining a control instruction according to the second target speed, wherein the control instruction is used for controlling the unmanned mine car to adjust the current running speed to the first safety speed according to the second target speed.
In this embodiment, the first safe speed may be set according to the user's needs, for example, the first safe speed is 20km/h.
In this embodiment, after the abnormality diagnosis module sends out the corresponding slip early warning abnormal state according to the condition recognition result, the unmanned mine car controller slowly drops the running speed of the unmanned mine car to 0, and the steering wheel of the unmanned mine car keeps steering, the following formula can be applied to determine the first target speed:
target_speed1-＝e；
steer＝last_steer；
the target_speed1 is a first target speed, e is a speed decreasing step, and is a calibratable value, and the steerer is a steering wheel angle according to actual adjustment, and the last_steer is the steering wheel angle when the abnormality diagnosis module sends out a slip abnormality.
In this embodiment, the first target speed target_speed1 is subtracted by the speed step-down step e each time it is calculated.
In this embodiment, after the abnormality diagnosis module sends out a corresponding slip early warning abnormal state according to the condition recognition result, the unmanned mine car controller slowly drops the running speed of the unmanned mine car to the first safe speed, and the steering wheel angle of the unmanned mine car is still calculated according to the transverse control, and the following formula is applied:
target_speed2-＝d；
target_speed2＝max(target_speed2,target_speed_min)；
the target_speed2 is a second target speed, d is a speed decreasing step (e is smaller than d), d is a calibratable value, and the target_speed_min is a minimum running speed and is a calibratable value according to actual adjustment.
In this embodiment, the second target speed target_speed2 is subtracted by the speed step-down step d each time it is calculated.
In this embodiment, the second target speed should be less than or equal to the first safe speed.
FIG. 3 is a schematic flow chart of a control method of an unmanned mine car under a slip condition, in the embodiment shown in FIG. 3, an abnormality diagnosis module sends out that a corresponding abnormal condition is a slip early warning abnormal state according to a condition identification result, a slip early warning abnormal state mark is triggered, and a second target speed of the unmanned mine car is slowly reduced to a first safe speed (the corresponding target speed is slowly reduced to a set value) through a compensation strategy; if the abnormal working condition sent by the abnormal diagnosis module is a slipping abnormal state, a slipping abnormal state mark is triggered, the first target speed of the unmanned mine car is slowly reduced to 0 through a compensation strategy, and the steering wheel of the unmanned mine car keeps steering (the corresponding target speed is slowly reduced to 0, and the steering angle is kept), so that the regulation and control capability of the unmanned mine car on the slipping early warning abnormal working condition and the slipping abnormal working condition is improved.
In this embodiment, the various operating condition compensation strategies may also include speed control or steering wheel angle control during overspeed operating conditions; the following describes an example of adjusting the overspeed condition by the condition compensation strategy:
in some embodiments, the condition recognition result includes an overspeed anomaly or an overspeed early warning anomaly; under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies, generating a control instruction further comprises: under the condition that the working condition identification result comprises overspeed abnormality, calculating a second scram braking value according to a second scram braking increment step length of the unmanned mining vehicle, and generating a control instruction according to the second scram braking value; and under the condition that the working condition identification result comprises overspeed early warning abnormality, calculating a third target speed according to the speed decreasing step length of the unmanned mine car and the steering wheel corner of the unmanned mine car, and obtaining a control instruction according to the third target speed, wherein the control instruction is used for controlling the unmanned mine car to adjust the current running speed to a second safety speed according to the third target speed.
In this embodiment, the second safe speed may be set according to the user's needs, for example, the second safe speed takes a value in the range of 0km/h to 30 km/h.
In this embodiment, after the abnormality diagnosis module sends out a corresponding overspeed abnormal state according to the condition recognition result, emergency braking is performed, the steering wheel angle is still calculated according to the lateral control, and the following formula is applied to determine the second emergency stop braking value:
brake2＝c2；
wherein, brake2 is the second scram braking value, c2 is the incremental step of the second scram braking, c2 is the calibratable value, and needs to be adjusted according to the actual situation.
In this embodiment, after the abnormality diagnosis module sends out a corresponding overspeed early warning abnormal state according to the condition recognition result, the unmanned mine car controller controls the running speed to slowly drop to the second safe speed, the steering wheel angle is still calculated according to the transverse control output, and the following formula is applied to determine the second scram brake value:
target_speed3-＝d；
target_speed3＝max(target_speed3,target_speed_min)；
wherein target_speed3 is a third target speed, d is a speed decreasing step (e is smaller than d), d is a calibratable value, and the target speed is required to be adjusted according to actual conditions.
In this embodiment, the third target speed target_speed3 is subtracted by the speed step-down step d each time it is calculated.
In this embodiment, the third target speed should be less than or equal to the second safe speed.
FIG. 4 is a schematic flow chart of a control method of an unmanned mine car under an overspeed condition, in the embodiment shown in FIG. 4, an anomaly diagnosis module sends out an overspeed early warning anomaly state corresponding to an anomaly condition according to a condition identification result, an overspeed early warning anomaly state mark is triggered, a third target speed of the unmanned mine car is slowly reduced to a second safety speed through a compensation strategy, and steering wheel steering angle is still calculated according to transverse control (the corresponding target speed is slowly reduced to a set value, steering angle=transverse control output value); if the abnormal working condition sent by the abnormal diagnosis module is an overspeed abnormal condition, an overspeed abnormal condition sign is triggered, an emergency braking strategy of sudden braking is adopted for the unmanned mine car, and the steering wheel of the unmanned mine car keeps steering (corresponding to the target speed slowly falling to 0 and the steering angle keeps), so that the regulation and control capability of the unmanned mine car on overspeed early warning abnormal working conditions and overspeed abnormal working conditions is improved.
In this embodiment, the various operating mode compensation strategies may also include speed control or steering wheel angle control for off-path operating modes; the following describes an example of adjusting the path deviation condition by the condition compensation strategy:
in some embodiments, the condition recognition result includes a path deviation anomaly or a path deviation pre-warning anomaly; under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies, generating a control instruction further comprises: under the condition that the working condition identification result comprises abnormal path deviation, calculating a third scram braking value according to a third scram braking increment step length of the unmanned mining vehicle, and generating a control instruction according to the third scram braking value; under the condition that the working condition identification result comprises a path deviation early warning abnormality, calculating a third target speed according to the speed decreasing step length of the unmanned mine car, the steering wheel corner of the unmanned mine car and the curvature compensation parameter of the steering wheel corner, and obtaining a control instruction according to the third target speed; the control command is used for controlling the unmanned mine car to adjust the current running speed to a third safe speed according to a third target speed.
In this embodiment, the third safe speed may be set according to the user's needs, for example, the third safe speed takes a value in the range of 0km/h to 30 km/h.
In this embodiment, the curvature compensation parameters include curvature and curvature compensation coefficients, wherein the curvature compensation coefficients are adjustable according to user requirements.
In this embodiment, after the abnormality diagnosis module sends out a corresponding path deviation abnormal state according to the condition recognition result, the unmanned mine car controller controls the running speed to slowly drop to the third safe speed, and determines the third scram braking value by applying the following formula when the steering wheel angle is still calculated according to the transverse control output:
brake3＝c3；
wherein, brake3 is the third scram braking value, c3 is the second scram braking incremental step, c3 is the calibratable value, and needs to be adjusted according to the actual situation.
In the embodiment, after the abnormality diagnosis module sends out a corresponding path deviation early warning abnormal state according to the working condition identification result, the unmanned mine car controller controls the running speed to slowly drop to a third safety speed, curvature compensation parameters are added into the steering wheel angle, and the third target speed is determined by applying the following formula:
target_speed3-＝d；
target_speed3＝max(target_speed3,target_speed_min)；
steer＝steer_cmd+kappa*f；
wherein target_speed3 is a third target speed, d is a speed decreasing step (e is smaller than d), d is a calibratable value, steer is a steering wheel angle of the unmanned mine car, steer_cmd is an output angle calculated by transverse control according to actual adjustment, kappa is curvature, and f is a curvature compensation coefficient.
In this embodiment, the third target speed should be less than or equal to the third safe speed;
FIG. 5 is a schematic flow chart of a control method for an unmanned mine car under a path deviation working condition, in the embodiment shown in FIG. 5, an abnormality diagnosis module sends out a corresponding abnormal working condition as a path deviation early warning abnormal state according to a working condition identification result, a path deviation early warning abnormal state mark is triggered, a third target speed of the unmanned mine car is slowly reduced to a third safe speed through a compensation strategy, and a curvature compensation parameter (corresponding to the target speed is slowly reduced to a set value, and the steering wheel=transverse control output value+curvature compensation coefficient) is added into a steering wheel steering angle; if the abnormal working condition sent by the abnormality diagnosis module is a path deviation abnormal state, the path deviation abnormal state is triggered by a mark, the unmanned mine car is braked urgently by adopting a braking strategy for sudden increase of the brake, and the steering wheel of the unmanned mine car keeps steering (corresponding to the steering angle=transverse control output value), so that the regulation and control capability of the unmanned mine car on the path deviation early warning abnormal working condition and the path deviation abnormal working condition is improved.
In this embodiment, the types of abnormal working conditions of the unmanned mine car in the complex environment include sliding, slipping, overspeed and path deviation, and the corresponding working condition recognition results include the following situations:
(1) The working condition identification result comprises a working condition; for example, if the condition recognition result is an abnormal condition of sliding, or an abnormal condition of early warning of sliding, the control is performed according to a corresponding condition compensation strategy.
(2) The working condition identification result comprises at least two working conditions; the at least two working conditions may be a combination of one abnormal working condition and at least one abnormal working condition, for example, the working condition recognition result may be a rolling abnormality and a slipping abnormality, the working condition recognition result may also be a rolling abnormality, a slipping abnormality, a path deviation abnormality, etc., and so on.
In this embodiment, at least two working conditions may be a combination of an abnormal working condition and at least one early warning abnormal working condition, for example, the working condition identification result may be a rolling abnormality and a slip early warning abnormality, the working condition identification result may also be a rolling abnormality, a slip abnormality, a path deviation early warning abnormality, and the like, and so on.
According to the method for controlling the abnormal working conditions of the unmanned mine car, the abnormal working condition information is identified through the types of the abnormal working conditions such as sliding, slipping, path deviation and overspeed, the working condition identification result is obtained, and under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies, a control instruction is generated to control the unmanned mine car to conduct abnormal working condition adjustment according to the target working condition compensation strategies, so that the regulation capacity of the unmanned mine car on various abnormal working conditions can be improved, and the driving safety of the unmanned mine car in a complex environment is improved.
The device for controlling the abnormal working condition of the unmanned mine car provided by the invention is described below, and the device for controlling the abnormal working condition of the unmanned mine car described below and the method for controlling the abnormal working condition of the unmanned mine car described above can be correspondingly referred to each other.
Fig. 6 is a schematic structural diagram of an abnormal working condition control device for an unmanned mine car, which is provided by the invention, as shown in fig. 6, and comprises an information acquisition module 610, a working condition identification module 620 and a working condition compensation module 630.
The information acquisition module 610 is configured to acquire abnormal condition information of the unmanned mine car, where the abnormal condition information includes at least one abnormal condition;
the working condition identification module 620 is configured to identify abnormal working condition information according to an abnormal working condition type, to obtain a working condition identification result, where the abnormal working condition type includes at least one of a rolling, a slipping, a path deviation and overspeed;
the working condition compensation module 630 is configured to generate a control instruction when the working condition recognition result belongs to a working condition corresponding to a preset plurality of working condition compensation strategies; the control command is used for controlling the unmanned mine car to adjust abnormal working conditions according to a target working condition compensation strategy, and the target working condition compensation strategy is at least one of a plurality of preset working condition compensation strategies.
According to the device for controlling the abnormal working conditions of the unmanned mine car, the abnormal working condition information is identified through the types of the abnormal working conditions such as sliding, slipping, path deviation and overspeed, the working condition identification result is obtained, and under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies, a control instruction is generated to control the unmanned mine car to conduct abnormal working condition adjustment according to the target working condition compensation strategies, so that the regulation capacity of the unmanned mine car on various abnormal working conditions can be improved, and the driving safety of the unmanned mine car in a complex environment is improved.
Fig. 7 is a schematic structural diagram of an electronic device according to the present invention, and as shown in fig. 7, the electronic device may include: processor 710, communication interface (Communications Interface) 720, memory 730, and communication bus 740, wherein processor 710, communication interface 720, memory 730 communicate with each other via communication bus 740. Processor 710 may invoke logic instructions in memory 730 to execute a method for controlling abnormal conditions of an unmanned mining vehicle, the method comprising: acquiring abnormal working condition information of the unmanned mine car, wherein the abnormal working condition information comprises at least one abnormal working condition; identifying abnormal working condition information according to the abnormal working condition type to obtain a working condition identification result, wherein the abnormal working condition type comprises at least one of sliding, slipping, path deviation and overspeed; generating a control instruction under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies; the control command is used for controlling the unmanned mine car to adjust abnormal working conditions according to a target working condition compensation strategy, and the target working condition compensation strategy is at least one of a plurality of preset working condition compensation strategies.
Further, the logic instructions in the memory 730 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of executing the method for controlling abnormal conditions of an unmanned mining vehicle provided by the above methods, the method comprising: acquiring abnormal working condition information of the unmanned mine car, wherein the abnormal working condition information comprises at least one abnormal working condition; identifying abnormal working condition information according to the abnormal working condition type to obtain a working condition identification result, wherein the abnormal working condition type comprises at least one of sliding, slipping, path deviation and overspeed; generating a control instruction under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies; the control command is used for controlling the unmanned mine car to adjust abnormal working conditions according to a target working condition compensation strategy, and the target working condition compensation strategy is at least one of a plurality of preset working condition compensation strategies.
In yet another aspect, the present invention provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the method for controlling abnormal conditions of an unmanned mining vehicle provided by the above methods, the method comprising: acquiring abnormal working condition information of the unmanned mine car, wherein the abnormal working condition information comprises at least one abnormal working condition; identifying abnormal working condition information according to the abnormal working condition type to obtain a working condition identification result, wherein the abnormal working condition type comprises at least one of sliding, slipping, path deviation and overspeed; generating a control instruction under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies; the control command is used for controlling the unmanned mine car to adjust abnormal working conditions according to a target working condition compensation strategy, and the target working condition compensation strategy is at least one of a plurality of preset working condition compensation strategies.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. The method for controlling the abnormal working condition of the unmanned mine car is characterized by comprising the following steps of:
acquiring abnormal working condition information of the unmanned mine car, wherein the abnormal working condition information comprises at least one abnormal working condition;
identifying the abnormal working condition information according to the abnormal working condition type to obtain a working condition identification result, wherein the abnormal working condition type comprises at least one of sliding, slipping, path deviation and overspeed;
generating a control instruction under the condition that the working condition identification result belongs to the working conditions corresponding to the preset various working condition compensation strategies; the control instruction is used for controlling the unmanned mine car to adjust abnormal working conditions according to a target working condition compensation strategy, and the target working condition compensation strategy is at least one of the preset various working condition compensation strategies.
2. The method for controlling abnormal working conditions of an unmanned mine car according to claim 1, wherein the working condition identification result comprises abnormal sliding or abnormal early-warning sliding;
and under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies, generating a control instruction comprises the following steps:
under the condition that the working condition identification result comprises the abnormal sliding of the unmanned mining car, calculating a first scram braking value according to a first scram braking increment step length of the unmanned mining car, and generating the control instruction according to the first scram braking value;
and under the condition that the working condition identification result comprises the abnormal early warning of the sliding car, calculating an accelerator compensation amount or a braking value of the unmanned mining car according to the gear of the speed changer of the unmanned mining car, pitch angle data of the unmanned mining car and a braking increment step length, and generating the control instruction according to the accelerator compensation amount or the braking value.
3. The method of controlling abnormal conditions of an unmanned mine car according to claim 2, wherein calculating the throttle compensation amount or the brake value of the unmanned mine car according to the transmission gear of the unmanned mine car, the pitch angle data of the unmanned mine car, and the brake increment step length comprises:
under the condition that the transmission gear is a forward gear, obtaining the throttle compensation amount according to the pitch angle data and the brake increment step length;
and under the condition that the transmission gear is neutral, obtaining the brake value according to the brake increment step length.
4. The method for controlling abnormal working conditions of an unmanned mine car according to claim 1, wherein the working condition identification result comprises a slip abnormality or a slip early warning abnormality;
and under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies, generating a control instruction, and further comprising:
under the condition that the working condition identification result comprises the slip abnormality, calculating a first target speed according to the speed decreasing step length of the unmanned mine car and the steering wheel corner of the unmanned mine car, and obtaining the control instruction according to the first target speed; the control instruction is used for controlling the unmanned mine car to adjust the current running speed to 0 according to the first target speed;
and under the condition that the working condition identification result comprises the slip early warning abnormality, determining and calculating a second target speed according to the speed decreasing step length and the minimum running speed of the unmanned mine car, and obtaining the control instruction according to the second target speed, wherein the control instruction is used for controlling the unmanned mine car to adjust the current running speed to a first safe speed according to the second target speed.
5. The method for controlling abnormal working conditions of an unmanned mine car according to claim 1, wherein the working condition identification result comprises overspeed abnormality or overspeed early warning abnormality;
and under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies, generating a control instruction, and further comprising:
under the condition that the working condition identification result comprises the overspeed abnormality, calculating a second scram braking value according to a second scram braking increment step length of the unmanned mining car, and generating the control instruction according to the second scram braking value;
and under the condition that the working condition identification result comprises the overspeed early warning abnormality, calculating a third target speed according to the speed decreasing step length of the unmanned mine car and the steering wheel corner of the unmanned mine car, and obtaining the control instruction according to the third target speed, wherein the control instruction is used for controlling the unmanned mine car to adjust the current running speed to a second safety speed according to the third target speed.
6. The method for controlling abnormal working conditions of an unmanned mine car according to claim 1, wherein the working condition identification result comprises a path deviation abnormality or a path deviation early warning abnormality;
and under the condition that the working condition identification result belongs to the working condition corresponding to the preset various working condition compensation strategies, generating a control instruction, and further comprising:
under the condition that the working condition identification result comprises the abnormality of the path deviation, calculating a third scram braking value according to a third scram braking increment step length of the unmanned mining car, and generating the control instruction according to the third scram braking value;
under the condition that the working condition identification result comprises the path deviation early warning abnormality, calculating a third target speed according to the speed decreasing step length of the unmanned mine car, the steering wheel angle of the unmanned mine car and the curvature compensation parameter of the steering wheel angle, and obtaining the control instruction according to the third target speed; the control instruction is used for controlling the unmanned mine car to adjust the current running speed to a third safe speed according to the third target speed.
7. The method for controlling the abnormal working condition of the unmanned mine car is characterized by comprising the following steps of:
the information acquisition module is used for acquiring abnormal working condition information of the unmanned mine car, wherein the abnormal working condition information comprises at least one abnormal working condition;
the working condition identification module is used for identifying the abnormal working condition information according to the abnormal working condition type to obtain a working condition identification result, wherein the abnormal working condition type comprises at least one of sliding, slipping, path deviation and overspeed;
the working condition compensation module is used for generating a control instruction under the condition that the working condition identification result belongs to the working conditions corresponding to the preset various working condition compensation strategies; the control instruction is used for controlling the unmanned mine car to adjust abnormal working conditions according to a target working condition compensation strategy, and the target working condition compensation strategy is at least one of the preset various working condition compensation strategies.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor when executing the program implements a method of controlling the abnormal conditions of an unmanned mining vehicle according to any one of claims 1 to 6.
9. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements a method of controlling abnormal conditions of an unmanned mining vehicle according to any one of claims 1 to 6.
10. A computer program product comprising a computer program which when executed by a processor implements a method of controlling the abnormal conditions of an unmanned mining vehicle as claimed in any one of claims 1 to 6.
CN202311396082.1A 2023-10-25 Method and device for controlling abnormal working conditions of unmanned mine car Active CN117445922B (en)

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