CN115731706B - Mine car driving road selection method - Google Patents
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Abstract
The invention provides a mining car driving road selection method, which divides road conditions into three types of road conditions, wherein each type of road conditions has different degrees of road conditions, the mining car is driven on a certain road normally, a first real-time parameter value is obtained through a device and is compared with a historical parameter value, whether the mining car is more suitable for the road than the historical car can be determined, the road which is most suitable for the road conditions of which type can be obtained through the first real-time parameter value, the road which is most suitable for the road conditions and which is the road conditions of which degree can be calculated, so that the mining car can find the most suitable road, and the driving road of the existing mining car can be adjusted to ensure that all the mining car can drive on the most suitable road or part of the road which is the road suitable for the mining car, 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 driving road selection method.
Background
With the development of computer control technology, unmanned technology has become a trend nowadays, and more unmanned technology is applied to automobiles, and mine cars are an important development direction of mine car industry as mine cars.
The existing mine car has a plurality of brands such as heavy industry and mountain-east temporary industry, and has a plurality of car types in each brand of mine car, the performances of the mine car are different, and the mine car can adapt to different mine roads. In order to improve mining efficiency, a mining road adopting what type of mine car and what road conditions are used for driving is a technical problem to be solved.
Disclosure of Invention
The invention solves the technical problems 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 method for selecting a mine car driving road, which comprises the following steps: s1, acquiring historical parameter values of most preferable vehicles under K driving roads by adopting an unmanned driving technology, wherein the K driving roads comprise at least three groups of road conditions of different types, and each group of road conditions of different types 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; s3, comparing the historical parameter value with the first real-time parameter value, and determining the road which is most suitable for the road of which type of road condition, the road which is most suitable for the road condition of which degree and the road which is less suitable for the road condition of which degree; s4, controlling the vehicle to run on the road with the most applicable type and the most applicable degree road condition through an unmanned technology, and obtaining a second real-time parameter value; s5: comparing the historical parameter value on the road with the most applicable degree of road condition with the second real-time parameter value, and if the vehicle is applicable to the road with the most applicable degree of road condition, replacing the historical parameter value on the road with the most applicable degree of road condition with the second real-time parameter value; if the vehicle is not suitable for the road with the most applicable degree of road conditions, jumping to S6; s6, controlling the vehicle to run on the road of the road condition of the secondary applicability degree through an unmanned technology, and obtaining a third real-time parameter value; s7, comparing the historical parameter value on the road of the road condition with the secondary applicability degree with the third real-time parameter value, and if the vehicle is applicable to the road of the road condition with the secondary applicability degree, replacing the historical parameter value on the road of the road condition with the secondary applicability degree with the third real-time parameter value; if the vehicle is not suitable for the road of the road condition with the secondary applicability, not updating the historical parameter value on the road of the road condition with the secondary applicability; s8: repeating the steps S2-S7, and selecting the road most suitable for the road condition from all vehicles.
Compared with the prior art, the technical effect that adopts this scheme can reach: the road conditions are divided into three types of road conditions, roads with different degrees in each type of road conditions, the mine car is normally driven on a certain road, the first real-time parameter value is obtained through the device and compared with the historical parameter value, whether the mine car is more suitable for the road than the historical car can be determined, the most suitable type of road conditions of the mine car can be obtained through the first real-time parameter value, the most suitable road conditions and the most suitable degree of road conditions are calculated through the comparison with the road, the mine car is helped to find the most suitable road, and the driving road of the existing mine car can be adjusted so that all the mine car can be driven on the most suitable road conditions or the part of the mine car is in the most suitable road conditions, so that the mining efficiency is further improved.
In the present embodiment, the historical parameter value includes historical average load information G Calendar with a display Historical average speed information V Calendar with a display Historical average speed V of passing slope Calendar slope Average velocity V of historical overbending Calendar curve The method comprises the steps of carrying out a first treatment on the surface of the The first, second and third real-time parameter values comprise real-time average load information G Real world Real-time average speed information V Real world Real-time average speed V of passing slope Solid slope Real-time over-bend average velocity V Solid bend 。
The technical effect after the adoption of the technical scheme is that the average load quantity information and the average speed information can reflect the total transportation efficiency of the mine car vehicle, and the transportation efficiency of the mine car vehicle under the road can be compared with the transportation efficiency of the historical vehicle under the road through comparing the real-time average load quantity information and the average speed information with the historical average load quantity information and the average speed information, so that whether the mine car vehicle is suitable for the road condition of the type is judged. The ratio of the average load quantity information to the over-bending average speed and the ratio of the average load quantity information to the over-slope average speed can respectively reflect the over-bending capacity and the over-slope capacity of the mine car vehicle, so that whether the mine car vehicle is suitable for a road with more slopes and less curves or a road with balanced slopes and curves is judged, and the type of the road suitable for the mine car vehicle is selected.
In this embodiment, the comparing the historical parameter value with the first real-time parameter value to determine what type of road condition the vehicle is most suitable for includes: s10, comparing the historical average load information G Calendar with a display And the real-time average load information G Real world And comparing the historical average speed information V Calendar with a display And the real-time average speed information V Real world The method comprises the steps of carrying out a first treatment on the surface of the If (V) Real world /V Calendar with a display )*( G Real world /G Calendar with a display ) > 1, the vehicle is more adapted to historical vehicle travel on the road; s20, comparing a historical over-slope weight speed ratio with a real-time over-slope weight speed ratio, wherein the historical over-slope weight speed ratio is G Calendar with a display /V Calendar slope The real-time over-slope weight speed ratio is G Real world /V Solid slope The method comprises the steps of carrying out a first treatment on the surface of the Comparing the historical over-bending weight ratio with the real-time over-bending weight ratio, wherein the historical over-bending weight ratio is G Calendar with a display /V Calendar curve The real-time over-bending weight ratio is G Real world /V Solid bend The method comprises the steps of carrying out a first treatment on the surface of the If (G) Real world /V Solid slope )/( G Calendar with a display /V Calendar slope ) > 1, and (G) Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) The vehicle is more suitable for running on a road with more slopes and less curves; if (G) Real world /V Solid slope )/( G Calendar with a display /V Calendar slope ) < 1, and (G) Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) More than 1, the vehicle is more suitable for running on roads with less slopes and more curves; if (G) Real world /V Solid slope )/( G Calendar with a display /V Calendar slope ) > 1, and (G) Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) And > 1, the vehicle is more suitable for running on a road with balanced slope and curved road.
The technical effect after the technical scheme is adopted is that the vehicle can be accurately and precisely judged by adopting the judging mode, so that the vehicle is suitable for roads with more curves or less curves or roads with balanced curves, and the road conditions with the most suitable degree and the road conditions with the less curves can be selected in the follow-up judging.
In this embodiment, determining a road most suitable for the road condition of what degree and a road less suitable for the road condition of what degree of the vehicle includes: s30-1, when the vehicle is more suitable for traveling on a road with a large number of slopes and a small number of bends, determining (G Real world /V Solid slope )/( G Calendar with a display /V Calendar slope ) The value of (2) is within the first range or the second range or the third range; s30-2, when the vehicle is more suitable for traveling on a road with a small number of curves, determining (G Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) The value of (2) is within the first range or the second range or the third range; s30-3 when the vehicle is more suitable for driving on a road with balanced slope and curved road, judging { (G) Real world /V Solid slope )/( G Calendar with a display /V Calendar slope )}/{(G Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) 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 judgment value is within a certain range or an error range, the vehicle is most suitable for the road under the range, and is less suitable for the road under the adjacent range to the certain range or the error range.
The technical effect of the technical proposal is that in order to judge the degree of the road to which the vehicle is applicable, the method comprises the following steps of (G Real world /V Solid slope )/( G Calendar with a display /V Calendar slope ) The value of (2) is in the first range or the second range or the third range, if in the first range, the vehicle is most suitable for being in the first rangeThe road conditions under the surrounding area are applicable to the road conditions under the second range; the road condition of which degree is most suitable and the road condition of which degree is less suitable under the road of which type is most suitable can be selected.
In this embodiment, the first range is 1-1.1, the second range is 1.1-1.21, 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 0.9025 or less and 1.1025 or more.
The technical effect after the technical scheme is adopted is that the first range, the second range and the third range are road conditions to a third degree, the road conditions of the first degree, the second degree and the third degree are sequentially increased, and correspondingly, the road conditions of the first error range, the second error range and the third error range are sequentially increased; and + -10% between each error range or ranges to ensure that each range or error range is in a stepped distribution.
In this embodiment, the historical parameter value further includes a historical fuel consumption value be Calendar with a display The first real-time parameter value, the second real-time parameter value and the third real-time parameter value all further comprise a real-time oil consumption quantity be Real world 。
The technical effect after the technical scheme is adopted is that the fuel consumption can be considered in the parameter values, and the cost of the vehicle is fed back through the fuel consumption.
In this embodiment, step S10 further includes: comparing the historical oil consumption quantity be Calendar with a display And the real-time oil consumption be Real world If (V) Real world * G Real world /be Real world )/( V Calendar with a display *G Calendar with a display /be Calendar with a display ) > 1, and V Real world /V Calendar with a display ＞1，G Real world /G Calendar with a display ＞1，be Real world / be Calendar with a display < 1, the vehicle is more adapted to the history of vehicle travel on the road.
The technical effect after adopting this technical scheme is, adopts foretell judgement mode more can be on considering the basis of using car cost, and accurate judgement selects what kind of road is applicable to this mine car vehicle.
The invention also provides a mining car driving road selecting device, which adopts the method, and comprises the following steps: the weight analysis module is used for obtaining real-time average load information and historical average load 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 recognition module is used for recognizing that the vehicle is at a turning place and a steep slope place; 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 and analysis module is used for calculating and analyzing and determining the most applicable road conditions of the vehicle.
The technical effects described in any one of the foregoing examples can be achieved, and will not be described herein.
The invention also provides an electronic device comprising: at least one processor;
a memory; at least one application program, wherein the at least one application program is stored in the memory and configured to be executed by the at least one processor, the at least one application program configured to: and executing the mining vehicle driving road selection method.
The technical effects described in any one of the foregoing examples can be achieved, and will not be described herein.
The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed in a computer, causes the computer to perform the method of selecting a driving path for a mining vehicle.
The technical effects described in any one of the foregoing examples can be achieved, and will not be described herein.
Drawings
FIG. 1 is a schematic flow chart of a method for selecting a driving path of a mine car according to the present invention;
FIG. 2 is a schematic flow chart of a portion of FIG. 1;
FIG. 3 is a schematic flow chart of another part of FIG. 1;
fig. 4 is a flow chart of determining what type of road condition the vehicle is most suitable for in the present invention.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
The invention provides a mining car driving road selection method, which is shown with reference to fig. 1-4, and comprises the following steps: s1, acquiring historical parameter values of most preferable vehicles under K driving roads by adopting an unmanned driving technology, wherein the K driving roads comprise at least three groups of road conditions of different types, and each group of road conditions of different types 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 a first real-time parameter value is obtained; s3, comparing the historical parameter value with the first real-time parameter value, and determining the road which is most suitable for the road of which type of road condition, the road which is most suitable for the road condition of which degree and the road which is less suitable for the road condition of which degree; s4, controlling the vehicle to run on the road with the most applicable type and the most applicable degree road condition through an unmanned technology, and obtaining a second real-time parameter value; s5: comparing the historical parameter value on the road with the most applicable degree of road condition with the second real-time parameter value, and if the vehicle is applicable to the road with the most applicable degree of road condition, replacing the historical parameter value on the road with the most applicable degree of road condition with the second real-time parameter value; if the vehicle is not suitable for the road with the most applicable degree of road conditions, jumping to S6; s6, controlling the vehicle to run on the road of the road condition of the secondary applicability degree through an unmanned technology, and obtaining a third real-time parameter value; s7, comparing the historical parameter value on the road of the road condition with the secondary applicability degree with the third real-time parameter value, and if the vehicle is applicable to the road of the road condition with the secondary applicability degree, replacing the historical parameter value on the road of the road condition with the secondary applicability degree with the third real-time parameter value; if the vehicle is not suitable for the road of the road condition with the secondary applicability, not updating the historical parameter value on the road of the road condition with the secondary applicability; s8: repeating the steps S2-S7, and selecting the road most suitable for the road condition from all vehicles.
All road conditions are divided into three types of road conditions, wherein the first type of road conditions are road conditions with more curves and less slopes, the second type of road conditions are road conditions with more curves and less slopes, the third type of road conditions are road conditions with balanced curves and slopes, each type of road conditions comprises at least three degrees of road conditions, the road conditions are divided into the road conditions with the first degree, the road conditions with the second degree and the road conditions with the third degree, the quantity of the curves and slopes with the first degree is minimum, the quantity of the curves and slopes with the first degree, the second degree and the third degree is sequentially increased, and the quantity of the curves and slopes with the third degree is maximum.
The unmanned technique is adopted to drive the mine car vehicle to be the prior art, and because mine personnel are fewer, the road is not complex, and the unmanned technique is adopted to well control the mine car vehicle to run, so that the personnel cost is reduced.
The invention can be applied to the following scenes: 1. the arrangement of the road for the new mine car vehicles can be realized when the new mine car vehicles are purchased newly; 2. when the most suitable road arrangement is carried out on all the used vehicles.
First, each road corresponding to each road condition includes a history parameter value of a history vehicle when the road is running, i.e. the history vehicle is suitable for running on the road.
When N vehicles are required to be arranged on the most suitable road, the first mine car vehicle is firstly arranged to any road to run under the normal working state, and the road at any road is preferably the road condition with balanced curve and the road condition at the first degree. The first real-time parameter value of the first mine car vehicle is measured to be compared with the historical parameter value, so that the road condition of the type which is suitable for the first mine car vehicle is analyzed, and the road condition of the most suitable degree and the road condition of the suboptimal degree are analyzed in the road condition of the type.
And then verifying whether the road condition of the proper type of the mine car is correct, whether the road condition of the most proper degree and the road condition of the less proper degree are correct, arranging the mine car to the road condition of the most proper degree and the road condition of the less proper degree, driving the mine car in a normal working state if the road condition is correct, and replacing the historical parameter value under the road condition with the real-time parameter value of the mine car.
Finally, the arrangement of the running roads of the N vehicles is completed, wherein, when the first mine car is arranged to the most suitable road condition, the historical parameter value of the next mine car on the road condition is changed into the real-time parameter value of the first mine car, and the next mine car is more suitable for the most suitable road condition, and then the next mine car is arranged to the most suitable road condition, and the corresponding first mine car is arranged to the second suitable road condition.
Preferably, the historical parameter value includes historical average load information G Calendar with a display Historical average speed information V Calendar with a display Historical average speed V of passing slope Calendar slope Average velocity V of historical overbending Calendar curve The method comprises the steps of carrying out a first treatment on the surface of the The first, second and third real-time parameter values comprise real-time average load information G Real world Real-time average speed information V Real world Real-time average speed V of passing slope Solid slope Real-time over-bend average velocity V Solid bend 。
In order to analyze the driving efficiency, the over-bending performance and the over-slope performance of the mine car, the average speed, the over-bending average speed, the over-slope average speed and the average load quantity of the mine car vehicle running on the road are obtained through the weight analysis module, the speed analysis module and the road condition identification module.
The average load quantity refers to the average value of the load quantity of the mine car vehicle at the mining site after carrying ores and the load quantity of the mine car vehicle at the dumping site after carrying ores, and the average load quantity is considered that a part of ores fall off due to the influence of factors such as overbending, oversloping and the like of the mine car vehicle in the transportation process, so that the average value is considered to be reasonable.
Average speed refers to the total distance the vehicle travels on the road divided by the total time.
The average speed of the over-curve refers to the distance the vehicle takes when over-curve is on the road divided by the time required for the over-curve.
The average speed of an uphill road refers to the distance the vehicle takes to travel on the road while on the uphill road divided by the time it takes to travel on the uphill road.
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 parameter values obtained in real time are first, second and third parameter values.
Preferably, the comparing the historical parameter value with the first real-time parameter value to determine what type of road condition the vehicle is most suitable for includes: s10, comparing the historical average load information G Calendar with a display And the real-time average load information G Real world And comparing the historical average speed information V Calendar with a display And the real-time average speed information V Real world The method comprises the steps of carrying out a first treatment on the surface of the If (V) Real world /V Calendar with a display )*( G Real world /G Calendar with a display ) > 1, the vehicle is more adapted to historical vehicle travel on the road; s20, comparing a historical over-slope weight speed ratio with a real-time over-slope weight speed ratio, wherein the historical over-slope weight speed ratio is G Calendar with a display /V Calendar slope The real-time over-slope weight speed ratio is G Real world /V Solid slope The method comprises the steps of carrying out a first treatment on the surface of the Comparing the historical over-bending weight ratio with the real-time over-bending weight ratio, wherein the historical over-bending weight ratio is G Calendar with a display /V Calendar curve The real-time over-bending weight ratio is G Real world /V Solid bend The method comprises the steps of carrying out a first treatment on the surface of the If (G) Real world /V Solid slope )/( G Calendar with a display /V Calendar slope ) > 1, and (G) Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) The vehicle is more suitable for running on a road with more slopes and less curves; if (G) Real world /V Solid slope )/( G Calendar with a display /V Calendar slope ) < 1, and (G) Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) More than 1, the vehicle is more suitable for running on roads with less slopes and more curves; if (G) Real world /V Solid slope )/( G Calendar with a display /V Calendar slope ) > 1, and (G) Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) And > 1, the vehicle is more suitable for running on a road with balanced slope and curved road.
The average load amount information and the average speed information can reflect the transportation efficiency of the mine car vehicle on the road, and the higher the average load amount information and the faster the average speed information, the higher the transportation efficiency of the mine car vehicle on the road.
Accordingly, in order to compare the real-time first parameter value with the past history parameter value, when (V Real world /V Calendar with a display )*( G Real world /G Calendar with a display ) > 1, and V Real world /V Calendar with a display ＞1，G Real world /G Calendar with a display The method is characterized in that the vehicle is more than the historical vehicle in real time in load quantity, the average speed of the real time is faster than that of the historical vehicle, and the real time transportation efficiency is higher than that of the historical vehicle, so that the mine car vehicle is more in line with the current road than the historical vehicle.
While when V Real world /V Calendar with a display ＜1，G Real world /G Calendar with a display > 1 may reflect that the real-time load is heavier than the load of the historical vehicle, and that the real-time average speed is slower than the average speed of the historical vehicle, but (V Real world /V Calendar with a display )*( G Real world /G Calendar with a display ) And > 1, indicating that the transport efficiency is still higher than that of the historical vehicle.
Similarly, when V Real world /V Calendar with a display ＞1，G Real world /G Calendar with a display < 1 can reflect that the real-time load is lighter than the load of the history vehicle, the real-time average speed is faster than the average speed of the history vehicle, but (V Real world /V Calendar with a display )*( G Real world /G Calendar with a display ) And > 1, indicating that the transport efficiency is still higher than that of the historical vehicle.
In order to further identify which type of road condition the vehicle is most suitable for, by comparing the historical over-slope weight ratio with the real-time over-slope weight ratio, and the historical over-curve weight ratio with the real-time over-curve weight ratio, wherein the over-slope weight ratio reflects the performance of the vehicle over-slope, the over-curve weight ratio reflects the performance of the vehicle over-curve, and the over-slope weight ratio is approximately reflected by the average load/over-slope average speed due to the fact that the number of slopes on the road may be more, and similarly, the number of curves on the road may be more, and the over-curve weight ratio is approximately reflected by the average load/over-curve average speed.
Three cases occur, if (G Real world /V Solid slope )/( G Calendar with a display /V Calendar slope ) > 1, and (G) Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) And < 1, the vehicle is more suitable for running on a road with more slopes and less curves.
If (G) Real world /V Solid slope )/( G Calendar with a display /V Calendar slope ) < 1, and (G) Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) And more than 1, the vehicle is more suitable for running on roads with less slopes and more curves.
If (G) Real world /V Solid slope )/( G Calendar with a display /V Calendar slope ) > 1, and (G) Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) And > 1, the vehicle is more suitable for running on a road with balanced slope and curved road.
It is thus possible to determine which type of road condition the vehicle is most suitable for.
Preferably, determining the road most suitable for the road condition of what degree and the road less suitable for the road condition of what degree comprises: s30-1, when the vehicle is more suitable for traveling on a road with a large number of slopes and a small number of bends, determining (G Real world /V Solid slope )/( G Calendar with a display /V Calendar slope ) The value of (2) is within the first range or the second range or the third range; s30-2, when the vehicle is more suitable for traveling on a road with a small number of curves, determining (G Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) The value of (2) is within the first range or the second range or the third range; s30-3 when the vehicle is more suitable for driving on a road with balanced slope and curved road, judging { (G) Real world /V Solid slope )/( G Calendar with a display /V Calendar slope )}/{(G Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) 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 judgment value is within a certain range or an error range, the vehicle is most suitable for the road under the range, and is less suitable for the road under the adjacent range to the certain range or the error range.
Further, in order to accurately judge which degree of road condition the vehicle is suitable for under the most suitable type of road condition.
And judging the ratio of the existing over-slope weight ratio to the historical over-slope weight ratio according to the roads with more slopes and less curves, and determining the range of the ratio to determine the road condition of the proper degree of the vehicle.
And judging the ratio of the existing over-bending weight ratio to the historical over-bending weight ratio according to the roads with less slopes and more curves, and determining the range of the ratio to determine the road condition of the proper degree of the vehicle.
And judging the road condition of which range is in order to determine what degree the vehicle is suitable for according to the ratio of the existing over-slope weight ratio to the historical over-slope weight ratio and the ratio of the existing over-curve weight ratio to the historical over-curve weight ratio aiming at the road judgment of the slope-curve balance.
Preferably, 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 0.9025 or less and 1.1025 or more.
The first to third ranges are ratio values and are all larger than 1, and the first to third error ranges are ratio values and fluctuate around 1, representing the first, second and third degrees respectively. The first range is shifted to the right by 10% with 1 as the center, the second range is shifted to the right by 10% on the basis of 1.1, and the third range is 1.21 or more. The first error range is a range shifted by 5% to the left and right with 1 as the center, and the second error range is a range shifted by 5% to the left and right with both ends of the first error range.
The following is described by means of tables:
the historical reference value of the road under the first degree of slope and bend balancing is G Calendar with a display =1.2T，V Calendar with a display =25km/h, V Calendar slope =20km/h, V Calendar curve =15 km/h. Then the vehicle is balanced in the first course of slope bendingThe road is driven at the same speed, and the first real-time parameter value is measured to be G Real world =1.3T，V Real world =24km/h，V Solid slope =22km/h，V Solid bend =13 km/h, so (V Real world /V Calendar with a display )*( G Real world /G Calendar with a display )=1.04＞1，V Real world /V Calendar with a display =0.96＜1，G Real world /G Calendar with a display =1.18 > 1, indicating that the vehicle is more suitable for historic vehicle driving on roads with a first degree of slope-to-curve equalisation. In order to identify what kind of road the vehicle is adapted to, then (G Real world /V Solid slope )/( G Calendar with a display /V Calendar slope )=0.98＜1，（G Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) =1.25 > 1, the vehicle is more suitable for driving on roads with less hills and more curves.
In order to accurately judge which degree of road condition the vehicle is suitable for under the most suitable type of road condition, then (G Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) =1.25, which is more suitable for the third degree road travel with less slopes and more curves, and is less suitable for the second degree road travel with less slopes and more curves.
Preferably, the historical parameter value further comprises a historical fuel consumption quantity be Calendar with a display The first real-time parameter value, the second real-time parameter value and the third real-time parameter value all further comprise a real-time oil consumption quantity be Real world 。
The fuel consumption is the fuel consumption cost of the reaction vehicle, and the data of the reference fuel consumption can be used for accurately judging and selecting which type of road the mine car is suitable for.
Preferably, step S10 further includes: comparing the historical oil consumption quantity be Calendar with a display And the real-time oil consumption be Real world If (V) Real world * G Real world /be Real world )/( V Calendar with a display *G Calendar with a display /be Calendar with a display ) > 1, and V Real world /V Calendar with a display ＞1，G Real world /G Calendar with a display ＞1，be Real world / be Calendar with a display < 1, the vehicle is more adapted to the history of vehicle travel on the road.
By combining the fuel consumption, the average vehicle speed information and the average load amount information, the type of road and the degree of road which the mine car is suitable for can be selected on the basis of considering the cost of the car. The difference between the selection method and the principle is that only the oil consumption information is added.
A mining vehicle travel path selecting apparatus according to a second embodiment includes: the weight analysis module is used for obtaining real-time average load information and historical average load 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 recognition module is used for recognizing that the vehicle is at a turning place and a steep slope place; 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 and analysis module is used for calculating and analyzing and determining the most applicable road conditions of the vehicle.
An electronic device, comprising: at least one processor; a memory; at least one application program, wherein the at least one application program is stored in the memory and configured to be executed by the at least one processor, the at least one application program configured to: and executing the mining vehicle driving road selection method.
A fourth embodiment is a computer-readable storage medium having a computer program stored thereon, which when executed in a computer causes the computer to perform the method of selecting a mine car travel route.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.
Claims (10)
1. The mining car driving road selecting method is characterized by comprising the following steps of:
s1, acquiring historical parameter values of most preferable vehicles under K driving roads by adopting an unmanned driving technology, wherein the K driving roads comprise at least three groups of road conditions of different types, and each group of road conditions of different types 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 a first real-time parameter value is obtained;
s3, comparing the historical parameter value with the first real-time parameter value, and determining the road which is most suitable for the road of which type of road condition, the road which is most suitable for the road condition of which degree and the road which is less suitable for the road condition of which degree;
s4, controlling the vehicle to run on the road with the most applicable type and the most applicable degree road condition through an unmanned technology, and obtaining a second real-time parameter value;
s5: comparing the historical parameter value on the road with the most applicable degree of road condition with the second real-time parameter value, and if the vehicle is applicable to the road with the most applicable degree of road condition, replacing the historical parameter value on the road with the most applicable degree of road condition with the second real-time parameter value; if the vehicle is not suitable for the road with the most applicable degree of road conditions, jumping to S6;
s6, controlling the vehicle to run on the road of the road condition of the secondary applicability degree through an unmanned technology, and obtaining a third real-time parameter value;
s7, comparing the historical parameter value on the road of the road condition with the secondary applicability degree with the third real-time parameter value, and if the vehicle is applicable to the road of the road condition with the secondary applicability degree, replacing the historical parameter value on the road of the road condition with the secondary applicability degree with the third real-time parameter value; if the vehicle is not suitable for the road of the road condition with the secondary applicability, not updating the historical parameter value on the road of the road condition with the secondary applicability;
s8: repeating the steps S2-S7, and selecting the road most suitable for the road conditions for all vehicles;
the road conditions comprise a plurality of slopes, a few slopes, a plurality of slopes and balanced slopes and curves.
2. A mining vehicle driving road selection method according to claim 1, characterized in that the historical parameter value comprises historical average load information G Calendar with a display Historical average speed information V Calendar with a display Historical average speed of passing through slopeDegree V Calendar slope Average velocity V of historical overbending Calendar curve The method comprises the steps of carrying out a first treatment on the surface of the The first, second and third real-time parameter values comprise real-time average load information G Real world Real-time average speed information V Real world Real-time average speed V of passing slope Solid slope Real-time over-bend average velocity V Solid bend 。
3. A method of selecting a mine car travel path according to claim 2, wherein said comparing said historical parameter value with said first real-time parameter value to determine what type of road condition the vehicle is most suitable for comprises:
s10, comparing the historical average load information G Calendar with a display And the real-time average load information G Real world And comparing the historical average speed information V Calendar with a display And the real-time average speed information V Real world The method comprises the steps of carrying out a first treatment on the surface of the If (V) Real world /V Calendar with a display )*( G Real world /G Calendar with a display ) > 1, the vehicle is more adapted to historical vehicle travel on the road;
s20, comparing a historical over-slope weight speed ratio with a real-time over-slope weight speed ratio, wherein the historical over-slope weight speed ratio is G Calendar with a display /V Calendar slope The real-time over-slope weight speed ratio is G Real world /V Solid slope The method comprises the steps of carrying out a first treatment on the surface of the Comparing the historical over-bending weight ratio with the real-time over-bending weight ratio, wherein the historical over-bending weight ratio is G Calendar with a display /V Calendar curve The real-time over-bending weight ratio is G Real world /V Solid bend ；
If (G) Real world /V Solid slope )/( G Calendar with a display /V Calendar slope ) > 1, and (G) Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) The vehicle is more suitable for running on a road with more slopes and less curves;
if (G) Real world /V Solid slope )/( G Calendar with a display /V Calendar slope ) < 1, and (G) Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) More than 1, the vehicle is more suitable for running on roads with less slopes and more curves;
if (G) Real world /V Solid slope )/( G Calendar with a display /V Calendar slope ) > 1, and (G) Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) And > 1, the vehicle is more suitable for running on a road with balanced slope and curved road.
4. A method of selecting a mine car travel path as claimed in claim 3, wherein determining the best fit of the vehicle to the path of the road condition and the next best fit of the road condition comprises:
s30-1, when the vehicle is more suitable for traveling on a road with a large number of slopes and a small number of bends, determining (G Real world /V Solid slope )/( G Calendar with a display /V Calendar slope ) The value of (2) is within the first range or the second range or the third range;
s30-2, when the vehicle is more suitable for traveling on a road with a small number of curves, determining (G Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) The value of (2) is within the first range or the second range or the third range;
s30-3 when the vehicle is more suitable for driving on a road with balanced slope and curved road, judging { (G) Real world /V Solid slope )/( G Calendar with a display /V Calendar slope )}/{(G Real world /V Solid bend ）/( G Calendar with a display /V Calendar curve ) 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 judgment value is within a certain range or an error range, the vehicle is most suitable for the road under the range, and is less suitable for the road under the adjacent range to the certain range or the error range.
5. A mining vehicle driving road selection method according to claim 4, wherein the first range is 1-1.1, the second range is 1.1-1.21, 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 0.9025 or less and 1.1025 or more.
6. A method of selecting a travel path for a mining vehicle as claimed in claim 5, wherein the historical parameter values further include a historical fuel consumption be Calendar with a display The first real-time parameter value, the second real-time parameter value and the third real-time parameter value all further comprise a real-time oil consumption quantity be Real world 。
7. A method of selecting a travel path for a mine car as claimed in claim 6, wherein step S10 further comprises: comparing the historical oil consumption quantity be Calendar with a display And the real-time oil consumption be Real world If (V) Real world * G Real world /be Real world )/( V Calendar with a display *G Calendar with a display /be Calendar with a display ) > 1, and V Real world /V Calendar with a display ＞1，G Real world /G Calendar with a display ＞1，be Real world / be Calendar with a display < 1, the vehicle is more adaptable to historical vehicle travel on the road.
8. A mine car travel path selection device employing a method according to claim 7, the mine car travel path selection device comprising:
the weight analysis module is used for obtaining real-time average load information and historical average load 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 recognition module is used for recognizing that the vehicle is at a turning place and a steep slope place;
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 and analysis module is used for calculating and analyzing and determining the road most suitable for the vehicle.
9. An electronic device, the electronic device comprising:
at least one processor;
a memory;
at least one application program, wherein the at least one application program is stored in the memory and configured to be executed by the at least one processor, the at least one application program configured to: a method of selecting a mine car travel path as defined in any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon a computer program, characterized by: when the computer program is executed in a computer, the computer is caused to perform a method for selecting a driving path of a mining vehicle according to any one of claims 1 to 7.
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| CN117893349A (en) * | 2024-03-18 | 2024-04-16 | 宁波长壁流体动力科技有限公司 | Mine management method and management system based on Internet of things |
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