CN112037503A - Mine intelligent scheduling system - Google Patents
Mine intelligent scheduling system Download PDFInfo
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- CN112037503A CN112037503A CN202010896963.XA CN202010896963A CN112037503A CN 112037503 A CN112037503 A CN 112037503A CN 202010896963 A CN202010896963 A CN 202010896963A CN 112037503 A CN112037503 A CN 112037503A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
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Abstract
The invention discloses an intelligent mine dispatching system, which comprises: m forklift trucks are provided, each forklift truck is provided with a first GPS positioning instrument, N trucks are provided, N is greater than M, and each truck is provided with a second GPS positioning instrument; the dispatching device is in wireless communication connection with the GPS positioning instrument I and the GPS positioning instrument II; the crushing device comprises a crushing field arranged at a designated position, wherein k crushing stations are arranged in the crushing field, and each crushing station is provided with a bin for storing ores to be crushed; the forklift carries out mining collection operation in a quarry, the truck reciprocates between the quarry and a target stone crushing station on the basis of a driving route planned by the dispatching device, and the stone crushing station crushes ores conveyed by the load truck. The intelligent scheduling of the GPS truck is realized, and the efficiency of the mining production process is optimized.
Description
Technical Field
The invention belongs to the technical field of intelligent mines, and particularly relates to an intelligent dispatching system for a mine.
Background
The open-pit mine of the green pepper and the sea snails is a cement mine production enterprise for modern open-pit mining. The transportation mode mainly adopts shovel loading operation and mining truck transportation. The mining area operation range is wide, the site movement change is large, the equipment state change is fast, the situation that the field operation conditions frequently change cannot be timely, comprehensively and accurately mastered by adopting the traditional production scheduling and production organization mode, and a dispatcher adjusts production by depending on personal experience, so that the optimization and high efficiency of the mining production process cannot be guaranteed.
Disclosure of Invention
The invention provides an intelligent mine dispatching system, and aims to realize intelligent dispatching of a GPS truck.
The invention is realized in this way, a mine intelligent scheduling system, the system includes:
m forklift trucks, wherein each forklift truck is provided with a first GPS locator,
n trucks, wherein N is greater than M, and each truck is provided with a second GPS locator;
the dispatching device is in wireless communication connection with the GPS positioning instrument I and the GPS positioning instrument II;
the crushing device comprises a crushing yard arranged at a designated position, wherein k crushing stations are arranged in the crushing yard, and each crushing station is provided with a mineral aggregate bin for storing to-be-crushed ore;
the forklift carries out mining collection operation in a quarry, the truck reciprocates between the quarry and a target stone crushing station on the basis of a driving route planned by the dispatching device, and the stone crushing station crushes ores conveyed by the load truck.
Further, the scheduling apparatus includes: a target lithotripsy station determination unit and a route planning unit, wherein,
a target stone breaking station determining unit determines a target stone breaking station of a load truck;
the route planning unit plans the shortest driving path of the load truck from the starting station to the ending station, and determines the driving priority of the load truck and the idle truck, wherein the starting station is the station closest to the mining position, and the ending station is the target stone breaking station.
Further, the termination site is set as a parking area of the target stone breaking station, the parking area is a truck queue area for the stone breaking station, and the target stone breaking station determination unit determines the target stone breaking station based on a method which specifically includes:
determining whether the bins of each stone crushing station are full, taking the stone crushing stations which are not full as candidate stone crushing stations, and adding the candidate stone crushing stations into a candidate set;
if the candidate set is empty, namely all the stone breaking stations are full, counting the number of load trucks queued to be unloaded in the parking area and the number of load trucks which are about to reach the corresponding parking area, calculating the sum of the load trucks and the number of the load trucks, and taking the stone breaking station with the minimum value as a target stone breaking station; if the candidate set is a non-empty set, namely the gravel station is not full, the gravel station with the least ore storage amount in the bin is used as a target gravel station;
the number of loaded trucks that will reach the corresponding parking area is the number of loaded trucks located between the quarry and the gravel yard and the target location is the corresponding parking area.
Further, the route planning unit plans the shortest driving path based on the following method, which specifically includes:
s1, after the truck finishes loading, detecting whether the gravel yard is in a full-load state, if so, executing a step S2, and if not, executing a step S3;
s1, after the truck finishes loading, detecting whether the gravel yard is in a full-load state, if so, executing a step S2, and if not, executing a step S3;
s2, the unloaded truck preferentially runs on the loaded truck, and the shortest distance path between the quarry and the gravel yard is used as the running path of the loaded truck;
and S3, preferentially driving the load truck in an empty state, and taking the shortest distance path between the quarry and the gravel yard as the driving path of the load truck.
Further, before step S1, the method further includes:
and S4, arranging a plurality of stations in the extending direction of the quarry to the gravel yard, and setting paths between adjacent stations.
Further, the load state detection method of the gravel field specifically comprises the following steps:
and detecting that the number of the load trucks to be queued and unloaded in the parking area corresponding to the gravel station is greater than a number threshold, determining that the gravel station is in a full-load state, determining that the gravel yard is in the full-load state when all the gravel stations in the gravel yard are in the full-load state, and otherwise, determining that the gravel yard is in a non-full-load state.
Further, when the gravel yard is detected to be in a full load state, the ore removal rate of the forklift in the working state is reduced, the number of service trucks of each forklift is reduced, when the gravel yard is detected to be in a non-full load state, the ore removal rate of the forklift in the working state is increased, and the number of service trucks of each forklift is increased.
Further, the step S2 specifically includes the following steps:
s21, taking the station closest to the position of the load truck as an initial station, detecting whether the initial station is a termination station, and if the detection result is negative, executing the step S22;
s22, determining the next station, namely the station with the shortest path distance to the initial station;
s23, detecting whether an empty truck exists on a path between the starting station and the next station, if so, executing a step S24, and if not, executing a step S25;
s24, controlling the load card to avoid, and executing the step S23 after the empty truck passes through;
and S25, taking the path between the starting station and the next station as the current driving path, locking the driving path until the vehicle drives to the next station, unlocking the driving path, and executing the step S21.
Further, the step S3 specifically includes the following steps:
s31, taking the station closest to the position of the load truck as an initial station, detecting whether the initial station is a termination station, and if the detection result is negative, executing the step S32;
s32, determining the next station, namely the station with the shortest path distance to the initial station;
s33, detecting whether an empty truck exists on a path between the starting station and the next station, if the detection result is negative, directly executing the step S35, and if the detection result is positive, executing the step S34;
s34, controlling the idle truck to carry out avoidance, and executing the step S33 after the idle truck successfully carries out avoidance
And S35, taking the path between the starting station and the next station as the current driving path, simultaneously locking the driving path until the next station is driven, unlocking the driving path, and simultaneously executing the step S31. The mine intelligent scheduling system provided by the invention has the following beneficial technical effects:
1) the intelligent scheduling of the GPS truck is realized, and the efficiency of the mining production process is optimized;
2) the station is arranged between the quarry and the gravel yard, the shortest driving path is planned through the set path between the stations, the driving is based on the set path, the safety of the back-and-forth operation of the trucks between the quarry and the gravel yard is facilitated, and in addition, when a plurality of trucks operate simultaneously, the base station is dispatched, so that the safety of the meeting card workshop is facilitated to be ensured.
3) When the truck is dispatched, the priority running setting of a load truck and an idle truck is carried out based on the crushing capacity of the stone crushing station, when the crushing capacity is excessive, the load truck runs preferentially to improve the feeding speed of a bin of the stone crushing station, and when the crushing capacity is insufficient, the idle truck runs preferentially to reduce the feeding speed of the bin of the stone crushing station;
4) the balance of the ore removal capacity of the forklift, the carrying capacity of the truck and the crushing capacity of the stone breaking station is realized as much as possible, and the excess or insufficient capacity of a certain part is avoided.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent mine dispatching system provided by an embodiment of the invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
Fig. 1 is a schematic structural diagram of an intelligent mine dispatching system according to an embodiment of the present invention, and for convenience of description, only parts related to the embodiment of the present invention are shown.
The system comprises:
m forklift trucks, wherein each forklift truck is provided with a first GPS locator,
n trucks, wherein N is greater than M, and each truck is provided with a second GPS locator;
the dispatching device is in wireless communication connection with the GPS positioning instrument I and the GPS positioning instrument II;
the crushing device comprises a crushing field arranged at a designated position, wherein k crushing stations are arranged in the crushing field, and each crushing station is provided with a storage bin for storing ores to be crushed;
the forklift carries out mining collection operation in a quarry, the truck reciprocates between the quarry and a target stone crushing station on the basis of a driving route planned by the dispatching device, and the stone crushing station crushes ores conveyed by the load truck.
In the embodiment of the present invention, the scheduling apparatus includes: the system comprises a target gravel station determining unit and a route planning unit, wherein the target gravel station determining unit determines a target gravel station of a load truck, the route planning unit plans a shortest driving path from a starting station to an ending station of the load truck, and simultaneously determines driving priorities of the load truck and an empty truck, the starting station is the station closest to a mining position, and the ending station is the target gravel station.
The forklift carries out mining operation in a quarry, ores collected by the forklift are loaded by a truck and transported to the gravel yard, the truck reciprocates in the quarry and the gravel yard, the truck which is unloaded in the gravel yard is called an idle truck, the truck which is loaded in the quarry is called a load truck, and the traveling directions of the idle truck and the load truck are opposite.
The method includes the steps that a stop station is set as a parking area of a target stone crushing station, the parking area is a truck queue area for the stone crushing station, and a target stone crushing station determining unit determines the target stone crushing station based on the following method, wherein the method specifically comprises the following steps:
determining whether the bins of each stone crushing station are full, and adding the stone crushing stations which are not full as candidate stone crushing stations into a candidate set;
if the candidate set is empty, namely all the stone breaking stations are full, counting the number of load trucks queued to be unloaded in the parking area and the number of load trucks which are about to reach the corresponding parking area, calculating the sum of the load trucks and the number of the load trucks, and taking the stone breaking station with the minimum value as a target stone breaking station; if the candidate set is a non-empty set, namely the gravel station is not full, the gravel station with the least ore storage amount in the bin is used as a target gravel station;
the number of loaded trucks that will reach the corresponding parking area is the number of loaded trucks located between the quarry and the gravel yard and the target location is the corresponding parking area.
In the embodiment of the present invention, the route planning unit plans the shortest driving path based on the following method, which specifically includes:
s1, after the truck finishes loading, detecting whether the gravel yard is in a full-load state, if so, executing a step S2, and if not, executing a step S3;
in the embodiment of the invention, the load state of the gravel yard includes two types, one type is a full load state, the other type is a non-full load state, the non-full load state means that the crushing capacity of the stone crusher in the gravel yard is remained, the full load state means that the crushing capacity of the stone crusher in the gravel yard is saturated, and the load state detection method of the gravel yard is specifically as follows:
and detecting that the number of the load trucks to be queued and unloaded in the parking area corresponding to the gravel station is greater than a number threshold, determining that the gravel station is in a full-load state, and determining that the gravel yard is in the full-load state when all the gravel stations in the gravel yard are in the full-load state.
In the embodiment of the invention, when the gravel yard is detected to be in a full load state, the ore removal rate of the forklift in the working state is reduced, the number of service trucks of each forklift is reduced, when the gravel yard is detected to be in a non-full load state, the ore removal rate of the forklift in the working state is increased, the number of service trucks of each forklift is increased, the balance of the ore removal capacity of the forklift, the carrying capacity of the forklift and the crushing capacity of a gravel station is realized as much as possible, and the excess or the insufficient capacity of a certain part is avoided.
S2, the unloaded truck preferentially runs on the loaded truck, and the shortest distance path between the quarry and the gravel yard is used as the running path of the loaded truck;
in the embodiment of the present invention, the step S2 specifically includes the following steps:
s21, taking the station where the load truck is as an initial station, detecting whether the initial station is a termination station, and if the detection result is negative, executing a step S22;
s22, determining the next station, namely the station with the shortest path distance to the initial station;
s23, detecting whether an empty truck exists on a path between the starting station and the next station, if so, executing a step S24, and if not, executing a step S25;
s24, controlling the load card to avoid, and executing the step S23 after the empty truck passes through;
and S25, taking the path between the starting station and the next station as the current driving path, locking the driving path until the vehicle drives to the next station, unlocking the driving path, and executing the step S21.
The starting station is a station near the quarry, the starting station may be located in the quarry or at the periphery of the quarry, the ending station is the closest station to the gravel yard, and the ending station may be located in the gravel yard or at the periphery of the gravel yard.
And S3, preferentially driving the load truck in an empty state, and taking the shortest distance path between the quarry and the gravel yard as the driving path of the load truck.
In the embodiment of the present invention, the step S3 specifically includes the following steps:
s31, taking the station where the load truck is as the initial station, detecting whether the initial station is the termination station, if the detection result is no, executing the step S32;
s32, determining the next station, namely the station with the shortest path distance to the initial station;
s33, detecting whether an empty truck exists on a path between the starting station and the next station, if the detection result is negative, directly executing the step S35, and if the detection result is positive, executing the step S34;
s34, controlling the empty truck to avoid, and executing the step S33 after the loaded truck passes
And S35, taking the path between the starting station and the next station as the current driving path, simultaneously locking the driving path until the next station is driven, unlocking the driving path, and simultaneously executing the step S31.
In the embodiment of the present invention, before step S1, the method further includes:
s4, arranging a plurality of stations in the extending direction from the quarry to the gravel yard, and setting paths between adjacent stations;
the setting rule of the station is as follows: select a plurality of short distance's a route of traveling in extending direction, get the website based on setting for the distance earlier on the route, concentrate the position and the sign of website to the website, put into the website set with special position point on the route as the website, special position point includes: when a plurality of paths exist between two adjacent stations, the path with the shortest driving distance is used as the path between the two stations, the path between the two stations is a single lane, the danger possibly brought by the intersection of two vehicles is avoided, and avoidance areas are arranged on the path and the stations.
The mine intelligent scheduling system provided by the invention has the following beneficial technical effects:
1) the intelligent scheduling of the GPS truck is realized, and the efficiency of the mining production process is optimized;
2) the station is arranged between the quarry and the gravel yard, the shortest driving path is planned through the set path between the stations, the driving is based on the set path, the safety of the back-and-forth operation of the trucks between the quarry and the gravel yard is facilitated, and in addition, when a plurality of trucks operate simultaneously, the base station is dispatched, so that the safety of the meeting card workshop is facilitated to be ensured.
3) When the truck is dispatched, the priority running setting of a load truck and an idle truck is carried out based on the crushing capacity of the stone crushing station, when the crushing capacity is excessive, the load truck runs preferentially to improve the feeding speed of a bin of the stone crushing station, and when the crushing capacity is insufficient, the idle truck runs preferentially to reduce the feeding speed of the bin of the stone crushing station;
4) the balance of the ore removal capacity of the forklift, the carrying capacity of the truck and the crushing capacity of the stone breaking station is realized as much as possible, and the excess or insufficient capacity of a certain part is avoided.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (9)
1. An intelligent mine dispatching system, comprising:
m forklift trucks, wherein each forklift truck is provided with a first GPS locator,
n trucks, wherein N is greater than M, and each truck is provided with a second GPS locator;
the dispatching device is in wireless communication connection with the GPS positioning instrument I and the GPS positioning instrument II;
the crushing device comprises a crushing field arranged at a designated position, wherein k crushing stations are arranged in the crushing field, and each crushing station is provided with a bin for storing ores to be crushed;
the forklift carries out mining collection operation in a quarry, the truck reciprocates between the quarry and a target stone crushing station on the basis of a driving route planned by the dispatching device, and the stone crushing station crushes ores conveyed by the load truck.
2. The intelligent mine dispatching system of claim 1, wherein the dispatching means comprises: a target lithotripsy station determination unit and a route planning unit, wherein,
a target stone breaking station determining unit determines a target stone breaking station of a load truck;
the route planning unit plans the shortest driving path of the load truck from the starting station to the ending station, and determines the driving priority of the load truck and the idle truck, wherein the starting station is the station closest to the mining position, and the ending station is the target stone breaking station.
3. The mine intelligent dispatching system of claim 2, wherein the termination site is set as a parking area of the target stone breaking station, the parking area being a truck queue area for the stone breaking station, and the target stone breaking station determining unit determines the target stone breaking station based on a method, which is specifically as follows:
determining whether the bins of each stone crushing station are full, taking the stone crushing stations which are not full as candidate stone crushing stations, and adding the candidate stone crushing stations into a candidate set;
if the candidate set is empty, namely all the stone breaking stations are full, counting the number of load trucks queued to be unloaded in the parking area and the number of load trucks which are about to reach the corresponding parking area, calculating the sum of the load trucks and the number of the load trucks, and taking the stone breaking station with the minimum value as a target stone breaking station; if the candidate set is a non-empty set, namely the gravel station is not full, the gravel station with the least ore storage amount in the bin is used as a target gravel station;
the number of loaded trucks that will reach the corresponding parking area is the number of loaded trucks located between the quarry and the gravel yard and the target location is the corresponding parking area.
4. The mine intelligent dispatching system of claim 2, wherein the route planning unit plans the shortest travel path based on a method which specifically comprises:
s1, after the truck finishes loading, detecting whether the gravel yard is in a full-load state, if so, executing a step S2, and if not, executing a step S3;
s2, the unloaded truck preferentially runs on the loaded truck, and the shortest distance path between the quarry and the gravel yard is used as the running path of the loaded truck;
and S3, preferentially driving the load truck in an empty state, and taking the shortest distance path between the quarry and the gravel yard as the driving path of the load truck.
5. The mine intelligent dispatching system of claim 4, further comprising, prior to step S1:
and S4, arranging a plurality of stations in the extending direction of the quarry to the gravel yard, and setting paths between adjacent stations.
6. The mine intelligent dispatching system of claim 4, wherein the load state detection method of the gravel yard is as follows:
and detecting that the number of the load trucks to be queued and unloaded in the parking area corresponding to the gravel station is greater than a number threshold, determining that the gravel station is in a full-load state, determining that the gravel yard is in the full-load state when all the gravel stations in the gravel yard are in the full-load state, and otherwise, determining that the gravel yard is in a non-full-load state.
7. The mine intelligent dispatching system of claim 4, wherein when the gravel yard is detected to be in a full load state, the ore removal rate of the forklift in the working state is reduced, and the number of service trucks per forklift is reduced, and when the gravel yard is detected to be in a non-full load state, the ore removal rate of the forklift in the working state is increased, and the number of service trucks per forklift is increased.
8. The mine intelligent dispatching system of claim 4, wherein the step S2 specifically comprises the following steps:
s21, taking the station where the load truck is as an initial station, detecting whether the initial station is a termination station, and if the detection result is negative, executing a step S22;
s22, determining the next station, namely the station with the shortest path distance to the initial station;
s23, detecting whether an empty truck exists on a path between the starting station and the next station, if so, executing a step S24, and if not, executing a step S25;
s24, controlling the load card to avoid, and executing the step S23 after the empty truck passes through;
and S25, taking the path between the starting station and the next station as the current driving path, locking the driving path until the vehicle drives to the next station, unlocking the driving path, and executing the step S21.
9. The mine intelligent dispatching system of claim 4, wherein the step S3 specifically comprises the steps of:
s31, taking the station where the load truck is as an initial station, detecting whether the initial station is a termination station, and if the detection result is negative, executing a step S32;
s32, determining the next station, namely the station with the shortest path distance to the initial station;
s33, detecting whether an empty truck exists on a path between the starting station and the next station, if the detection result is negative, directly executing the step S35, and if the detection result is positive, executing the step S34;
s34, controlling the empty truck to avoid, and executing the step S33 after the loaded truck passes
And S35, taking the path between the starting station and the next station as the current driving path, simultaneously locking the driving path until the next station is driven, unlocking the driving path, and simultaneously executing the step S31.
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| CN115294772A (en) * | 2022-09-29 | 2022-11-04 | 长沙迪迈数码科技股份有限公司 | Underground mine bidirectional single-lane vehicle scheduling optimization method and device |
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