CN114565133A - Strip mine vehicle scheduling method and device - Google Patents

Strip mine vehicle scheduling method and device Download PDF

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CN114565133A
CN114565133A CN202210063973.4A CN202210063973A CN114565133A CN 114565133 A CN114565133 A CN 114565133A CN 202210063973 A CN202210063973 A CN 202210063973A CN 114565133 A CN114565133 A CN 114565133A
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唐建林
赵斌
周长成
王健
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Jiangsu XCMG Construction Machinery Institute Co Ltd
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Abstract

The invention discloses a method and a device for dispatching vehicles in an open-pit mine, wherein the method is used for constructing an objective function for maximizing system yield and solving to obtain an optimal traffic flow plan of a mine card; determining a mine card pre-scheduling table based on the mine card optimal traffic flow plan, the mine card predicted request time and the equipment recent available time table, wherein the mine card pre-scheduling table is used for storing and storing N optimal scheduling plans according to the predicted request scheduling time sequence of each mine card in the current state; the scheduling plan refers to a journey for completing one-time complete loading and unloading of the mine cards; and finally, inquiring the latest ore card pre-scheduling table according to the received ore card scheduling request, and feeding back a scheduling plan of the corresponding ore card closest to the current moment to an ore card end to perform ore card scheduling. The invention can not only reduce the waiting time of mine truck queue, improve the utilization rate of the mine truck, reduce the idle time and oil consumption of the mine truck, but also reduce the idle time of loading equipment waiting for the truck, improve the normal working rate of the electric shovel and improve the overall yield of the mine.

Description

Strip mine vehicle scheduling method and device
Technical Field
The invention relates to a method and a device for dispatching surface mine vehicles, and belongs to the technical field of transportation dispatching in industrial production.
Background
The strip mine system is a large-scale production system which takes excavation as a center and realizes a production plan by planning and scheduling production transportation equipment. The transportation cost of the open-pit mine transported by the road accounts for more than 60 percent of the operation cost. The traffic flow planning is an important component of strip mine production, and the result of the traffic flow planning directly determines the ore yield, the production progress and the production efficiency, so that the overall operation income of the mine is influenced. And the real-time dispatching system sends a specific instruction to the mining truck according to the traffic flow planning task and the real-time production state of the strip mine. Reasonable truck traffic flow planning and real-time scheduling for the mining truck can not only increase the overall yield of the mine, but also reduce the production cost, and the importance of the method is self-evident.
Patent 200410009669.3 discloses a method for optimizing control of the flow of strip mine cars. The method uses Dijkstra algorithm to solve the optimal transportation path; solving the optimal empty vehicle and heavy vehicle flow by using a linear programming model; and predicting the queuing condition for the application scheduling mine card, and determining the selectable loading and unloading points. However, the condition is too severe because the destination loading and unloading points with queue waiting are directly excluded, and various conditions of the queue waiting, such as the queue time, are not considered in detail. In addition, the surface mine environment has large uncertainty, and the arrival time of each mine card cannot be accurately predicted, so that the method is not suitable only for selecting a destination. Therefore, the method is not suitable for an unmanned transportation scene of the strip mine.
Patent 202011142353.7 discloses a method and system for intelligent dispatching of trucks in strip mines. Firstly, constructing a waiting time iterative prediction model, and predicting the waiting time of a mine car; and constructing an upper-layer planning model, constructing a heavy vehicle dispatching and empty vehicle dispatching task matching model by taking the waiting time, the target flow rate and the electric shovel target output as optimization targets, and generating dispatching instructions, thereby improving the working efficiency of the transportation system. But the ability of real-time scheduling of mines is lacked, and the optimal decision cannot be guaranteed in the face of complex and variable mine environments.
Patent 201510246144.X discloses a scheduling method and system of a mining system. The method divides a mining area into a plurality of areas, and optimizes the road traffic flow of each area according to the target output; distributing mine cards according to the traffic flow planning result, and calculating the predicted waiting time of each mine card; and (4) comprehensively considering the planned traffic flow, the finished traffic flow and the waiting time of each area to carry out real-time scheduling on the mine cards in the areas. However, the mine card waiting time calculation method is too simple, and the difference from the true value is large. Obviously, the method cannot be suitable for real-time scheduling of mine cards of strip mines.
Therefore, the complexity and uncertainty of strip mine production are ignored by the existing scheduling real-time scheduling method, and scheduling instructions often cause mine blocks to wait in a queue at a loading point or an electric shovel to wait in an idle state, so that the method is not beneficial to exerting the efficiency of equipment and cannot obtain higher yield.
Disclosure of Invention
The method aims at the problems of high scheduling uncertainty of the surface mine, low equipment utilization rate and the like. The invention provides a method and a device for dispatching strip mine vehicles, which can more reasonably assign mine cards by recording the state information of strip mine production equipment in real time, effectively reduce the non-working time of the equipment and further reduce the production cost.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the invention provides a method for dispatching vehicles in strip mines, which comprises the following steps:
establishing an objective function with the maximum output of the strip mine system as a target, and solving to obtain the optimal traffic flow plan of the mine truck;
determining a mine card pre-scheduling table based on the mine card optimal traffic flow plan and the equipment latest available time table; the mine card pre-scheduling table is used for storing and storing N optimal scheduling plans according to the predicted request scheduling time sequence of each mine card in the current state; the scheduling plan refers to a journey for completing one-time complete loading and unloading of the mine cards;
estimating the completion time of each scheduling plan in the mine card pre-scheduling table according to historical data, and updating the latest available time table of the equipment;
and inquiring a mine card pre-scheduling table according to the received mine card scheduling request, and feeding back a scheduling plan of the corresponding mine card closest to the current moment to a mine card end based on the latest available time table of the equipment to perform mine card scheduling.
Further, the establishing an objective function with the opencut system production maximum target comprises:
Figure BDA0003479379140000021
wherein Q is the open pit mine system yield, NdTo number of discharge points, NsNumber of forklifts, K number of mine card type, WkIs k type vehicle load, xijkNumber of k-mine trucks dispatched to shovel point j for intra-shift dump point i.
Further, solving the objective function needs to satisfy the following constraint conditions:
Figure BDA0003479379140000022
Figure BDA0003479379140000023
Figure BDA0003479379140000024
Figure BDA0003479379140000025
Figure BDA0003479379140000026
Figure BDA0003479379140000027
xijk,yijk≥0,i＝1,2,…,Nd,j＝1,2,…,Ns,k＝1,2,…,K；
xijk,yijk∈N+；
wherein, PjExpressing the shovel point j hours of the collecting amount, T expressing the shift time, UiDenotes the unload point i hour throughput, yijkRepresenting the number of times a k-mine truck is dispatched from the intra-shift shovel point j to the dump point i, betaibDenotes the lower grade limit, alpha, of the discharge point ijIndicates the shovel point j ore grade, betaiuDenotes the upper grade limit of the discharge point i, DijRepresenting the path distance, v, from the point of discharge i to the point of shovel jekRepresenting the empty load velocity, v, of a k-type ore blocklkRepresenting the heavy load speed, N, of a k-type mine cardkRepresenting the number of available k-type mine cards;
solving an objective function meeting the constraint conditions to obtain an optimal traffic flow plan x of the mine truckijkAnd yijk。
Further, the determining a mine card pre-scheduling table based on the mine card optimal traffic flow plan and the latest available time table of the equipment comprises:
according to the expected scheduling time sequence of the mine cards, sequentially calculating the travel transportation value of each mine card in each transportation route, and inserting the travel with the highest travel transportation value into a mine card pre-scheduling table;
circularly executing the operation of calculating the travel transportation value until each mine card is distributed with N dispatching plans;
the estimated mine card request scheduling time is estimated by the mine card arrival time and the loading time;
the trip transportation value is calculated based on the mine card optimal traffic flow plan and the equipment most recent available schedule.
Further, the device last available schedule comprises a handling device last available schedule and a transport device last available schedule;
the latest available time schedule of the loading and unloading equipment comprises electric shovel task starting time, electric shovel task ending time, unloading task starting time and unloading task ending time; the electric shovel task end time and the unloading point task end time are the latest available time of the electric shovel and the latest available time of the unloading point;
the transport equipment available time table comprises mine card arrival time, mine card task starting time and mine card task ending time; and the mine card task ending time is the latest available time of the mine card.
Further, the calculating of the travel transportation value based on the optimal traffic flow plan of the mine card and the latest available time schedule of the equipment comprises the following steps:
Figure BDA0003479379140000031
Figure BDA0003479379140000032
Figure BDA0003479379140000033
δ＝δs+δd；
δs＝max(Treach_time,Tshovel_available)-Treach_time；
δd＝max(Treach_time,Tdump_available)-Treach_time；
Treach_time＝Ttruck_available+Twalk；
wherein e isiji′For the value of the one-time ore card journey transportation,
Figure BDA0003479379140000034
for the destination value of shovel point j,
Figure BDA0003479379140000035
is point of discharge i 'destination value, x'ijFor the actual flow of traffic, x, from delivery point i to shovel point j of the transport routeij＝∑kxijk，xijPlanned flow, y ', for haul route dump point i to shovel point j'i′jTo transportActual traffic flow, y, of delivery line from shoveling point j to discharging point ii′j＝∑kyi′jk，yi′jShoveling the planned traffic flow from the point j to the unloading point i' for the transportation route;
Figure BDA0003479379140000036
representing the empty-time travel, T, of the mine truck moving from discharge point i to shovel point jlWhich indicates the loading time of the mine card,
Figure BDA0003479379140000037
indicating the heavy travel time, T, for the loaded mine card to move from point j to point iuFor the unloading time of the mine card, δ is the waiting time, δsWaiting time, delta, for mine cards travelling to the shovel pointdWaiting time, T, for mine cards travelling to the discharge pointreach_timeEstimated time of arrival, T, for mine cardshovel_availableFor the most recent available time of the shovel, Tdump_availableFor the last available time of the dump point, Ttruck_availableFor the latest time of availability of the mine card, TwalkThe travel time is the mine card travel time.
The present invention also provides a strip mine vehicle scheduling apparatus, comprising:
the planning module is used for establishing an objective function with the maximum output of the strip mine system as a target and solving to obtain the optimal traffic flow plan of the mine truck;
the calculation module is used for determining a mine card pre-scheduling table based on the optimal traffic flow plan of the mine card and the latest available time table of the equipment; the mine card pre-scheduling table is used for storing and storing N optimal scheduling plans according to the predicted request scheduling time sequence of each mine card in the current state; the scheduling plan refers to a journey for completing one-time complete loading and unloading of the mine cards;
and (c) a second step of,
and the scheduling module is used for inquiring the mine card pre-scheduling table according to the received mine card scheduling request, feeding back the scheduling plan of the corresponding mine card closest to the current moment to the mine card end based on the latest available time table of the equipment, and performing mine card scheduling.
Further, the planning module is specifically configured to,
the following objective function was established:
Figure BDA0003479379140000041
wherein Q is the open pit mine system yield, NdTo number of discharge points, NsNumber of forklifts, K number of mine card type, WkIs k type vehicle load, xijkNumber of k-mine trucks dispatched to shovel point j for intra-shift dump point i.
The objective function needs to satisfy the following constraints:
Figure BDA0003479379140000042
Figure BDA0003479379140000043
Figure BDA0003479379140000044
Figure BDA0003479379140000045
Figure BDA0003479379140000046
Figure BDA0003479379140000047
xijk,yijk≥0,i＝1,2,…,Nd,j＝1,2,…,Ns,k＝1,2,…,K；
xijk,yijk∈N+；
wherein, PjThe shoveling point j hours of the collecting amount is shown, T represents the time of the shift,Uidenotes the unload point i hour throughput, yijkRepresenting the number of times a k-mine truck is dispatched from the intra-shift shovel point j to the dump point i, betaibDenotes the lower grade limit, alpha, of the discharge point ijIndicates the shovel point j ore grade, betaiuDenotes the upper grade limit of the discharge point i, DijRepresenting the path distance, v, from the point of discharge i to the point of shovel jekRepresenting the empty load velocity, v, of a k-type ore blocklkRepresenting the heavy load speed, N, of a k-type mine cardkRepresenting the number of available k-type mine cards;
solving an objective function meeting the constraint conditions to obtain an optimal traffic flow plan x of the mine truckijkAnd yijk。
Further, the computing module is specifically configured to,
sequentially calculating the travel transportation value of each mine card in each transportation route according to the predicted scheduling time sequence of the mine cards, and inserting the travel with the highest travel transportation value into a mine card pre-scheduling table;
circularly executing the operation of calculating the travel transportation value until each mine card is distributed with N dispatching plans;
the trip transportation value is calculated as follows:
Figure BDA0003479379140000051
Figure BDA0003479379140000052
Figure BDA0003479379140000053
δ＝δs+δd；
δs＝max(Treach_time,Tshovel_available)-Treach_time；
δd＝max(Treach_time,Tdump_available)-Treach_time；
Treach_time＝Ttruck_available+Twalk；
wherein e isiji′For the value of the one-time ore card journey transportation,
Figure BDA0003479379140000054
for the destination value of the shovel point j,
Figure BDA0003479379140000055
is point of discharge i 'destination value, x'ijFor the actual flow of traffic, x, from delivery point i to shovel point j of the transport routeij＝∑kxijk，xijPlanned flow, y ', for haul route dump point i to shovel point j'i′jFor the actual flow of the transport route from shoveling point j to discharging point i', yi′j＝∑kyi′jk，yi′jFor the planned traffic flow of the transport route from shovel point j to dump point i',
Figure BDA0003479379140000056
representing the empty-time travel, T, of the mine truck moving from discharge point i to shovel point jlIndicating the loading time of the mine card,
Figure BDA0003479379140000057
indicating the heavy travel time, T, for the loaded mine card to move from point j to point iuFor the unloading time of the mine card, δ is the waiting time, δsWaiting time, delta, for mine cards travelling to the shovel pointdWaiting time, T, for mine cards travelling to the discharge pointreach_timeEstimated time of arrival, T, for mine cardshovel_availableFor the most recent available time of the shovel, Tdump_availableFor the most recent time available for a point of discharge, Ttruck_availableFor the latest time of availability of mine cards, TwalkThe travel time is the mine card travel time.
The system further comprises an updating module, wherein the updating module is specifically used for estimating the completion time of each scheduling plan in the mine card pre-scheduling table according to historical data and updating the latest available time table of the equipment.
The invention achieves the following beneficial effects:
(1) the method solves the problem of obtaining the optimal traffic flow plan of the mine card by taking the maximum system yield as a target; determining a mine card pre-scheduling table based on the optimal mine card traffic flow plan and the predicted request time sequence of all mine cards, calculating a travel transportation value based on the mine card pre-scheduling table and the latest available time table of the equipment, inserting the highest travel transportation value into the preferential execution position of the mine card pre-scheduling table to update the mine card pre-scheduling table, inquiring the latest mine card pre-scheduling table according to the mine card scheduling request, feeding back the latest mine card scheduling plan to a mine card end, and realizing low-delay mine card scheduling response. The invention can not only reduce the waiting time of mine truck queue, improve the utilization rate of the mine truck, reduce the idle time and oil consumption of the mine truck, but also reduce the idle time of loading equipment waiting for the truck, improve the normal working rate of the electric shovel and further improve the overall yield of the mine.
(2) By constructing a mine card pre-dispatching table and a real-time updating mechanism of the latest available time table of the equipment, the invention can effectively reduce the uncertainty in the dispatching process of the surface mine and improve the dispatching precision of the mine cards.
(3) In the process that the mine card is executed according to the mine card pre-scheduling table, the device available time table is corrected according to the actual working time of the loading device and the crushing station, the mine card stroke starting time, the mine card loading starting time and the mine card stroke ending time, the mine card pre-scheduling table is updated based on the corrected device available time table, and the scheduling accuracy of the mine card is further improved.
Drawings
FIG. 1 is a flow chart of a method of strip mine vehicle dispatch provided by the present invention;
FIG. 2 is a flow chart of a mine card real-time scheduling method of the present invention that considers equipment uptime and travel transportation value;
fig. 3 is a schematic diagram of an example of a mine card trip schedule.
Detailed Description
The invention is further described below. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The invention provides a method for dispatching surface mine vehicles, which models a vehicle dispatching problem into two parts of linear integer programming and advanced real-time dispatching and aims to maximize yield. Firstly, constructing a basic linear integer model of the planning problem; then, defining the value of each production route on the basis of the traffic flow planning result; and finally, the vehicle real-time scheduling method with the highest profit is realized by establishing the latest available time table of the equipment.
A method for dispatching surface mine vehicles is realized by referring to FIG. 1, and comprises the following steps:
firstly, constructing a traffic flow integer planning model
To model and mathematically solve the problem of truck flow planning for a mine card-electric shovel, this section presents an integer planning model for a multi-model fleet of vehicles containing different types of trucks and electric shovels. The model is constructed in a mode that the number of times of ore trucks from the unloading point to the electric shovel is determined within a shift time, and the yield is maximized under the condition that constraint conditions such as equipment capacity, shift time, ore grade and minimum yield are met.
Based on this, the objective function is established as follows:
maximizing system yield:
Figure BDA0003479379140000061
wherein Q is the open pit mine system yield.
The constraint conditions to be satisfied for solving the objective function are as follows:
a. electric shovel mining and loading capacity constraint
Figure BDA0003479379140000071
This constraint ensures that the total number of cars in a shift must not exceed the maximum number of loads for the electric shovel.
b. Unload point throughput constraints
Figure BDA0003479379140000072
The constraint controls the maximum number of times the vehicle is handled without stopping the operation of the dump point during a shift.
c. Constraint of ore quality index
Figure BDA0003479379140000073
d. Mine card quantity constraint
Figure BDA0003479379140000074
The constraint ensures that the number of dispatched mine cards is less than the number of available mine cards of each type.
e. Kirchhoff traffic stream constraints
Figure BDA0003479379140000075
Figure BDA0003479379140000076
The same number of vehicles leading to each shovel point and coming out of each shovel point is ensured, and the unloading points are the same.
f. Non-negative integer constraints
xijk,yijk≥0,i＝1,2,…,Nd,j＝1,2,…,Ns,k＝1,2,…,K
xijk,yijk∈N+
The last constraint ensures that the solution is physically meaningful, i.e. the number of strokes of the mine card from the unloading point to the electric shovel is a non-negative integer.
The model can be quickly solved by Cplex, Gurobi and other software to obtain the optimal traffic flow plan, namely xijkAnd yijk。
TABLE 1 description of the parameters
Figure BDA0003479379140000081
Real-time scheduling considering available time of equipment
The invention provides a concept of travel transportation value, and the travel transportation value is jointly determined by planning traffic flow and considering waiting travel time. The travel transportation value indicates whether it is worth to dispatch a mine card to execute a task on a transportation route, and the real-time scheduling algorithm always allocates the task with the highest current travel transportation value to the mine card which is requested to be scheduled. In addition, the invention calculates the dispatching sequence for all mine cards in advance, and the system directly inquires and returns the latest dispatching plan of the corresponding mine card after the mine card requests, thereby ensuring the quick response to the mine card dispatching request.
Specifically, the method for real-time scheduling of mine cards considering the available time of equipment and based on the travel transportation value, as shown in fig. 2, includes the following steps:
(1) initialization
(11) Establishing a mine card pre-dispatching table,
and establishing a mine card pre-scheduling table based on the mine card predicted request time sequence, wherein the predicted request time is estimated by using the mine card arrival time plus the loading time, and the mine card arrival time is predicted by the automatic reporting time after the mine card arrives at the destination or the departure time of the mine card.
The mine card pre-scheduling table is used for storing an optimal scheduling plan according to the predicted request scheduling time sequence of each mine card in the current state, and the mine card pre-scheduling table can store the latest N times of scheduling plans for each mine card according to the requirement.
The mine card pre-scheduling table comprises N scheduling plans to be executed next by all mine cards, the scheduling plans are ordered according to expected scheduling request scheduling time of the mine cards, and the mine card pre-scheduling table is empty during initialization.
The scheduling plan is a journey for completing one complete loading and unloading of the mine card, and comprises journey starting time, loading starting time, unloading starting time and journey ending time.
The scheduling plans are obtained according to the travel value, the calculation is not carried out in the initialization stage, and N scheduling plans are not obtained, wherein the N scheduling plans are gradually generated in the scheduling process. See fig. 3 for an example of mine card scheduling.
The mine card dispatch plan is shown in table 2,
TABLE 2 mine truck Dispatch plan
Figure BDA0003479379140000091
(12) Establishing a latest available time table of equipment (unloading points, electric shovels and trucks), and recording dispatch information and the latest available time.
The device last available time table is used for recording the last available time of each device, including the last available time T of the trucktruck_availableTime of last availability at unload Point Tdump_availableRecent available time T of electric shovelshovel_available。
For the electric shovel and the unloading point, the latest available time of the equipment is the time after the electric shovel and the unloading point respectively complete the loading and unloading tasks of all the distributed ore cards; for mine cards, the last available time for the equipment is the time after all allocated loading and unloading trips are completed. The available time of the equipment is updated in real time, and the waiting time of the equipment is considered.
The device last availability schedules are shown in tables 3 and 4,
TABLE 3 Loading and unloading equipment recent availability schedule
Figure BDA0003479379140000101
Table 4 transport device last available schedule
Figure BDA0003479379140000102
(2) Calculating the travel transportation value and generating a mine card pre-scheduling table
(21) And sequentially calculating the travel transportation value of each mine card in each transportation route according to the predicted scheduling time sequence of the mine cards, and inserting the travel with the highest travel transportation value into the mine card pre-scheduling table. This operation is performed in a loop until each mine card is assigned N dispatch plans, for example, 3 mine cards, and then 3 × N dispatch plans are calculated.
The truck trip is defined as an empty truck starting at dump point i, moving to shovel j, loading material, transporting it to dump point i ', and unloading material, the entire movement being called a truck trip, denoted trip (i, j, i').
For one truck trip, the trip transportation value is calculated as follows:
Figure BDA0003479379140000103
wherein the content of the first and second substances,
Figure BDA0003479379140000104
in order to offload the value of the destination point,
Figure BDA0003479379140000105
in order to obtain the value of the electric shovel destination,
Figure BDA0003479379140000106
representing the empty-time, T, of the truck moving from the dump point i to the shovel jlWhich represents the loading time of the truck,
Figure BDA0003479379140000107
representing the heavy-load travel time, T, of the loading truck moving from shovel j to dump point iuIs the unloading time of the truck, δ is the waiting time.
Further, defining the ratio of the remaining planned vehicle times and the planned vehicle times of each destination as the destination value
The electric shovel destination value is:
Figure BDA0003479379140000108
the point-of-discharge destination value is:
Figure BDA0003479379140000109
wherein, x'ijActual flow of traffic, x, for delivery route dump point i to shovel jij＝∑kxijk，xijIn order to plan the flow of the vehicle,
similarly, y'i′jFor the actual flow of the transport route from shovel j to dump point i', yi′j＝∑kyi′jk，yi′jTo plan the traffic flow.
Further, the waiting time may be calculated from the most recently available schedule of equipment and the truck arrival time,
estimated time of arrival of truck:
Treach_time＝Ttruck_available+Twalk
wherein, if the mine truck is empty, Treach_timeFor reaching the shovel time, if the mine card is heavily loaded, Treach_timeTo reach the excavator time, TwalkThe travel time is heavy transport or air transport travel time.
The waiting time of the mine card driving to the electric shovel is as follows:
δs＝max(Treach_time,Tshovel_available)-Treach_time，
the waiting time of the mine card moving to the unloading point is as follows:
δd＝max(Treach_time,Tdump_available)-Treach_time
total trip latency:
δ＝δs+δd
(22) the method comprises the steps of inquiring and estimating the running time of a truck from historical data, determining the starting and finishing time of loading and unloading operation according to the expected arrival time of the truck and the available time of relevant equipment, determining the current task finishing time of a mine card, and updating the latest available time table of the equipment.
It should be noted that the truck makes a scheduling request after completing loading, and thus the "latest available time of the equipment" is also the "requested scheduling time".
One example of a completion is as follows:
for example, the time when the truck a finishes unloading is the available time of the equipment, and the running time is added, so that the time when the truck a arrives at the excavator next can be obtained;
but the excavator is not necessarily available at present because there may be other trucks in line, we need to take 1. excavator equipment availability time (complete all the mine card loading in line in front of the truck) 2. truck a arrival time, the maximum of which is the time when the excavator actually starts to load truck a;
the loading starting time and the fixed loading duration are added, so that the time when the truck A finishes loading, namely the latest available time of new equipment of the truck A and the available time of new equipment of the excavator can be obtained; the truck makes a scheduling request after completing the loading and therefore requests a scheduling time.
And (3) the latest available time of the excavator equipment is the loading completion time (equipment available time) of the truck A, and is the scheduling time of the loading completion request.
(3) Mine card scheduling according to mine card pre-scheduling table
(31) And inquiring a mine card pre-scheduling table after receiving a mine card scheduling request, and returning a scheduling plan of the corresponding mine card closest to the current moment to the vehicle end according to the latest available time of the equipment, so as to realize low-delay mine card scheduling response.
(32) And after the loading and unloading operations really occur, correcting the available time information of the corresponding equipment.
Another embodiment of the present invention provides a strip mine vehicle dispatching device, comprising:
the planning module is used for establishing an objective function with the maximum output of the strip mine system as a target and solving to obtain the optimal traffic flow plan of the mine truck;
the calculation module is used for determining a mine card pre-scheduling table based on the optimal traffic flow plan of the mine card, the expected request time of the mine card and the latest available time table of the equipment; the mine card pre-scheduling table is used for storing and storing N optimal scheduling plans according to the predicted request scheduling time sequence of each mine card in the current state; the scheduling plan refers to a journey for completing one complete loading and unloading of the mine cards;
and (c) a second step of,
and the scheduling module is used for inquiring the latest mine card pre-scheduling table according to the received mine card scheduling request, feeding back the scheduling plan of the corresponding mine card closest to the current moment to the mine card end, and performing mine card scheduling.
In this embodiment, the planning module is specifically configured to,
the following objective function was established:
Figure BDA0003479379140000127
wherein Q is the open pit mine system yield, NdTo number of discharge points, NsNumber of forklifts, K number of mine card type, WkIs k type vehicle load, xijkNumber of k-mine trucks dispatched to shovel point j for intra-shift dump point i.
The objective function needs to satisfy the following constraints:
Figure BDA0003479379140000121
Figure BDA0003479379140000122
Figure BDA0003479379140000123
Figure BDA0003479379140000124
Figure BDA0003479379140000125
Figure BDA0003479379140000126
xijk,yijk≥0,i＝1,2,…,Nd,j＝1,2,…,Ns,k＝1,2,…,K；
xijk,yijk∈N+；
wherein, PjExpressing the shovel point j hours of the collecting amount, T expressing the shift time, UiDenotes unload point i hour throughput, yijkRepresenting the number of times a k-mine truck is dispatched from the intra-shift shovel point j to the dump point i, betaibDenotes the lower grade limit, alpha, of the discharge point ijIndicates the shovel point j ore grade, betaiuDenotes the upper grade limit of the discharge point i, DijRepresenting the path distance, v, from the point of discharge i to the point of shovel jekRepresenting the empty load velocity, v, of a k-type ore blocklkRepresenting the heavy load speed, N, of a k-type mine cardkRepresenting the number of available k-type mine cards;
solving the objective function meeting the constraint conditions to obtain the optimal traffic flow plan x of the mine truckijkAnd yijk。
In this embodiment, the calculation module is specifically configured to,
according to the expected scheduling time sequence of the mine cards, sequentially calculating the travel transportation value of each mine card in each transportation route, and inserting the travel with the highest travel transportation value into a mine card pre-scheduling table;
circularly executing the operation of calculating the travel transportation value until each mine card is distributed with N dispatching plans;
the trip transportation value is calculated as follows:
Figure BDA0003479379140000131
Figure BDA0003479379140000132
Figure BDA0003479379140000133
δ＝δs+δd；
δs＝max(Treach_time,Tshovel_available)-Treach_time；
δd＝max(Treach_time,Tdump_available)-Treach_time；
Treach_time＝Ttruck_available+Twalk；
wherein e isiji′For the value of the one-time ore card journey transportation,
Figure BDA0003479379140000134
for the destination value of shovel point j,
Figure BDA0003479379140000135
is point of discharge i 'destination value, x'ijFor the actual flow of traffic, x, from delivery point i to shovel point j of the transport routeij＝∑kxijk，xijPlanned flow, y ', for haul route dump point i to shovel point j'i′jFor the actual flow of the transport route from shoveling point j to discharging point i', yi′j＝∑kyi′jk，yi′jFor the planned traffic flow of the transport route from shovel point j to dump point i',
Figure BDA0003479379140000136
representing the empty-time travel, T, of the mine truck moving from discharge point i to shovel point jlWhich indicates the loading time of the mine card,
Figure BDA0003479379140000137
indicating the heavy travel time, T, for the loaded mine card to move from point j to point iuFor the unloading time of the mine card, δ is the waiting time, δsWaiting time, delta, for mine cards travelling to the shovel pointdWaiting time, T, for mine cards travelling to the discharge pointreach_timeEstimated time of arrival, T, for mine cardshovel_availableFor the most recent available time of the shovel, Tdump_availableFor the most recent time available for a point of discharge, Ttruck_availableFor the latest time of availability of the mine card, TwalkThe travel time is the mine card travel time.
In this embodiment, the system further includes an updating module, and the updating module is specifically configured to estimate, according to the historical data, completion time of each scheduling plan in the mine card pre-scheduling table, and update the latest available schedule of the device.
It should be noted that the embodiment of the apparatus corresponds to the embodiment of the method, and the implementation manners of the embodiment of the method are all applicable to the embodiment of the apparatus and can achieve the same or similar technical effects, so that the detailed description is omitted here.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.

Claims (10)

1. A method of surface vehicle dispatching, comprising:
establishing an objective function with the maximum output of the strip mine system as a target, and solving to obtain the optimal traffic flow plan of the mine truck;
determining a mine card pre-scheduling table based on the mine card optimal traffic flow plan and the equipment recent available time table; the mine card pre-scheduling table is used for storing and storing N optimal scheduling plans according to the predicted request scheduling time sequence of each mine card in the current state; the scheduling plan refers to a journey for completing one-time complete loading and unloading of the mine cards;
estimating the completion time of each scheduling plan in the mine card pre-scheduling table according to historical data, and updating the latest available time table of the equipment;
and inquiring a mine card pre-scheduling table according to the received mine card scheduling request, and feeding back a scheduling plan of the corresponding mine card closest to the current moment to a mine card end based on the latest available time table of the equipment to perform mine card scheduling.
2. The method of claim 1, wherein establishing an objective function targeting a maximum surface mine system production comprises:
Figure FDA0003479379130000011
wherein Q is the open pit mine system yield, NdTo number of discharge points, NsNumber of forklifts, K number of mine card type, WkIs k type vehicle load, xijkNumber of k-mine trucks dispatched to shovel point j for intra-shift dump point i.
3. The method according to claim 2, wherein the following constraints are satisfied for solving the objective function:
Figure FDA0003479379130000012
Figure FDA0003479379130000013
Figure FDA0003479379130000014
Figure FDA0003479379130000015
Figure FDA0003479379130000016
Figure FDA0003479379130000017
xijk,yijk≥0,i＝1,2,…,Nd,j＝1,2,…,Ns,k＝1,2,…,K；
xijk,yijk∈N+；
wherein, PjExpressing the shovel point j hours of the collecting amount, T expressing the shift time, UiDenotes the unload point i hour throughput, yijkRepresenting the number of times a k-mine truck is dispatched from the intra-shift shovel point j to the dump point i, betaibDenotes the lower grade limit, alpha, of the discharge point ijIndicates the shovel point j ore grade, betaiuDenotes the upper grade limit of the discharge point i, DijRepresenting the path distance, v, from the point of discharge i to the point of shovel jekRepresenting the empty load velocity, v, of a k-type ore blocklkRepresenting the heavy load speed, N, of a k-type mine cardkRepresenting the number of available k-type mine cards;
solving an objective function meeting the constraint conditions to obtain an optimal traffic flow plan x of the mine truckijkAnd yijk。
4. The method of claim 3, wherein determining the mine card pre-schedule based on the mine card optimal flow plan and the device most recent available schedule comprises:
according to the expected scheduling time sequence of the mine cards, sequentially calculating the travel transportation value of each mine card in each transportation route, and inserting the travel with the highest travel transportation value into a mine card pre-scheduling table;
circularly executing the operation of calculating the travel transportation value until each mine card is distributed with N dispatching plans;
the estimated mine card request scheduling time is estimated by the mine card arrival time and the loading time;
the trip transportation value is calculated based on the mine card optimal traffic flow plan and the equipment most recent available schedule.
5. The method of claim 4, wherein the device last available schedule comprises a loading device last available schedule and a transportation device last available schedule;
the latest available time schedule of the loading and unloading equipment comprises electric shovel task starting time, electric shovel task ending time, unloading task starting time and unloading task ending time; the electric shovel task end time and the unloading point task end time are the latest available time of the electric shovel and the latest available time of the unloading point;
the transport equipment available time table comprises mine card arrival time, mine card task starting time and mine card task ending time; and the mine card task ending time is the latest available time of the mine card.
6. The method of claim 5, wherein calculating the trip transportation value based on the mine card optimal flow plan and the device most recent available schedule comprises:
Figure FDA0003479379130000021
Figure FDA0003479379130000022
Figure FDA0003479379130000023
δ＝δs+δd；
δs＝max(Treach_time,Tshovel_available)-Treach_time；
δd＝max(Treach_time,Tdump_available)-Treach_time；
Treach_time＝Ttruck_available+Twalk；
wherein e isiji′For the value of the one-time ore card journey transportation,
Figure FDA0003479379130000024
for the destination value of the shovel point j,
Figure FDA0003479379130000025
is point of discharge i 'destination value, x'ijFor the actual flow of traffic, x, from delivery point i to shovel point j of the transport routeij＝∑kxijk，xijPlanned flow, y ', for haul route dump point i to shovel point j'i′jFor the actual flow of the transport route from shoveling point j to discharging point i', yi′j＝∑kyi′jk，yi′jShoveling the planned traffic flow from the point j to the unloading point i' for the transportation route;
Figure FDA0003479379130000026
representing the empty-time travel, T, of the mine truck moving from discharge point i to shovel point jlWhich indicates the loading time of the mine card,
Figure FDA0003479379130000027
indicating the heavy-duty travel time, T, of a loaded mine card moving from shovel point j to dump point iuFor the unloading time of the mine card, δ is the waiting time, δsWaiting time, delta, for mine cards travelling to the shovel pointdWaiting time, T, for mine cards travelling to the discharge pointreach_timeEstimated time of arrival, T, for mine cardshovel_availableFor the most recent available time of the shovel, Tdump_availableFor the most recent time available for a point of discharge, Ttruck_availableFor the latest time of availability of mine cards, TwalkThe travel time is the mine card travel time.
7. A strip mine vehicle dispatching device, comprising:
the planning module is used for establishing an objective function with the maximum output of the strip mine system as a target and solving to obtain the optimal traffic flow plan of the mine truck;
the calculation module is used for determining a mine card pre-scheduling table based on the optimal traffic flow plan of the mine card and the latest available time table of the equipment; the mine card pre-scheduling table is used for storing and storing N optimal scheduling plans according to the predicted request scheduling time sequence of each mine card in the current state; the scheduling plan refers to a journey for completing one-time complete loading and unloading of the mine cards;
and the number of the first and second groups,
and the scheduling module is used for inquiring the mine card pre-scheduling table according to the received mine card scheduling request, feeding back the scheduling plan of the corresponding mine card closest to the current moment to the mine card end based on the latest available time table of the equipment, and performing mine card scheduling.
8. The strip mine vehicle dispatching device of claim 7, wherein the planning module is specifically configured to,
the following objective function was established:
Figure FDA0003479379130000031
wherein Q is the open pit mine system yield, NdTo number of discharge points, NsNumber of forklifts, K number of mine card type, WkIs k type vehicle load, xijkNumber of k-mine trucks dispatched to shovel point j for intra-shift dump point i.
The objective function needs to satisfy the following constraints:
Figure FDA0003479379130000032
Figure FDA0003479379130000033
Figure FDA0003479379130000034
Figure FDA0003479379130000035
Figure FDA0003479379130000036
Figure FDA0003479379130000037
xijk,yijk≥0,i＝1,2,…,Nd,j＝1,2,…,Ns,k＝1,2,…,K；
xijk,yijk∈N+；
wherein, PjExpressing the shovel point j hours of the collecting amount, T expressing the shift time, UiDenotes the unload point i hour throughput, yijkRepresenting the number of times a k-mine truck is dispatched from the intra-shift shovel point j to the dump point i, betaibDenotes the lower grade limit, alpha, of the discharge point ijIndicates the shovel point j ore grade, betaiuDenotes the upper grade limit of the discharge point i, DijRepresenting the path distance, v, from the point of discharge i to the point of shovel jekRepresenting the empty load velocity, v, of a k-type ore blocklkRepresenting the heavy load speed, N, of a k-type mine cardkRepresenting the number of available k-type mine cards;
solving an objective function meeting the constraint conditions to obtain an optimal traffic flow plan x of the mine truckijkAnd yijk。
9. The strip mine vehicle dispatching device of claim 8, wherein the computing module is specifically configured to,
according to the expected scheduling time sequence of the mine cards, sequentially calculating the travel transportation value of each mine card in each transportation route, and inserting the travel with the highest travel transportation value into a mine card pre-scheduling table;
circularly executing the operation of calculating the travel transportation value until each mine card is distributed with N dispatching plans;
the trip transportation value is calculated as follows:
Figure FDA0003479379130000041
Figure FDA0003479379130000042
Figure FDA0003479379130000043
δ＝δs+δd；
δs＝max(Treach_time,Tshovel_available)-Treach_time；
δd＝max(Treach_time,Tdump_available)-Treach_time；
Treach_time＝Ttruck_available+Twalk；
wherein e isiji′For the value of the one-time ore card journey transportation,
Figure FDA0003479379130000044
for the destination value of shovel point j,
Figure FDA0003479379130000045
is point of discharge i 'destination value, x'ijFor the actual flow of traffic, x, from delivery point i to shovel point j of the transport routeij＝∑kxijk，xijPlanned flow, y ', for haul route dump point i to shovel point j'i′jFor the actual flow of the transport route from shoveling point j to discharging point i', yi′j＝∑kyi′jk，yi′jFor the planned traffic flow of the transport route from shovel point j to dump point i',
Figure FDA0003479379130000046
representing the empty-time travel, T, of the mine truck moving from discharge point i to shovel point jlWhich indicates the loading time of the mine card,
Figure FDA0003479379130000047
indicating the heavy travel time, T, for the loaded mine card to move from point j to point iuFor the unloading time of the mine card, δ is the waiting time, δsWaiting time, delta, for mine cards travelling to the shovel pointdWaiting time, T, for mine cards travelling to the discharge pointreach_timeEstimated time of arrival, T, for mine cardshovel_availableFor the most recent available time of the shovel, Tdump_availableFor the most recent time available for a point of discharge, Ttruck_availableFor the latest time of availability of mine cards, TwalkThe travel time is the mine card travel time.
10. The strip mine vehicle dispatching device of claim 7, further comprising an update module, wherein the update module is specifically configured to update the device most recent available schedule by estimating a completion time of each dispatch plan in the mine card pre-dispatch table based on historical data.
CN202210063973.4A 2022-01-20 2022-01-20 Strip mine vehicle scheduling method and device Pending CN114565133A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115239203A (en) * 2022-09-19 2022-10-25 上海伯镭智能科技有限公司 Resource priority allocation method and device for unmanned mine car

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115239203A (en) * 2022-09-19 2022-10-25 上海伯镭智能科技有限公司 Resource priority allocation method and device for unmanned mine car
CN115239203B (en) * 2022-09-19 2023-01-03 上海伯镭智能科技有限公司 Resource priority distribution method and device for unmanned mine car

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