CN118036987A - A low energy consumption dispatching method for hybrid mining trucks based on WPT technology - Google Patents

A low energy consumption dispatching method for hybrid mining trucks based on WPT technology Download PDF

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CN118036987A
CN118036987A CN202410235200.9A CN202410235200A CN118036987A CN 118036987 A CN118036987 A CN 118036987A CN 202410235200 A CN202410235200 A CN 202410235200A CN 118036987 A CN118036987 A CN 118036987A
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张林丛
于宝珠
魏可峰
高琳
刘雨晴
王慧
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Abstract

本发明提供一种基于WPT技术的混动矿卡低能耗调度方法,涉及无线电能传输技术领域。该方法首先设定混合动力矿卡的工作条件、工作模式及自身的车辆状态;然后构建矿卡优化调度模型的目标函数,以最小化整个矿区的能耗;并设定矿卡优化调度模型的约束条件,确保露天矿混动矿卡调度的可行性和效率;最后设计基于WPT技术的混动矿卡低能耗调度线性规划算法,求解矿卡优化调度模型,优化混动矿卡在露天矿的低能耗调度路径。该方法通过计算各路径之间的能耗来制定高效的运输和充电策略,为混动矿卡提供一种新的能量补给方式,降低对传统燃料的依赖,进一步降低能耗。

The present invention provides a hybrid mining truck low-energy consumption scheduling method based on WPT technology, which relates to the field of wireless power transmission technology. The method first sets the working conditions, working mode and vehicle status of the hybrid mining truck; then constructs the objective function of the mining truck optimization scheduling model to minimize the energy consumption of the entire mining area; and sets the constraints of the mining truck optimization scheduling model to ensure the feasibility and efficiency of the open-pit mine hybrid mining truck scheduling; finally, a hybrid mining truck low-energy consumption scheduling linear programming algorithm based on WPT technology is designed to solve the mining truck optimization scheduling model and optimize the low-energy consumption scheduling path of the hybrid mining truck in the open-pit mine. The method formulates efficient transportation and charging strategies by calculating the energy consumption between each path, provides a new energy replenishment method for hybrid mining trucks, reduces dependence on traditional fuels, and further reduces energy consumption.

Description

一种基于WPT技术的混动矿卡低能耗调度方法A low energy consumption dispatching method for hybrid mining trucks based on WPT technology

技术领域Technical Field

本发明涉及无线电能传输技术领域,尤其涉及一种基于WPT(Wireless PowerTransmission,无线电能传输)技术的混动矿卡低能耗调度方法。The present invention relates to the field of wireless power transmission technology, and in particular to a low-energy consumption scheduling method for a hybrid mining truck based on WPT (Wireless Power Transmission) technology.

背景技术Background technique

露天矿是全球矿产资源开发的重要方式,如何更加合理、有效地调度混动矿卡,以进一步降低能耗,提高运营效率,是露天矿运营中的重要课题。露天矿的运输系统具有独特的运输需求和约束条件。在实际调度中,影响因素颇多,包括路况、装卸点的分布、矿卡的能源状态等。此外,由于露天矿区通常具备复杂多变的地形条件,如上坡、下坡和不同程度的曲折路段,这些都会影响到矿卡的能耗和能量回收效率。特别是在下坡路段,通过有效的能量回收,可以显著降低矿卡的能耗。传统的矿卡调度模式往往是基于固定的运输路线和时间表,缺乏对实时情况的响应和优化,从而导致能源的浪费和运营效率的低下。另外,在露天矿运营中,能源供应和管理也是影响运营效率和成本的重要因素,而传统的有线电力传输方式存在布线困难、维护成本高、影响矿区运输效率等问题。为了实现降低能耗、提高运营效率的目标。本发明设计了一种基于WPT技术的混动矿卡低能耗调度方法。Open-pit mining is an important way to develop mineral resources worldwide. How to dispatch hybrid mining trucks more reasonably and effectively to further reduce energy consumption and improve operational efficiency is an important issue in open-pit mining operations. The transportation system of open-pit mines has unique transportation needs and constraints. In actual scheduling, there are many influencing factors, including road conditions, distribution of loading and unloading points, and energy status of mining trucks. In addition, since open-pit mining areas usually have complex and changeable terrain conditions, such as uphill, downhill, and tortuous sections of varying degrees, these will affect the energy consumption and energy recovery efficiency of mining trucks. Especially in downhill sections, effective energy recovery can significantly reduce the energy consumption of mining trucks. The traditional mining truck scheduling mode is often based on fixed transportation routes and schedules, lacking response and optimization to real-time situations, resulting in energy waste and low operational efficiency. In addition, in open-pit mine operations, energy supply and management are also important factors affecting operational efficiency and cost, while traditional wired power transmission methods have problems such as difficult wiring, high maintenance costs, and affecting mining area transportation efficiency. In order to achieve the goal of reducing energy consumption and improving operational efficiency. The present invention designs a low-energy consumption scheduling method for hybrid mining trucks based on WPT technology.

发明内容Summary of the invention

本发明要解决的技术问题是针对上述现有技术的不足,提供一种基于WPT技术的混动矿卡低能耗调度方法,通过计算各路径之间的能耗制定高效的运输和充电策略,为混动矿卡提供新的能量补给方式;通过设置充电桩,实现矿卡在运行过程中的充电,降低对传统燃料的依赖,进一步降低能耗。The technical problem to be solved by the present invention is to provide a low-energy consumption scheduling method for hybrid mining trucks based on WPT technology in response to the deficiencies of the above-mentioned prior art. By calculating the energy consumption between each path, efficient transportation and charging strategies are formulated to provide a new energy replenishment method for hybrid mining trucks. By setting up charging piles, charging of mining trucks during operation is realized, reducing dependence on traditional fuels and further reducing energy consumption.

为解决上述技术问题,本发明所采取的技术方案是:一种基于WPT技术的混动矿卡低能耗调度方法,包括以下步骤:In order to solve the above technical problems, the technical solution adopted by the present invention is: a low-energy consumption scheduling method for hybrid mining trucks based on WPT technology, comprising the following steps:

步骤1:设定混合动力矿卡的工作条件、工作模式及自身的车辆状态;Step 1: Set the working conditions, working mode and vehicle status of the hybrid mining truck;

步骤2:构建矿卡优化调度模型的目标函数,以最小化整个矿区的能耗;Step 2: Construct the objective function of the mining truck optimization scheduling model to minimize the energy consumption of the entire mining area;

在露天矿的混动矿卡低能耗调度技术研究中,目标是最小化整个矿区的能耗,以保证作业效率和经济性;In the study of low-energy dispatching technology for hybrid mining trucks in open-pit mines, the goal is to minimize the energy consumption of the entire mining area to ensure operational efficiency and economy;

能耗的计算依赖于装卸载点间的行驶距离以及混动矿卡的载重状态;考虑到下坡行驶时的能量回收,将装卸载点间的距离分为上坡及平路的距离和下坡的距离/>由于能量回收效率和矿卡的载重状态有关,因此计算能耗时还需考虑混动矿卡满载和空载时的每公里能耗Q和能量回收效率η;矿卡从装载点i到卸载点j的能耗Eij以及卸载点j到装载点i的能耗按照以下公式计算:The calculation of energy consumption depends on the driving distance between loading and unloading points and the load status of the hybrid mining truck; considering the energy recovery when driving downhill, the distance between loading and unloading points is divided into uphill and flat road distances. and downhill distance/> Since the energy recovery efficiency is related to the load state of the mining truck, the energy consumption per kilometer Q and the energy recovery efficiency η of the hybrid mining truck when fully loaded and unloaded must also be considered when calculating the energy consumption; the energy consumption E ij of the mining truck from loading point i to unloading point j and the energy consumption from unloading point j to loading point i are calculated according to the following formula:

因此,在整个作业周期内最小化矿卡在m个装载点和n个卸载点之间运输的总能耗Emin为:Therefore, the total energy consumption Emin of minimizing the transportation of mining trucks between m loading points and n unloading points during the entire operation cycle is:

其中,i表示矿卡装载点,j表示矿卡卸载点,Eij表示矿卡从装载点到卸载点的总能耗,Eji表示矿卡从卸载点到装载点的总能耗,表示装载点到卸载点的上坡及平路距离,表示装载点到卸载点的下坡距离,/>表示卸载点到装载点的上坡及平路距离,/>表示卸载点到装载点的下坡距离,Qf表示矿卡满载时每公里消耗的能量,Qe表示矿卡空载时每公里消耗的能量,ηf表示矿卡满载能量回收率,ηe表示矿卡空载能量回收效率;Among them, i represents the loading point of the mining truck, j represents the unloading point of the mining truck, E ij represents the total energy consumption of the mining truck from the loading point to the unloading point, and E ji represents the total energy consumption of the mining truck from the unloading point to the loading point. Indicates the uphill and flat road distance from the loading point to the unloading point. Indicates the downhill distance from the loading point to the unloading point, /> Indicates the uphill and flat road distance from the unloading point to the loading point,/> represents the downhill distance from the unloading point to the loading point, Qf represents the energy consumed per kilometer when the mining truck is fully loaded, Qe represents the energy consumed per kilometer when the mining truck is unloaded, ηf represents the energy recovery rate of the mining truck when fully loaded, and ηe represents the energy recovery efficiency of the mining truck when unloaded;

将矿卡在装卸点之间运输的能耗Emin最小化作为矿卡优化调度模型的目标函数,在确保低能耗的同时,实现效率和成本的最优化;Minimizing the energy consumption Emin of mining trucks in transporting between loading and unloading points is used as the objective function of the mining truck optimization scheduling model, which optimizes efficiency and cost while ensuring low energy consumption.

步骤3:设定矿卡优化调度模型的约束条件,确保露天矿混动矿卡调度的可行性和效率;Step 3: Set the constraints of the mining truck optimization scheduling model to ensure the feasibility and efficiency of hybrid mining truck scheduling in open-pit mines;

所述矿卡优化调度模型包括以下约束条件:The mining truck optimization scheduling model includes the following constraints:

a)矿卡运往每个卸载点的运输总量不能大于卸载点最大容量;a) The total volume of transportation carried by mining trucks to each unloading point cannot be greater than the maximum capacity of the unloading point;

b)矿卡在装载点运输的总量不能超出装载点的总存储量;b) The total volume of the mining truck transported at the loading point cannot exceed the total storage capacity of the loading point;

c)装载点的装车次数要小于一个班次内所有装卸载点的装车次数;c) The number of loadings at a loading point must be less than the number of loadings at all loading and unloading points within a shift;

d)装载点的总出矿量要大于最低产量要求;d) The total output of ore from the loading point must be greater than the minimum output requirement;

e)矿卡运输任务要在设定的工作时间T内完成;e) The mining truck transportation task must be completed within the set working time T;

f)矿卡的剩余电量必须满足从当前位置到下一个目标点或充电站的最低要求;f) The remaining power of the mining card must meet the minimum requirement from the current location to the next destination or charging station;

步骤4:设计基于WPT技术的混动矿卡低能耗调度线性规划算法,求解矿卡优化调度模型,优化混动矿卡在露天矿的低能耗调度路径;Step 4: Design a low-energy consumption scheduling linear programming algorithm for hybrid mining trucks based on WPT technology, solve the mining truck optimization scheduling model, and optimize the low-energy consumption scheduling path of hybrid mining trucks in open-pit mines;

首先确定影响能耗的关键因素;随后,将这些因素融入到线性规划模型中,形成了包含目标函数和一系列约束条件的矿卡优化调度模型;目标函数反映了最小化总能耗的需求,而约束条件则确保了模型的解决方案能在实际操作中得以实施;First, the key factors that affect energy consumption are identified. Then, these factors are integrated into the linear programming model to form a mining truck optimization scheduling model that includes an objective function and a series of constraints. The objective function reflects the need to minimize total energy consumption, while the constraints ensure that the model's solution can be implemented in actual operations.

对算法的计算复杂性进行优化,通过算法预处理步骤降低问题的规模,并利用MATLAB进行模型求解,确保能在合理的时间内得到可行的调度方案;Optimize the computational complexity of the algorithm, reduce the problem size through algorithm preprocessing steps, and use MATLAB to solve the model to ensure that a feasible scheduling solution can be obtained within a reasonable time;

采用基于WPT技术的混动矿卡低能耗调度线性规划算法求解矿卡优化调度模型的具体方法为:The specific method of solving the mining truck optimization scheduling model using the hybrid mining truck low energy consumption scheduling linear programming algorithm based on WPT technology is as follows:

Step1:设定矿卡初始状态并计算能耗;Step 1: Set the initial state of the mining card and calculate the energy consumption;

设定矿卡的初始电量SOC并定义矿卡优化调度模型所有的约束条件;利用地图信息计算混动矿卡在不同路况下下坡制动时的能量回收情况,求解各装卸载点之间的能耗EijSet the initial power SOC of the mining truck and define all the constraints of the mining truck optimization scheduling model; use map information to calculate the energy recovery of the hybrid mining truck during downhill braking under different road conditions, and solve the energy consumption E ij between each loading and unloading point;

Step2:选择矿卡目的地,并计算剩余能耗;Step 2: Select the destination of the mining card and calculate the remaining energy consumption;

根据矿卡当前位置,评估矿卡到达各可能目的地的能耗,选择能耗最低的站点作为下一目的站;计算到达该目的地后矿卡的预期剩余电量;According to the current location of the mining truck, the energy consumption of the mining truck to reach each possible destination is evaluated, and the station with the lowest energy consumption is selected as the next destination; the expected remaining power of the mining truck after reaching the destination is calculated;

Step3:电量可行性判断;Step 3: Determine the feasibility of electricity;

评估矿卡是否有足够电量到达下一个计划目的地;如果电量充足,矿卡将前往该目的地;若不足,转到Step5;Evaluate whether the mining card has enough power to reach the next planned destination; if the power is sufficient, the mining card will go to the destination; if not, go to Step 5;

Step4:约束条件满足性检查;Step 4: Check the satisfaction of constraint conditions;

到达目的地后,检查矿卡是否满足预设的约束条件;如果约束条件得到满足,调度任务结束;否则返回Step2继续优化路径选择;After arriving at the destination, check whether the mining truck meets the preset constraints; if the constraints are met, the scheduling task ends; otherwise, return to Step 2 to continue optimizing the path selection;

Step5:判断并执行充电策略;Step 5: Determine and execute charging strategy;

如果矿卡无法到达下一目的地,判断其是否有足够电量到达最近的WPT充电桩;若可以到达,则前往充电;若不行,则采用柴油提供动力前往充电桩;充电或发电完成后,重新开始路径与目的地的优化过程,回到Step2。If the mining truck cannot reach the next destination, determine whether it has enough power to reach the nearest WPT charging station; if it can reach the destination, go to charge; if not, use diesel to provide power to go to the charging station; after charging or power generation is completed, restart the optimization process of the path and destination and return to Step 2.

采用上述技术方案所产生的有益效果在于:本发明提供的一种基于WPT技术的混动矿卡低能耗调度方法,详细规划了矿卡的运输路线,并准确计算了装载矿石的总量、消耗的总电量和燃油量,以及整个运输过程的总时间和总成本。优化过程通过迭代计算,确保在满足矿场运营需求的同时,达到能耗和成本最小化的目标。The beneficial effect of adopting the above technical solution is that the low-energy consumption scheduling method of hybrid mining trucks based on WPT technology provided by the present invention plans the transportation route of mining trucks in detail, and accurately calculates the total amount of loaded ore, the total amount of electricity and fuel consumed, and the total time and total cost of the entire transportation process. The optimization process ensures that the goal of minimizing energy consumption and cost is achieved while meeting the needs of mine operation through iterative calculations.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

图1为本发明实施例提供的基于WPT技术的混动矿卡低能耗调度线性规划算法的流程图;FIG1 is a flow chart of a linear programming algorithm for low energy consumption scheduling of hybrid mining trucks based on WPT technology provided by an embodiment of the present invention;

图2为本发明实施例提供的矿卡调度运行示例图;FIG2 is a diagram showing an example of a mining truck scheduling operation according to an embodiment of the present invention;

图3为本发明实施例提供的混动矿卡空满载作业循环简图;FIG3 is a schematic diagram of an empty and fully loaded operation cycle of a hybrid mining truck provided by an embodiment of the present invention;

图4为本发明实施例提供的基于WPT的混动矿卡调度能耗变化图;FIG4 is a diagram showing energy consumption changes of a hybrid mining truck based on WPT according to an embodiment of the present invention;

图5为本发明实施例提供的采用不同调度技术的结果对比图;FIG5 is a comparison diagram of results of using different scheduling technologies provided by an embodiment of the present invention;

图6为本发明实施例提供的三种矿卡的能耗对比图,其中,(a)为THMT的能耗,(b)为DMT的能耗,(c)为LPWHT能耗。FIG6 is a comparison diagram of energy consumption of three mining cards provided in an embodiment of the present invention, wherein (a) is the energy consumption of THMT, (b) is the energy consumption of DMT, and (c) is the energy consumption of LPWHT.

具体实施方式Detailed ways

下面结合附图和实施例,对本发明的具体实施方式作进一步详细描述。以下实施例用于说明本发明,但不用来限制本发明的范围。The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

本实施例中,一种基于WPT技术的混动矿卡低能耗调度方法,首先提出假设条件旨在简化实际操作中可能遇到的复杂因素,为后续的模型构建提供明确的分析框架;其次,以最小化整个矿区的能耗作为目标函数;再为确保露天矿混动矿卡调度的可行性和效率设定一系列的约束条件;最后,设计基于WPT技术的混动矿卡低能耗调度线性规划算法(LinearProgramming for WPT-Assisted Hybrid Trucks,LPWHT)并求解。LPWHT算法利用混动矿卡在下坡制动时可以进行能量回收的特点,在算法求解时尽可能选择多的下坡路径以实现低能耗。在该算法中,矿卡仅在剩余电量到达不了充电桩时才启动柴油动力,降低对传统燃料的依赖,达到进一步降低能耗的目的。In this embodiment, a low-energy consumption scheduling method for hybrid mining trucks based on WPT technology is proposed. First, the assumptions are proposed to simplify the complex factors that may be encountered in actual operation, and to provide a clear analysis framework for subsequent model construction; secondly, the energy consumption of the entire mining area is minimized as the objective function; then a series of constraints are set to ensure the feasibility and efficiency of the scheduling of hybrid mining trucks in open-pit mines; finally, a linear programming algorithm for low-energy consumption scheduling of hybrid mining trucks based on WPT technology (Linear Programming for WPT-Assisted Hybrid Trucks, LPWHT) is designed and solved. The LPWHT algorithm uses the characteristics of hybrid mining trucks that can recover energy during downhill braking, and selects as many downhill paths as possible when solving the algorithm to achieve low energy consumption. In this algorithm, the mining truck only starts diesel power when the remaining power cannot reach the charging pile, reducing dependence on traditional fuels and achieving the purpose of further reducing energy consumption.

该方法具体包括以下步骤:The method specifically comprises the following steps:

步骤1:设定混合动力矿卡的工作条件、工作模式及自身的车辆状态;Step 1: Set the working conditions, working mode and vehicle status of the hybrid mining truck;

为简化实际操作中可能遇到的复杂因素,为后续的模型构建提供明确的分析框架,本实施例提出如下假设条件:In order to simplify the complex factors that may be encountered in actual operations and provide a clear analysis framework for subsequent model construction, this embodiment proposes the following assumptions:

(1)每个装载点在一个工作时段内的出矿量是固定的,并且在一个工作时段内不会发生变化。(1) The output of ore from each loading point during a working period is fixed and will not change during a working period.

(2)混合动力矿卡在一个班次内的初始电量为满格,且在电量不足以完成下一次运输任务时,会前往充电站进行充电。当前往充电站时的电量不足时,采用柴油发动机发电。(2) The initial charge of the hybrid mining truck in a shift is full, and when the charge is insufficient to complete the next transportation task, it will go to the charging station for charging. If the charge is insufficient when going to the charging station, the diesel engine is used to generate electricity.

(3)矿卡在装载点的所需装载时长和在卸载点的所需卸载时长是固定的,不受其它因素影响。(3) The required loading time at the loading point and the required unloading time at the unloading point are fixed and are not affected by other factors.

(4)矿卡在运输过程中的满载或空载的速度是恒定的,不受交通、天气等外部因素影响。(4) The speed of the fully loaded or empty mining truck during transportation is constant and is not affected by external factors such as traffic and weather.

(5)每个卸载点的最大卸载能力是固定的,并且在一个工作时段内不会发生变化。(5) The maximum unloading capacity of each unloading point is fixed and will not change during a working period.

(6)矿卡的能量消耗和回收效率由其装载状态和路面条件决定。(6) The energy consumption and recovery efficiency of a mining truck are determined by its loading status and road conditions.

(7)充电站的充电速度是固定的,不受其它因素影响。(7) The charging speed of the charging station is fixed and is not affected by other factors.

(8)在一个工作时段内,装载点、卸载点和充电站的位置是固定的,不会发生变化。(8) During a working period, the locations of loading points, unloading points and charging stations are fixed and will not change.

(9)矿卡在完成装载后,可以选择任何一个卸载点进行卸载,但每次只能选择一个卸载点。(9) After the mining truck has completed loading, it can choose any unloading point to unload, but only one unloading point can be selected at a time.

(10)矿卡在运输和充电过程中不会出现故障或其它需要额外处理时间的情况。(10) The mining card will not malfunction or otherwise require additional processing time during transportation and charging.

以上假设条件旨在简化实际操作中可能遇到的复杂因素,为后续的模型构建提供明确的分析框架。The above assumptions are intended to simplify the complex factors that may be encountered in actual operations and provide a clear analysis framework for subsequent model construction.

步骤2:构建矿卡优化调度模型的目标函数,最小化矿区能耗;Step 2: Construct the objective function of the mining truck optimization scheduling model to minimize the energy consumption of the mining area;

本实施例中,为了最小化矿卡作业周期的能耗和成本,以仅含有一个装载点和一个卸载点及双向路程的矿卡作业周期为一个矿卡单元,同时考虑运输时间优化,保证作业效率和经济性,构建目标函数。能耗计算与装载点和卸载点间路程以及混动矿卡的载重状态有关;下坡行驶的能量回收效率和矿卡的载重状态有关。In this embodiment, in order to minimize the energy consumption and cost of the mining truck operation cycle, the mining truck operation cycle containing only one loading point and one unloading point and a two-way distance is taken as a mining truck unit, and the transportation time optimization is considered to ensure the operation efficiency and economy, and the objective function is constructed. The energy consumption calculation is related to the distance between the loading point and the unloading point and the load state of the hybrid mining truck; the energy recovery efficiency of downhill driving is related to the load state of the mining truck.

矿卡从装载点i到卸载点j的能耗Eij以及卸载点j到装载点i的能耗按照以下公式计算:The energy consumption Eij of the mining truck from loading point i to unloading point j and the energy consumption from unloading point j to loading point i are calculated according to the following formula:

在整个矿区作业周期内矿卡单元在个装载点和个卸载点之间运输的总能耗为:The total energy consumption of the mining truck unit in transporting between loading points and unloading points during the entire mining operation cycle is:

为了在描述目标函数时更加清楚明确,表1给出了目标函数中所使用的各个参数的符号含义:In order to make the description of the objective function clearer, Table 1 gives the symbolic meaning of each parameter used in the objective function:

表1目标函数中参数说明Table 1 Description of parameters in the objective function

将矿卡单元的能耗作为目标函数,在确保低能耗的同时,实现效率和成本的最优化,为混动矿卡调度提供决策支持。Taking the energy consumption of the mining truck unit as the objective function, while ensuring low energy consumption, the efficiency and cost are optimized, providing decision support for hybrid mining truck scheduling.

步骤3:设定矿卡优化调度模型的约束条件,确保露天矿混动矿卡调度的可行性和效率;Step 3: Set the constraints of the mining truck optimization scheduling model to ensure the feasibility and efficiency of hybrid mining truck scheduling in open-pit mines;

本实施例中,矿卡优化调度模型包括以下约束条件:In this embodiment, the mining truck optimization scheduling model includes the following constraints:

a)矿卡运往每个卸载点的运输总量不能大于卸载点最大容量:a) The total volume of transportation carried by mining trucks to each unloading point cannot be greater than the maximum capacity of the unloading point:

b)矿卡在装载点i运输的总量不能超出装载点i的总存储量:b) The total amount of the mining truck transported at loading point i cannot exceed the total storage capacity of loading point i:

c)装载点i的装车次数要小于一个班次内所有装载点的装车次数:c) The number of loadings at loading point i must be less than the number of loadings at all loading points within a shift:

d)装载点的总出矿量要大于最低产量要求:d) The total output of the loading point must be greater than the minimum output requirement:

e)矿卡的工作时间T固定为八小时,所有运输任务必须在此时间内完成:e) The working time of the mining truck is fixed at eight hours, and all transportation tasks must be completed within this time:

f)矿卡的剩余电量必须满足从当前位置到下一个目标点或充电站的最低要求:f) The remaining power of the mining card must meet the minimum requirement from the current location to the next destination or charging station:

Ecurrent-Erequired≥0 (9)E current -E required ≥ 0 (9)

本实施例中,表2给出了矿卡优化调度模型中约束条件所使用的各个参数的符号含义。In this embodiment, Table 2 gives the symbolic meanings of various parameters used in the constraint conditions in the mining truck optimization scheduling model.

表2约束条件中各参数说明Table 2 Description of parameters in constraint conditions

步骤4:设计基于WPT技术的混动矿卡低能耗调度算法,求解矿卡优化调度模型,优化混动矿卡在露天矿的低能耗调度路径;Step 4: Design a low-energy consumption scheduling algorithm for hybrid mining trucks based on WPT technology, solve the mining truck optimization scheduling model, and optimize the low-energy consumption scheduling path of hybrid mining trucks in open-pit mines;

本发明提出了基于线性规划理论的算法,优化混动矿卡在露天矿的低能耗调度路径,在最小化矿卡能耗的,同时满足诸如运输时间、电量限制以及装卸点的容量约束等实际运营需求。在算法的设计中,首先确定影响能耗的关键因素,如矿卡的重载和空载行驶路径、上坡与下坡行驶的能耗差异、以及WPT技术的充电效率等。随后,将这些因素融入到线性规划模型中,形成了包含目标函数和约束条件的数学模型。为了确保线性规划算法可以高效执行,还对算法的计算复杂性进行了优化,降低处理问题的规模。The present invention proposes an algorithm based on linear programming theory to optimize the low-energy consumption scheduling path of hybrid mining trucks in open-pit mines, while minimizing the energy consumption of mining trucks, and meeting actual operational needs such as transportation time, power restrictions, and capacity constraints at loading and unloading points. In the design of the algorithm, the key factors affecting energy consumption are first determined, such as the heavy-load and empty-load driving paths of mining trucks, the difference in energy consumption between uphill and downhill driving, and the charging efficiency of WPT technology. Subsequently, these factors are incorporated into the linear programming model to form a mathematical model containing objective functions and constraints. In order to ensure that the linear programming algorithm can be executed efficiently, the computational complexity of the algorithm is also optimized to reduce the scale of the problem being processed.

本实施例中,基于WPT技术的混动矿卡低能耗调度算法的流程如图1所示。流程图是算法的核心,清晰地描述了从初始状态到达目的状态的逻辑路径。In this embodiment, the process of the low energy consumption scheduling algorithm of the hybrid mining truck based on WPT technology is shown in Figure 1. The flowchart is the core of the algorithm, which clearly describes the logical path from the initial state to the target state.

该算法通过对混动矿卡剩余电量计算和路径优化,可以实现能耗最小和运输效率最高。本实施例实施流程确保了调度算法的清晰性和执行的有效性,为露天矿混动矿卡低能耗调度提供了一种可行的解决方案。The algorithm can achieve minimum energy consumption and maximum transportation efficiency by calculating the remaining power of hybrid mining trucks and optimizing the route. The implementation process of this embodiment ensures the clarity and effectiveness of the scheduling algorithm, and provides a feasible solution for low-energy scheduling of hybrid mining trucks in open-pit mines.

本实施例中,采用型LPWHT算法求解矿卡优化调度模的具体步骤如下:In this embodiment, the specific steps of using the LPWHT algorithm to solve the mining truck optimization scheduling model are as follows:

步骤S1:参数初始化:设定矿卡的初始电量状态,并在矿区地图上标定装载点、卸载点和充电站的位置,再初始化这些点的需求量和矿卡的各项参数,作为调度基础。Step S1: Parameter initialization: Set the initial power state of the mining truck, and mark the locations of loading points, unloading points and charging stations on the mining area map, and then initialize the demand at these points and various parameters of the mining truck as the basis for scheduling.

线性规划被用来定量计算混动矿卡的最优运输路径和调度策略,通过精确调整每辆矿卡的运行路线和运输任务,确保在不违反任何约束条件的前提下,能耗达到可能的最低。Linear programming is used to quantitatively calculate the optimal transportation route and scheduling strategy of hybrid mining trucks. By precisely adjusting the operating route and transportation tasks of each mining truck, it ensures that energy consumption is as low as possible without violating any constraints.

本实施例中,矿卡调度运行示例如图2所示。In this embodiment, an example of mining truck scheduling operation is shown in FIG2 .

在构建露天矿混动矿卡低能耗调度算法的初始阶段,本实施例首先确立了矿区内的基础运营架构,涉及六个装载点A、B、C、D、E、F和三个卸载点a、b、c,以及一个集中位置的充电站Charging station。在一个班次内,从装载点运送矿石往卸载点,在装卸载点之间循环往复。In the initial stage of building a low-energy consumption scheduling algorithm for hybrid mining trucks in open-pit mines, this embodiment first establishes the basic operation architecture in the mining area, involving six loading points A, B, C, D, E, and F and three unloading points a, b, and c, as well as a centralized charging station. In one shift, ore is transported from the loading point to the unloading point, and the ore is transported back and forth between the loading and unloading points.

在充电策略部分,充电桩的充电速率参数被设定,以便在矿卡作业过程中进行有效充电,确保矿卡能够持续作业并最大化作业效率。各装载点的产出量及卸载点的最大处理能力也均已明确,这些数据对于后续确保运输活动遵守矿区容量约束至关重要。In the charging strategy section, the charging rate parameters of the charging piles are set to effectively charge the mining trucks during operation, ensuring that the mining trucks can continue to operate and maximize their operating efficiency. The output of each loading point and the maximum processing capacity of the unloading point are also clearly defined. These data are crucial for subsequent transportation activities to comply with the capacity constraints of the mining area.

本实施例中,露天矿中装卸载点及充电桩的信息如表3所示。In this embodiment, the information of the loading and unloading points and charging piles in the open-pit mine is shown in Table 3.

表3露天矿基础数据Table 3 Open-pit mine basic data

名称name 描述describe 装载点Mounting point A、B、C、D、E、FA, B, C, D, E, F 卸载点Uninstall point a、b、ca, b, c 充电站charging station Charging stationCharging station 一个工作时段内的最低运输量Minimum transportation volume within one working period 9000t9000t 装载点A的出矿量Ore output from loading point A 2000t2000t 装载点B的出矿量Ore output from loading point B 1000t1000t 装载点C的出矿量Ore output from loading point C 2200t2200t 装载点D的出矿量Ore output from loading point D 1400t1400t 装载点E的出矿量Ore output from loading point E 1200t1200t 装载点F的出矿量Ore output from loading point F 1200t1200t 卸载点a的最大卸载能力Maximum unloading capacity at unloading point a 3000吨3000 tons 卸载点b的最大卸载能力Maximum unloading capacity at unloading point b 3000吨3000 tons 卸载点c的最大卸载能力Maximum unloading capacity of unloading point c 3000吨3000 tons 装载时间、卸载时间Loading time, unloading time 5分钟,3分钟5 minutes, 3 minutes 充电桩充电速度Charging speed of charging pile 5kWh/min5kWh/min

本实施例中,矿卡空满载作业循环简图如图3所示。In this embodiment, a simplified diagram of the mining truck empty and full-load operation cycle is shown in FIG3 .

本实施例采用的混动矿卡的参数包括车辆尺寸、总重量、货箱体积以及电池容量等如表4所示,尤其是车辆在不同装载状况下的能耗特征,例如空满载下坡时的能量回收效率也被精确计算并纳入算法中,以优化矿卡的运行路径选择。The parameters of the hybrid mining truck used in this embodiment include vehicle size, gross weight, cargo box volume, and battery capacity as shown in Table 4. In particular, the energy consumption characteristics of the vehicle under different loading conditions, such as the energy recovery efficiency when going downhill with empty or full load, are also accurately calculated and incorporated into the algorithm to optimize the operation path selection of the mining truck.

表4混动矿卡基本参数Table 4 Basic parameters of hybrid mining trucks

此外,从装载点至卸载点的距离及其相应的能耗计算在算法中亦被充分考量,包括上坡、下坡和平路的距离。这些数据的准确性直接影响到能耗计算的可靠性,从而对调度效率产生显著影响。本实施例中,装卸载点及充电桩之间的距离如下表5和表6所示。In addition, the distance from the loading point to the unloading point and its corresponding energy consumption calculation are also fully considered in the algorithm, including the distance of uphill, downhill and flat roads. The accuracy of these data directly affects the reliability of the energy consumption calculation, which has a significant impact on the scheduling efficiency. In this embodiment, the distance between the loading and unloading points and the charging piles is shown in Tables 5 and 6 below.

表5装载点A、B、C与卸载点和充电站之间的上下坡平路距离(km)Table 5 Uphill and downhill flat road distances between loading points A, B, C and unloading points and charging stations (km)

表6装载点D、E、F与卸载点和充电站之间的上下坡平路距离(km)Table 6 Distances on flat roads up and downhill between loading points D, E, F and unloading points and charging stations (km)

步骤S2:计算能耗与选择路径;对矿区内所有可能的路径进行能耗计算,根据能耗的计算结果选择下一目的地,优先考虑能耗最低的路径。本实施例计算得到的各点之间所需电量如表7和表8所示。Step S2: Calculate energy consumption and select paths: Calculate energy consumption for all possible paths in the mining area, select the next destination based on the energy consumption calculation results, and give priority to the path with the lowest energy consumption. The power required between each point calculated in this embodiment is shown in Table 7 and Table 8.

表7装载点到卸载点及充电桩所需电量(kWh)Table 7 Power required from loading point to unloading point and charging pile (kWh)

aa bb cc ChargingCharging AA 12.609212.6092 33.1568533.15685 19.3705519.37055 12.548312.5483 BB 21.4287521.42875 38.5627538.56275 45.472545.4725 15.811515.8115 CC 25.08907525.089075 31.60162531.601625 35.02267535.022675 18.939318.9393 DD 37.892337.8923 37.027337.0273 31.60162531.601625 23.256923.2569 EE 36.9417536.94175 39.5197539.51975 32.7810532.78105 24.583524.5835 FF 42.7083542.70835 20.35847520.358475 47.738647.7386 29.650429.6504

表8卸载点到装载点及充电桩所需电量(kWh)Table 8 Power required from unloading point to loading point and charging pile (kWh)

AA BB CC DD EE FF ChargingCharging aa 10.509610.5096 23.668423.6684 40.231840.2318 20.30720.307 4.19444.1944 18.215618.2156 29.6529.65 bb -7.9132-7.9132 18.374418.3744 -6.063-6.063 26.63926.639 23.93723.937 24.148224.1482 3.0263.026 cc 5.14845.1484 29.722829.7228 14.077814.0778 11.7511.75 2.16162.1616 16.884816.8848 31.4531.45

步骤S3:电量检查与充电决策;Step S3: power check and charging decision;

在前往下一目的地前,检查矿卡当前的电量是否足以支撑到达目的地。如果电量不足,算法会自动决定前往充电站补充电量,电量不足以前往充电桩时,再采用柴油发动机发电,确保运输任务的顺利进行。Before heading to the next destination, check whether the current power of the mining truck is sufficient to support the destination. If the power is insufficient, the algorithm will automatically decide to go to the charging station to replenish the power. If the power is insufficient to go to the charging station, the diesel engine will be used to generate electricity to ensure the smooth progress of the transportation task.

步骤S4:执行运输与更新状态:Step S4: Execute transport and update status:

矿卡根据选定的路径进行运输,实时更新其位置和电量状态。在完成装卸载作业后,同步更新装卸点的剩余需求量,为下一轮的运输任务做准备。The mining trucks transport according to the selected route and update their position and power status in real time. After completing the loading and unloading operations, the remaining demand at the loading and unloading point is updated synchronously to prepare for the next round of transportation tasks.

步骤S5:约束检验与运输调整:Step S5: Constraint verification and transportation adjustment:

运输过程中,持续检验矿卡的当前状态是否符合运输需求和其他关键约束条件。如有必要,及时调整路径选择或充电策略,以优化运输效率。During transportation, the current status of the mining truck is continuously checked to see if it meets the transportation requirements and other key constraints. If necessary, the route selection or charging strategy is adjusted in time to optimize transportation efficiency.

步骤S6:迭代优化:Step S6: Iterative optimization:

重复步骤S2至步骤S5,直到找到满足所有约束的最优运输计划。进行成本与效率评估,继续迭代直到满足预定的优化目标。Repeat steps S2 to S5 until the optimal transportation plan that satisfies all constraints is found. Perform cost and efficiency evaluation and continue iterating until the predetermined optimization goal is met.

该算法通过对混动矿卡电量的精确控制和优化路线选择,可以实现能耗最小化。算法流程确保了调度算法的清晰性和执行的有效性,为露天矿混动矿卡低能耗调度提供了一种可行的解决方案。The algorithm can minimize energy consumption by precisely controlling the power of hybrid mining trucks and optimizing route selection. The algorithm process ensures the clarity of the scheduling algorithm and the effectiveness of its execution, providing a feasible solution for low-energy scheduling of hybrid mining trucks in open-pit mines.

本发明提出的算法详细规划了矿卡的运输路线,并准确计算了装载矿石的总量、消耗的总电量和燃油量,以及整个运输过程的总时间和总成本。优化过程通过迭代计算,确保在满足矿场运营需求的同时,达到能耗和成本最小化的目标。本算法的伪代码如表9所示:The algorithm proposed in this paper plans the transportation route of the mining truck in detail and accurately calculates the total amount of ore loaded, the total amount of electricity and fuel consumed, and the total time and total cost of the entire transportation process. The optimization process ensures that the goal of minimizing energy consumption and cost is achieved while meeting the needs of mine operation through iterative calculations. The pseudo code of this algorithm is shown in Table 9:

表9基于WPT技术的混动矿卡低能耗调度算法的伪代码Table 9 Pseudo code of low energy consumption scheduling algorithm for hybrid mining trucks based on WPT technology

随着求解步骤的详尽展示,本实施例的算法设计得以完整呈现。每一步都是为了确保算法的精确性与高效性,同时考虑到能耗优化与作业连续性的双重需求。初始化的各参数设定为运输调度提供了坚实的基础,而路径选择和电量管理的策略则确保了运输过程的顺畅与经济性。通过对装卸点的实时监控和调整,算法能够灵活应对运输过程中可能出现的变数。所述步骤不仅是实现矿区运输低能耗的关键,也为后续发明研究提供了一个稳固的出发点,尤其是在露天矿调度的进一步优化方面。With the detailed display of the solution steps, the algorithm design of this embodiment is fully presented. Each step is to ensure the accuracy and efficiency of the algorithm, while taking into account the dual needs of energy consumption optimization and operation continuity. The initialization of the parameter settings provides a solid foundation for transportation scheduling, while the path selection and power management strategies ensure the smoothness and economy of the transportation process. Through real-time monitoring and adjustment of loading and unloading points, the algorithm can flexibly respond to variables that may occur during transportation. The steps described are not only the key to achieving low energy consumption in mining transportation, but also provide a solid starting point for subsequent invention research, especially in the further optimization of open-pit mine scheduling.

本实施例中,基于WPT的混动矿卡调度能耗变化如图4所示。从图4中可以观察到,矿卡的总能耗,矿卡运行过程中的剩余电量,即图4中的当前能量。图4中特别突出了在到达充电桩之前的这一时间段,此时矿卡的剩余电量已不足以支撑其到达充电站,因而启动了柴油发动机以发电,即增程器。由于混动矿卡的增程器额定工况燃油消耗率为4.11kWh/L,可以清晰地看到矿卡总能耗在此段时间的能耗有一个显著上升。In this embodiment, the energy consumption change of the hybrid mining truck based on WPT is shown in Figure 4. It can be observed from Figure 4 that the total energy consumption of the mining truck, the remaining power during the operation of the mining truck, that is, the current energy in Figure 4. Figure 4 particularly highlights the time period before reaching the charging pile. At this time, the remaining power of the mining truck is not enough to support it to reach the charging station, so the diesel engine is started to generate electricity, that is, the range extender. Since the rated operating fuel consumption rate of the hybrid mining truck's range extender is 4.11kWh/L, it can be clearly seen that the total energy consumption of the mining truck has a significant increase during this period.

此外,两条曲线呈现出的上下波动反映了矿卡在下坡路段的能量回收过程。在某些情况下,下坡段的能量回收甚至超过了该段路程的总能耗,导致了总能耗的减少以及剩余电量的增加。当矿卡到达充电站开始充电时,总能耗呈现为一条水平直线,这表明在充电期间没有能耗的产生;同时,电量则以一条斜线稳步上升,直到恢复至初始的422kWh。矿卡在完成充电后继续运行,直至工作周期结束。In addition, the ups and downs of the two curves reflect the energy recovery process of the mining truck on the downhill section. In some cases, the energy recovery on the downhill section even exceeds the total energy consumption of this section, resulting in a reduction in total energy consumption and an increase in the remaining power. When the mining truck arrives at the charging station and starts charging, the total energy consumption is presented as a horizontal straight line, indicating that no energy consumption is generated during charging; at the same time, the power steadily increases in an oblique line until it returns to the initial 422kWh. After completing charging, the mining truck continues to operate until the end of the working cycle.

本实施例中,在相同工作条件下,无论是工作时长还是完成的运输量,三种不同类型矿卡(基于WPT的混动矿卡、传统混动矿卡、柴油矿卡)之间的能耗与成本差异如图5所示。通过对比可以明显看出,本研究提出的LPWHT在有效降低露天矿的运营成本与能耗方面表现卓越。具体而言,在相同运输量下,LPWHT的运营成本为511.26元,相比之下,传统混动矿卡(Traditional Hybrid Mining Truck,THMT)的成本为714.98元,而柴油矿卡(DieselMining Truck,DMT)则高达2696.96元。同样,在相同的工作时间内,LPWHT的成本为511.26元,显著低于THMT的1052.98元和DMT的3577.98元。In this embodiment, under the same working conditions, whether it is the working time or the completed transportation volume, the energy consumption and cost differences between three different types of mining trucks (WPT-based hybrid mining truck, traditional hybrid mining truck, and diesel mining truck) are shown in Figure 5. By comparison, it can be clearly seen that the LPWHT proposed in this study performs well in effectively reducing the operating costs and energy consumption of open-pit mines. Specifically, under the same transportation volume, the operating cost of LPWHT is 511.26 yuan. In contrast, the cost of the traditional hybrid mining truck (THMT) is 714.98 yuan, while the diesel mining truck (DMT) is as high as 2696.96 yuan. Similarly, within the same working hours, the cost of LPWHT is 511.26 yuan, which is significantly lower than THMT's 1052.98 yuan and DMT's 3577.98 yuan.

另外,由于LPWHT在调度过程中包含了一段充电时间,这导致了在相同工作时间内与相同运输量下成本的差异。就能耗而言,在相同工作时间内,LPWHT的能耗为748.88kWh,THMT的为913.61kWh,而DMT则为2065.68kWh。这一数据反映了WPT技术及混动矿卡的能量回收技术在矿卡调度中的显著影响。本实施例中所提出的调度策略,通过实施WPT技术,不仅优化了能量管理,更实现了能耗的显著降低,从而在经济效益和环境影响两方面均取得了积极成效。In addition, since LPWHT includes a period of charging time in the scheduling process, this leads to cost differences under the same working hours and the same transportation volume. In terms of energy consumption, during the same working hours, the energy consumption of LPWHT is 748.88kWh, that of THMT is 913.61kWh, and that of DMT is 2065.68kWh. This data reflects the significant impact of WPT technology and hybrid mining truck energy recovery technology in mining truck scheduling. The scheduling strategy proposed in this embodiment, by implementing WPT technology, not only optimizes energy management, but also achieves a significant reduction in energy consumption, thereby achieving positive results in both economic benefits and environmental impact.

本实施例中,三种矿卡在同一工作周期内的能耗变化对比如图6所示,将这三个能耗曲线图放置在同一视图中,明显可以看出,配备有能量回收技术的LPWHT和THMT在能耗变化上均表现出明显波动,这一现象归因于能量回收系统的作用,及其使用电力作为主要能源,从而使得这两种混动矿卡的能耗显著低于柴油矿卡的。In this embodiment, the energy consumption changes of the three types of mining trucks in the same working cycle are compared as shown in FIG6 . By placing these three energy consumption curves in the same view, it can be clearly seen that the LPWHT and THMT equipped with energy recovery technology both show obvious fluctuations in energy consumption changes. This phenomenon is attributed to the role of the energy recovery system and its use of electricity as the main energy source, which makes the energy consumption of these two hybrid mining trucks significantly lower than that of diesel mining trucks.

具体地,LPWHT与THMT的差异主要体现在LPWHT的调度方案中采用了WPT技术的充电桩进行充电,而THMT则在电能耗尽后转而使用柴油发动机发电。这一策略导致了THMT的总能耗明显高于LPWHT。通过这一对比,可以清晰地看到WPT技术及混动矿卡能量回收技术对于降低能耗的明显优势。WPT技术的应用不仅优化了矿卡的能源利用效率,而且通过充电桩的设置,减少了对燃油的依赖,进一步降低了能耗。这一技术的应用展现了其在露天矿环境下促进可持续发展和效率提升的巨大潜力。Specifically, the difference between LPWHT and THMT is mainly reflected in the fact that the WPT technology charging pile is used for charging in the scheduling scheme of LPWHT, while THMT uses diesel engines to generate electricity after the power is exhausted. This strategy results in the total energy consumption of THMT being significantly higher than that of LPWHT. Through this comparison, we can clearly see the obvious advantages of WPT technology and hybrid mining truck energy recovery technology in reducing energy consumption. The application of WPT technology not only optimizes the energy utilization efficiency of mining trucks, but also reduces dependence on fuel through the setting of charging piles, further reducing energy consumption. The application of this technology demonstrates its great potential to promote sustainable development and efficiency improvement in open-pit mining environments.

最后应说明的是:以上实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述实施例所记载的技术方案进行修改,或者对其中部分或者全部技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明权利要求所限定的范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope defined by the claims of the present invention.

Claims (5)

1. A mixed mining card low-energy-consumption scheduling method based on WPT technology is characterized by comprising the following steps: the method comprises the following steps:
Step 1: setting working conditions, working modes and vehicle states of the hybrid power mine card;
Step 2: constructing an objective function of an ore card optimization scheduling model to minimize the energy consumption of the whole mining area;
step 3: setting constraint conditions of an ore card optimizing and scheduling model, and ensuring feasibility and efficiency of mixed ore card scheduling of the strip mine;
step 4: and designing a mixed mining card low-energy-consumption scheduling linear programming algorithm based on the WPT technology, solving a mining card optimal scheduling model, and optimizing a low-energy-consumption scheduling path of the mixed mining card in the strip mine.
2. The WPT technology-based hybrid mining card low-energy consumption scheduling method of claim 1, characterized by comprising the following steps: the specific method for constructing the objective function of the ore card optimal scheduling model in the step 2 is as follows:
The calculation of the energy consumption of the mining area depends on the running distance between loading and unloading points and the loading state of the mixed mining card; considering energy recovery during downhill driving, the distance between loading and unloading points is divided into the distance between an ascending slope and a flat road And distance to downhill/>Because the energy recovery efficiency is related to the loading state of the mining card, the energy consumption is calculated by taking the energy consumption Q and the energy recovery efficiency eta of each kilometer of the mixed mining card when the mining card is fully loaded and unloaded into consideration; the energy consumption E ij of the ore card from the loading point i to the unloading point j and the energy consumption from the unloading point j to the loading point i are calculated according to the following formula:
thus, the total energy consumption E min to minimize transport of the mining cards between the m loading points and the n unloading points throughout the entire operating cycle is:
Where i denotes a loading point of the ore card, j denotes an unloading point of the ore card, E ij denotes the total energy consumption of the ore card from the loading point to the unloading point, E ji denotes the total energy consumption of the ore card from the unloading point to the loading point, Representing the distance of the loading point to the unloading point on the uphill slope and level road,/>Representing the downhill distance from the loading point to the unloading point,/>Representing the distance of the load from the unloading point to the loading point on the uphill slope,/>Representing the downhill distance from the unloading point to the loading point, wherein Q f represents the energy consumed per kilometer when the ore card is fully loaded, Q e represents the energy consumed per kilometer when the ore card is empty, eta f represents the full-load energy recovery rate of the ore card, and eta e represents the empty-load energy recovery efficiency of the ore card;
The energy consumption E min for transporting the ore cards between loading and unloading points is minimized as an objective function of an ore card optimizing and dispatching model, and the optimization of efficiency and cost is realized while the low energy consumption is ensured.
3. The WPT technology-based hybrid mining card low-energy consumption scheduling method of claim 2, characterized by comprising the following steps: the ore card optimization scheduling model in the step 3 comprises the following constraint conditions:
a) The total transportation amount of the ore cards to each unloading point cannot be larger than the maximum capacity of the unloading point;
b) The total amount of the ore cards transported at the loading point cannot exceed the total storage amount of the loading point;
c) The loading times of the loading points are smaller than the loading times of all loading and unloading points in one shift;
d) The total yield of the loading point is greater than the minimum yield requirement;
e) The transportation task of the mine truck is completed within a set working time T;
f) The remaining power of the mine card must meet minimum requirements from the current location to the next target point or charging station.
4. The WPT technology-based hybrid mining card low-energy consumption scheduling method of claim 3, wherein the method is characterized by comprising the following steps: step 4, firstly determining key factors influencing energy consumption; then, the factors are integrated into a linear programming model, and a mine card optimization scheduling model comprising an objective function and a series of constraint conditions is formed; the objective function reflects the need to minimize the total energy consumption, while the constraints ensure that the solution of the model can be implemented in actual operation;
Optimizing the calculation complexity of the algorithm, reducing the scale of the problem through an algorithm preprocessing step, and solving a model by utilizing MATLAB, so that a feasible scheduling scheme can be obtained in reasonable time.
5. The WPT technology-based hybrid mining card low-energy consumption scheduling method of claim 3, wherein the method is characterized by comprising the following steps: the specific method for solving the ore card optimizing and scheduling model by adopting the mixed-motion ore card low-energy-consumption scheduling linear programming algorithm based on the WPT technology in the step 3 is as follows:
step1, setting an initial state of a mine card and calculating energy consumption;
Setting an initial electric quantity SOC of the mine card and defining all constraint conditions of an optimal dispatching model of the mine card; calculating the energy recovery condition of the mixed mining truck during downhill braking under different road conditions by using map information, and solving the energy consumption E ij among loading and unloading points;
Step2, selecting a mine card destination, and calculating residual energy consumption;
according to the current position of the ore card, evaluating the energy consumption of the ore card reaching each possible destination, and selecting a station with the lowest energy consumption as a next destination station; calculating the expected residual capacity of the ore card after reaching the destination;
Step3, judging the feasibility of the electric quantity;
Evaluating whether the mine card has enough power to reach the next planned destination; if the charge is sufficient, the mine card will go to the destination; if not, turning to Step5;
Step4, checking the satisfaction of constraint conditions;
after reaching the destination, checking whether the mine card meets preset constraint conditions; if the constraint condition is satisfied, ending the scheduling task; otherwise, returning to Step2 to continue optimizing the path selection;
step5, judging and executing a charging strategy;
if the mine card cannot reach the next destination, judging whether the mine card has enough electric quantity to reach the nearest WPT charging pile; if the charging is available, the charging is carried out; if not, diesel is adopted to provide power to go to the charging pile; after the charging or power generation is completed, the path and destination optimization process is restarted, and the process returns to Step2.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119204898A (en) * 2024-11-28 2024-12-27 碳启城科技(上海)有限公司 A collaborative method for low-carbon scheduling of autonomous driving mining trucks and site selection of refueling points in open-pit mines

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119204898A (en) * 2024-11-28 2024-12-27 碳启城科技(上海)有限公司 A collaborative method for low-carbon scheduling of autonomous driving mining trucks and site selection of refueling points in open-pit mines

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