CN1601539A - Optimization control method of open ore car flow - Google Patents

Abstract

First, shortcut between electrical shovel and unloading point in road network chart is obtained through classical Dijkstra labeling algorithm in graph theory. Next, optimal values as target flow rate of loaded car flow rate and empty car flow rate on the said shortcut are obtained through linear programming model. Then, selectable loading and unloading point is determined by predicting whether queuing phenomena will happens when trucks applied for dispatching reach loading and unloading target point. According to principle of minimal saturation of target flow rate on load, a loading and unloading target point is selected. If the said all saturations of target flow rate are larger than 1, then according to minimal principle of saturation, one loading and unloading target point is selected. The method through negative feedback control and suppress interference realizes target flow rate furthest.

Description

The optimal control method of surface mine wagon flow

Technical field

Large scale industry, traffic engineering truck transport technical field.

Background technology

It is the manual dispatching mode of fixedly joining car that present domestic surface mine is used the most general scheduling mode.The basic way of fixedly joining car is to be equipped with fixing emptying point to each power shovel, be equipped with the truck of fixed qty according to the distance between power shovel and the emptying point, generally speaking, the production task of specifying power shovel is finished in the just back and forth operation between the power shovel of appointment and emptying point of these trucies.This scheduling mode is an independently mini system with each power shovel basically, and it is very little to interact between each mini system.If fault has taken place suddenly a power shovel, its coverage is very limited.This mini system ratio is easier to control and management, adds that this scheduling mode carried out much year, has accumulated suitable rich experience, so its output and benefit also can reach than higher level.

Certainly, it is also apparent fixedly to join the problem that car exists.The most basic problem is exactly the limitation that is subjected to self, and its output and benefit are difficult to improve again.Main cause is analyzed as follows.

First: information is too slow.The present car manual dispatching of fixedly joining, production information seriously lags behind.Such as a power shovel fault has taken place suddenly, relevant truck is in considerable time and do not know, still ceaselessly leaves for this shovel ... therefore, it is fast that information is wanted, set up and detect in time, accurately and communication system, Real-Time Scheduling is carried out in the real-time information of being based on producing.Second: system is too little.For the ease of control and management, fixedly join car large-scale production is isolated artificially to a plurality of isolated mini systems, greatly limited the raising of overall efficiency.This is as cutting out a garment, and many clothes are cut out a piece of cloth in a way with the minimum material to make two or more articles of clothing than every independent sanction of clothes and will be economized cloth.Therefore, it is big that system wants, and be based on the overall situation of large-scale production, and the height that stands in the overall situation is planned as a whole.The the 3rd: dispatch too dead.Fixedly joining car is changeless to the appointment of each truck basically, is " extremely ", and this scheduling is no better than not scheduling.The whole production situation is fast changing, and the scheduling of each empty wagons or loaded vehicle all should be determined the optimum appointment of the overall situation according to application scheduling overall production status constantly.Therefore, scheduling will " work ", the production environment that becomes in the time of adapting to complexity.Have only information fast, system big, scheduling lived, and could fundamentally break through the limitation of fixedly joining car, further improves overall efficiency.Certainly, such system is can be more complicated, each other to influence meeting more, the difficulty of control and management is also inevitable to be increased greatly, has only the more advanced control technology of employing, more senior ladder of management just can control it.

The truck dispatching in surface mine system is a new technology that grows up in the world wide over nearly 20 years, and it can significantly improve the economic benefit of surface mine.Production of Strip Mine practice both at home and abroad shows: adopt the trucking costs of automobile transportation surface mine to account for more than 50% of whole mine producing cost, the transportation machine-team production operation time only accounts for 70%, accounts for 30% unproductive time, has bigger optimization space really.

From the seventies, the truck dispatching in surface mine system begins to come out abroad, and U.S. Cyprus Pima copper mine uses the method for operation simulation dish to dispatch truck, makes production efficiency improve 10%-15%.Early eighties, the installation of the open-air copper mine success of the U.S. Tyrone computer automatic scheduling system, from then on, the development of computing machine truck scheduling has entered a new stage: U.S. module company has developed the dispatching system of DISPATCH by name.Enter the latter stage nineties, above-mentioned DISPATCH upgrades to the GPS location by original beacon location.At present, the application of worldwide existing many surface mine successes this system, new DISPATCH system has adopted GPS to detect the operation of all devices in the pit, the position of substitution beacon.GPS has advantages such as global ground covers continuously, the timing locating speed is fast, good in anti-interference performance, strong security.Installation along with new system, DISPATCH has also developed some the newly-increased system performances and the function of expansion, mainly contain that system flexibility, form, even ore deposit, easily-consumed products are followed the tracks of, detection is weighed, is bored a hole in maintenance tracking, fault diagnosis, power shovel, remote control, side slope detect, infrared near replying etc.

The Dexing copper mine was introduced the truck computer scheduling system from the module mining system company that is positioned at State of Arizona, US Tucson city in 1997, and worldwide many families of this system mine is applied, and the Dexing copper mine is the 88th family.The said firm is since developing the DISPATCH system end of the seventies, and through updating and perfect, hardware product developed into for the 4th generation, and software is to 17 editions.Systemic-function is from the initial truck that only is used for surface mine, the scheduling controlling of power shovel operation, to omnibearing mining production management system development.The function that has come into operation has the car shovel to dispatch, join automatically ore deposit, rig management, slope monitoring, tyre managing etc.In process of production, power shovel and truck assign coupling to reach best, have shortened the truck cycle of operation, have improved economic benefit.System use a computer data communication and satnav, the operation conditions of following the tracks of truck automatically, and can determine the position of mobile device to strengthen the management to equipment operation, maintenance.In the application in several years, make production management on the original basis new step, production efficiency improves more than 8%.But, it cost an arm and a leg, a cover DISPATCH needs about 3,000,000 dollars; The expansion difficulty, the software of purchase is black boxes for the mine management personnel, safeguards that long-term dependence is external, very inconvenience.And this dynamic programming dispatching method is based on prediction, if record inaccurately in advance, this dispatching method has also just lost the value that exists.Therefore it to the bearing accuracy of GPS, truck on the way working time and the precision of loading-unloading vehicle time, the precision of weighing etc. all require very highly, this point has greatly limited its range of application, does not meet China's national situation.The Real-Time Scheduling criterion of present patent application is not based on prediction, and is based on realization.By to realizing the negative feedback control of flow rate, eliminate various influences such as enchancement factor as far as possible, realize the target flow rate to greatest extent.

Goal of the invention

The object of the present invention is to provide a kind of optimal control method of surface mine wagon flow.

In the truck dispatching in surface mine problem, basic entity is power shovel, truck, emptying point and road.The major product of Production of Strip Mine is an ore, for the ore of production some, must peel off the rock of some, and rock is a barren rock.The effect of power shovel is to excavate ore or rock, and on truck; Truck is transported to the emptying point with ore or rock, and the emptying point comprises the ore reduction station, the in line point of rock failure station and rock; At the ore reduction station, ore is unloaded after fragmentation is transported to the ore dressing plant by belt again.At the rock failure station, rock is unloaded after fragmentation is transported to the gully by belt again outwells.At the in line point of rock, truck is directly poured rock into gully.Therefore, the dress of ore, rock, the cyclic process of transporting, unloading are exactly the substance of Production of Strip Mine.

Under the normal condition, in the emptying point, each unsnatches the empty wagons of car all will apply for scheduling, assigns it to an only power shovel by dispatching system, and specifies the optimized operation route; At the power shovel place, each has adorned the loaded vehicle of car also will apply for scheduling, assigns it to an only emptying point by dispatching system, and specifies the optimized operation route.Therefore, so-called " truck scheduling " is exactly under any circumstance, the truck of any application scheduling assigned; So-called " optimal scheduling " carried out optimum to truck exactly and assigned.Our wagon flow optimal control method is exactly to be used for realizing the optimum of truck is assigned.The optimal control method of this surface mine wagon flow can be written as the truck dispatching system kernel software, uses for the user.The operating system that the truck dispatching system kernel software uses is Chinese edition Microsoft Windows2000 Server, consistent for the compiling, the verification environment that guarantee software with actual environment for use, Chinese enterprise version Microsoft SQL server2000 and English edition Borland Delphi 6 must be installed on Windows2000 Server operating system.Can certainly select other software environment.

At first introduce some notions of using in the truck dispatching in surface mine.

Node: comprise power shovel, the point of crossing of emptying point and road.

Highway section: the road between two adjacent nodes.It should be noted that the highway section here is directive, just between two adjacent nodes two highway sections are arranged.

Working time: comprise loaded vehicle working time and empty wagons working time.On some highway sections, loaded vehicle is by being different with empty wagons by the needed time, so this difference is arranged.

Loading and unloading intensity: comprise the working strength of power shovel and the working strength in emptying point, be meant in unit hour that power shovel can adorn how many cars or how many cars the emptying point can unload, unit is/hour.

The preferred number in power shovel and emptying point: generally determine that according to its importance aborning importance is big more by the mine staff, preferred number is big more.For example: influence the power shovel of follow-up work, preferred number is big; The power shovel that later stage can't work, preferred number is big, or the like.Preferred number is divided into Pyatyi, and adjacent two-stage preferred number differs ten times.When distributing the truck resource, preferentially guarantee the loading and unloading point car that preferred number is big, the loading and unloading point is the general designation in power shovel and emptying point.

The operation road: by shortest path calculate each power shovel to each emptying point and each emptying point to each power shovel a shortest path is arranged all, the minimal path here is meant that truck is the shortest the working time between power shovel and emptying point, these shortest paths are called as the operation road, and later truck just moves between power shovel and emptying point and travels according to the operation road.

Flow rate: the goods of supposing truck delivery is continuous, and the carrying capacity of the truck that passes through when the tonnage of the goods that passes through in the unit interval on every operation road or empty wagons operation is called the flow rate of this operation road, and flow rate is divided into loaded vehicle flow rate and empty wagons flow rate again.

The loaded vehicle flow rate: the truck that travels to the emptying point from power shovel must load ore or rock, and the flow rate of this operation road is exactly the tonnage of the goods that passes through in the unit interval on this operation road.The loaded vehicle working time of aggregate tonnage on loaded vehicle flow rate=operation road/operation road.

The empty wagons flow rate: the truck that travels to power shovel from the emptying point must be an empty wagons, the flow rate of this operation road is exactly the truck delivered payload capability of passing through in the unit interval on this operation road, will adorn ore is exactly the delivered payload capability in dress ore deposit, will muck stone be exactly the delivered payload capability of muck stone.The empty wagons working time of total delivered payload capability/operation road on empty wagons flow rate=operation road.

Target flow rate: find the solution the best flow rate on the operation road that linear programming obtains.

Realize flow rate: after assigning through truck, the actual flow rate of current each operation road.

The invention is characterized in that it contains following steps successively:

In the 1st step, in database, set following tables of data:

The 1.1st step, the target code table, it contains:

Each power shovel, the emptying point, truck, the coding in highway section is represented with different start bits respectively;

The 1.2nd step, the highway section parameter list, it contains:

Highway section starting point coding, road segment end coding, highway section empty wagons working time and highway section loaded vehicle working time;

The 1.3rd step, the power shovel parameter list, the emptying point parameter list, they contain respectively:

The power shovel coding, the emptying point coding, the working strength in power shovel and emptying point, truck is estimated due in, the preferred number and the sign that networks, wherein, whether the sign that networks expression power shovel or emptying point be current available; Preferred number is meant power shovel or emptying point importance degree aborning, is divided into to be that Pyatyi, the preferred number of adjacent two-stage differ ten times;

The 1.4th step, the truck parameter list, it contains:

The truck coding, the place ahead target of current truck is power shovel or emptying point, the truck loadtype: 1 expression loaded vehicle, 0 expression empty wagons;

In the 2nd step, the central dispatching computer that is arranged in central dispatching room reads dissimilar parameters respectively from database, deposits following corresponding array in:

Read all parameters in the target code table, deposit the target code array in;

Read all parameters in the parameter list of highway section, deposit the highway section parameter array in;

Read the power shovel parameter list, all parameters in the parameter list of emptying point deposit power shovel parameter array and emptying point parameter array respectively in;

Read all parameters in the truck parameter list, deposit the truck parameter array in;

The 3rd step, central dispatching computer with classical optimization algorithm be dijkstra's algorithm calculate each power shovel to each emptying point and each emptying point arrive the minimal path of each power shovel, i.e. truck the shortest route working time, it contains following steps successively:

In the 3.1st step, from the parameter array of highway section, read the number in all highway sections, and read the starting point coding in each highway section in the parameter array of highway section, terminal point coding, loaded vehicle working time, empty wagons working time;

The 3.2nd step, from the target code array, read all road circuit node numbers, read the power shovel node number in the circuit node again, emptying point node number;

In the 3.3rd step, from the network chart that constitutes by all road circuit nodes and highway section, obtain the minimal path and each emptying point minimal path to all power shovels of each power shovel to all emptying points by above-mentioned dijkstra's algorithm; When calculating power shovel to the minimal path in emptying point, be starting point with the power shovel, the weights in highway section are got loaded vehicle working time; When calculating the emptying point to the minimal path of power shovel, be starting point with the emptying point, the weights in highway section are got empty wagons working time;

The 3.4th step, the 3.3rd all power shovels of obtaining of step to all emptying points and all emptying points to the minimal path of all power shovels and deposit in working time and move the road array;

The 4th step is based on the 3rd each power shovel that obtain of step and the minimal path between the emptying point, the loaded vehicle flow rate x on each minimal path _i, empty wagons flow rate y _kTon/hour be variable, to reach maximum be the objective function that the total production of whole stope is linear programming model to the maximum to the weighted sum of the loaded vehicle flow rate on the minimal path from all power shovels to corresponding emptying point within a certain period of time, obtain the optimum value of loaded vehicle flow rate on each minimal path and the optimum value of empty wagons flow rate, the 4th step was contained following steps successively:

The 4.1st step, in power shovel parameter array and emptying point parameter array, check networking power shovel and emptying point number, if do not have power shovel or do not have the emptying point, then return; If have power shovel and emptying point simultaneously, then read the number in power shovel and emptying point, coding, preferred number and loading and unloading intensity;

In the 4.2nd step,, the variable x of above-mentioned linear programming model is set according to the known conditions that the 4.1st step obtained _iAnd y _k, list following objective function and constraint condition:

Objective function is:

$\mathrm{MaxZ}=\underset{i\∈A}{\mathrm{\Σ}}{c}_i{x}_i,$

Wherein, x _iBe the loaded vehicle flow rate on each minimal path, i.e. the tonnage of the goods that passes through in the unit interval on this operation road is expressed as loaded vehicle working time of the aggregate tonnage/operation road on loaded vehicle flow rate=operation road, x _i〉=0;

c _iThe attach most importance to preferred number of flow rate, c _i＞0, it is the product of the preferred number in the power shovel of corresponding loaded vehicle flow rate correspondence and emptying point;

The A flow rate x that attaches most importance to _iThe set of subscript i, promptly all power shovels are to the set of all emptying point minimal paths;

Z is loaded vehicle flow rate x on each minimal path _iWeighted sum;

Constraint condition is:

x _i, y _kAll more than or equal to 0;

I. truck sum constraint:

$\underset{i\∈A}{\mathrm{\Σ}}{Q}_i{x}_i+\underset{k\∈B}{\mathrm{\Σ}}{R}_k{y}_k\≤N,$

Wherein, x _i, y _kBe respectively loaded vehicle flow rate and empty wagons flow rate, above-mentioned y _kBe meant the truck delivered payload capability of passing through in the unit interval on this operation road, y _kThe empty wagons working time of total delivered payload capability/operation road on the=operation road;

Q _iFlow rate x attaches most importance to _iWith the conversion parameter of required truck quantity on the operation road, unit is hour/ton, Q _iCan be expressed as: Q _i=at the loaded vehicle working time/capacity of corresponding road, Q _i＞0;

Q _ix _iBe exactly the required truck quantity of corresponding road;

R _kBe empty wagons flow rate y _kWith the conversion parameter of required truck quantity on the operation road, unit is hour/ton, R _kCan be expressed as: R _k=at the empty wagons of corresponding road working time/truck delivered payload capability, R _k＞0;

R _ky _kBe exactly the required truck quantity of corresponding road;

The attach most importance to set of flow rate subscript i of A;

B is the set of empty wagons flow rate subscript k;

N is the truck sum, N＞0;

II. each power shovel and emptying point maximum functional strength constraint:

$\underset{i\∈E_j}{\mathrm{\Σ}}{x}_i\≤b_j,$ $\underset{i\∈E_m}{\mathrm{\Σ}}{x}_i\≤d_m,$

Wherein, b _j, d _mBe respectively the maximum functional intensity in power shovel, emptying point, i.e. maximum access intensity, unit is/hour, b _j, d _m＞0;

E _jSet for the loaded vehicle flow rate subscript i of the operation road that leads to power shovel j;

E _mSet for the loaded vehicle flow rate subscript i of the operation road that leads to emptying point m;

III. wagon flow Kirchhoff's law constraint:

$\underset{i\∈E_j}{\mathrm{\Σ}}{T}_i{x}_i-\underset{k\∈F_j}{\mathrm{\Σ}}{S}_k{y}_k=0,$

$\underset{i\∈E_m}{\mathrm{\Σ}}{T}_i{x}_i-\underset{k\∈F_m}{\mathrm{\Σ}}{S}_k{y}_k=0,$

Wherein, T _iFlow rate x attaches most importance to _iWith the conversion parameter of required truck quantity on the operation road, unit is hour/ton, T _iExpression is: T _i=at the loaded vehicle working time/capacity of corresponding road, T _i＞0;

S _kBe empty wagons flow rate y _kWith the conversion parameter of required truck quantity on the operation road, unit is hour/ton; S _kExpression is; S _k=at the empty wagons of corresponding road working time/truck delivered payload capability, S _k＞0;

E _jFor leading to the operation road loaded vehicle flow rate x of power shovel j _iThe set of subscript i;

E _mFor leading to the operation road loaded vehicle flow rate x of emptying point m _iThe set of subscript i;

F _jFor leading to the operation road empty wagons flow rate y of power shovel j _kThe set of subscript k;

F _mFor leading to the operation road empty wagons flow rate y of emptying point m _kThe set of subscript k;

IV. ore quality is the grade constraint:

$\left(\underset{i\∈E_j}{\mathrm{\Σ}}{x}_i\right)H_{\mathrm{lj}}\≤\underset{i\∈E_j}{\mathrm{\Σ}}\left(x_i{g}_i\right)\≤\left(\underset{i\∈E_j}{\mathrm{\Σ}}{x}_i\right)H_{\mathrm{uj}};$

Wherein, g _iBe head grade,

H _Uj, H _LjBe respectively ore object grade bound, H _Uj＞H _Lj＞0;

Again linear programming variable x _i, y _kCoefficient and the constraint right side constant N, b _j, H _Uj, H _Lj, g _iBe stored in the linear programming array;

In the 4.3rd step,, solve the optimum value of loaded vehicle flow rate and the optimum value of empty wagons flow rate, i.e. target flow rate with asking Simplex Method for Solving Linear Programs;

In the 4.4th step, the optimum value that the 4.3rd step was obtained deposits in the road operation array;

In the 5th step, under the arrival interval condition that satisfies based on prediction, the Real-Time Scheduling criterion by based target flow rate saturation degree realizes the target flow rate, and it contains following steps successively:

In the 5.1st step, central dispatching computer judges whether to exist the truck application scheduling that has gps system by the communication computer that is provided with wireless communication terminal, if do not have, then waits for; If have, then change next step over to;

In the 5.2nd step, central dispatching computer reads the truck coding of application truck, the coding in loadtype and this truck place power shovel or emptying point in the truck parameter array;

The 5.3rd step, if truck is empty wagons, just from the empty wagons flow rate of operation road array record, find and current truck emptying point between the empty wagons flow rate greater than all power shovels of 0, be decided to be and can select power shovel, with these power shovel code storage to selecting in the power shovel array; Read the working strength that to select power shovel from the power shovel parameter array; From operation road array, read this power shovel and the corresponding road minimal path in emptying point, truck place, target flow rate and actual flow rate; If truck is loaded vehicle, just from the loaded vehicle flow rate of operation road array record, find and current truck place power shovel between the empty wagons flow rate greater than all emptying points of 0, be decided to be and can select the emptying point, with these emptying point code storage to selecting in the array of emptying point; Read the working strength that to select the emptying point from the emptying point parameter array; Read this emptying point and the corresponding road minimal path of truck place power shovel from operation road array, sent a car the time last time, target flow rate and actual flow rate;

In the 5.4th step,, calculate all the current trucies that can select power shovel and estimate that due in is current time and corresponding road empty wagons time sum if truck is an empty wagons;

If truck is a loaded vehicle, calculates all the current trucies that can select the emptying point and estimate that due in is current time and corresponding road loaded vehicle time sum;

The 5.5th step is if empty wagons reads all and can select known other trucies of power shovel to estimate due in; If loaded vehicle reads all and can select known other trucies in emptying point to estimate due in;

The 5.6th step, if empty wagons is checked optional power shovel successively, send truck the expectation due in of power shovel to, compare with some other known expectation due ins of having sent the truck of this power shovel to, judge whether and can line up at the power shovel place.If the interval of the estimated time of arrival (ETA) of all these trucies all is not less than the loading time of this power shovel, just the truck queuing phenomena then can not take place in the inverse of the working strength of power shovel; Otherwise, then can produce the truck queuing phenomena.If certain power shovel can produce the truck queuing phenomena, it is removed from can select the power shovel array; If loaded vehicle is checked optional emptying point successively, send truck the expectation due in of emptying point to, compare with some other known expectation due ins of having sent the truck in this emptying point to, judge whether and can line up at the place, emptying point.If the interval of the estimated time of arrival (ETA) of all these trucies all is not less than unloading the time of this emptying point, just the truck queuing phenomena then can not take place in the inverse of the working strength in emptying point; Otherwise, then can produce the truck queuing phenomena.If certain emptying point can produce the truck queuing phenomena, it is removed from can select the emptying point array;

In the 5.7th step, if empty wagons, calculating can be selected the power shovel in the power shovel and the empty wagons flow rate saturation degree K of the operation road between the emptying point, empty wagons place _Ji

$K_{\mathrm{ji}}=\frac{q_{\mathrm{ji}}}{p_{\mathrm{ji}}},$

Wherein, p _JiBe the target empty flow rate of operation road between emptying point j and the power shovel i,

q _JiBe the realization empty wagons flow rate of road between emptying point j and the power shovel i, q _Ji=T _Ji/ t _Ji, T wherein _JiBe the total delivered payload capability of operation truck on the road between emptying point j and the power shovel i, unit ton, t _JiBe the empty wagons working time between emptying point j and the power shovel i;

Calculate:

$K_{\min }=\underset{i}{\min }{K}_{\mathrm{ji}},$

With K _MinSelect parameter as road, choose the road of target flow rate saturation degree minimum;

If loaded vehicle, calculating can be selected the emptying point in the emptying point and the loaded vehicle flow rate saturation degree K of the operation road between the power shovel of loaded vehicle place _Ij

$K_{\mathrm{ij}}=\frac{q_{\mathrm{ij}}}{p_{\mathrm{ij}}},$

Wherein, p _IjBe the target loaded vehicle flow rate of operation road between power shovel i and the emptying point j,

q _IjBe the realization loaded vehicle flow rate of road between power shovel i and the emptying point j, q _Ij=T _Ij/ t _Ij, T wherein _IjBe operation truck gross deadweight on the road between power shovel i and the emptying point j, unit ton, t _IjBe the loaded vehicle working time between power shovel i and the emptying point j;

Calculate:

$K_{\min }=\underset{j}{\min }{K}_{\mathrm{ij}},$

With K _MinSelect parameter as road, choose the road of target flow rate saturation degree minimum;

In the 5.8th step, whether check the operation road saturation degree of selecting greater than 1, if forwarded for the 5.10th step to; If not, forwarded for the 5.9th step to;

In the 5.9th step, this power shovel of record or emptying point are the place ahead target of current truck in the truck parameter array, travel according to minimal path.In operation road array, upgrade and realize flow rate, upgrade truck and estimate due in.Upgrade and realize flow rate in two steps, reduce the realization flow rate that truck comes the realization flow rate on luck trade road and increases the operation road that will travel.Upgrade truck and estimate due in also in two steps, remove an expectation due in of loading and unloading point in place when dispatching a car, increase by one to target loading and unloading point and finish the expectation due in, forwarded for the 5.12nd step to;

In the 5.10th step,, the power shovel of all unlatchings is decided to be selects power shovel if empty wagons is reselected and can be selected power shovel; If loaded vehicle is reselected and can be selected the emptying point, emptying point that can discharging with all is decided to be and can selects the emptying point;

The 5.11st step, if empty wagons, the target flow rate saturation degree M of calculating power shovel _i:

$M_i=\frac{\underset{j\∈A}{\mathrm{\Σ}}{q}_{\mathrm{ji}}}{\underset{j\∈A}{\mathrm{\Σ}}{p}_{\mathrm{ji}}},$

A is the set in all emptying points, M _iThe realization degree of the target flow rate of expression power shovel i;

Calculate:

$M_{\min }=\underset{i}{\min }{M}_i,$

With M _MinAs loading and unloading point selection parameter, choose the power shovel of target flow rate saturation degree minimum;

If loaded vehicle calculates the target flow rate saturation degree M in emptying point _j:

$M_j=\frac{\underset{i\∈A}{\mathrm{\Σ}}{q}_{\mathrm{ij}}}{\underset{i\∈A}{\mathrm{\Σ}}{p}_{\mathrm{ij}}},$

A is the set of all power shovels, M _jThe realization degree of the target flow rate of expression emptying point j;

Calculate:

$M_{\min }=\underset{j}{\min }{M}_j$

With M _MinAs loading and unloading point selection parameter, choose the emptying point of target flow rate saturation degree minimum;

Forwarded for the 5.9th step then to;

In the 5.12nd step, finish;

System is in operation, and parameter changes when the highway section, comprises the power shovel shift position, and new open circuit section or discarded highway section need to upgrade highway section tables of data data, come back to for the 3rd step then, carry out the calculating of shortest path again.

If carried out the calculating of shortest path again, new power shovel is arranged, open in new emptying point, and original power shovel or emptying point are closed, perhaps power shovel, the parameter in emptying point changes, and upgrade the power shovel tables of data, the emptying point tables of data got back to for the 4th step then, carried out finding the solution of best flow rate again.

Experiment effect:

In a theoretical calculation problems, the stope scale is 8 power shovels, 3 emptying points.Obtain by computed in software, if fixedly join 42 trucies of car scheme needs according to fixed shovel, and based on our Optimization Dispatching method, need 37 decometer cars, this shows that the Optimization Dispatching ratio is fixedly joined car saving truck 11.9% in theory.

In the on-the-spot scheduling process automatically of some day shifts, production scale is 7 power shovels, and required truck is 29.At this production status, ask two veteran dispatchers to estimate respectively if adopt the car number of fixedly joining the car needs, their results estimated is consistent, now lists in the back:

6 of 03 shovels

5 of 04 shovels

7 of 05 shovels

3 of 06 shovels

10 shovel 1-2 platforms

6 of 11 shovels

4 of 12 shovels

Need 32-33 decometer car altogether.This estimation shows that Optimization Dispatching is saved truck 9.38%-12.12% than fixedly joining car in the reality.

The another one example, if the stope scale is ten power shovels, three emptying points, Optimization Dispatching needs 44 trucies, if fixedly join car scheduling with 44 trucies, by calculating used as can be known truck number when identical, Optimization Dispatching is than fixedly joining car raising output 10.46%.

Description of drawings

Fig. 1. system hardware block diagram of the present invention.

Fig. 2. program circuit general diagram of the present invention.

Fig. 3. initialization general diagram of the present invention.

Fig. 4 .a: the FB(flow block) that minimal path of the present invention is found the solution, b: corresponding network chart.

Fig. 5. best flow rate of the present invention is found the solution FB(flow block).

Fig. 6 .a best flow rate realization flow block diagram of the present invention is when empty wagons is dispatched, when b. dispatches at loaded vehicle.

Embodiment

Terminal is installed on power shovel, the emptying point, and on the truck, by image demonstration/touch-screen input device, portable 32-bit microprocessor and GPS location receiver are formed.The human-computer interaction device is by keyboard, mouse, and display is formed.

Information transmission is as follows:

Power shovel, truck, the emptying point terminal comprises the position node that obtains by gps system with the information of oneself, and truck delivery kind comprises loaded vehicle, and empty wagons by the wireless telecommunications net, is transferred to the communication computer of communication master station by wireless communication terminal; Communication computer is given central dispatching computer by LAN (Local Area Network) with information transmission again, writes corresponding tables of data in the database, calls for dispatcher software.The dispatcher also can check by display.

The dispatcher imports primary data by input equipment the database of central dispatching computer, dispatcher software calculates dispatch command based on the real time data of these data and operation field transmission, be transferred to the communication computer of communication master station again by LAN (Local Area Network), communication computer is transferred to the instruction of truck terminal scheduling by wireless communication terminal by the wireless telecommunications net again, is transferred to power shovel and emptying point and opens or out code.

Before running software, need database to provide following tables of data to read for system.

1) target code table

Each power shovel, the emptying point, road junction, truck, all there is a unique encoding in the highway section, is used for distinguishing different things.Every type of entity coding start bit difference is used for being distinguished.

2) highway section parameter list:

Comprise highway section starting point coding, road segment end coding, highway section coding, highway section empty wagons working time, highway section loaded vehicle working time.

3) power shovel parameter list, emptying point parameter list:

Comprise power shovel coding, the emptying point coding, the working strength in power shovel and emptying point, preferred number, the sign that networks, the sign that networks are used for representing whether power shovel or emptying point be current available.

4) truck parameter list:

Comprise the truck coding, the place ahead target of current truck, the place ahead target is necessary for power shovel or emptying point, and the truck loadtype is divided into loaded vehicle or empty wagons, uses 1,0 expression respectively.

When running software, the data that have following global variable stored programme to call.

1) target code array: comprise all target codes.

2) highway section parameter array: comprise highway section starting point coding, road segment end coding, highway section coding, highway section empty wagons working time, highway section loaded vehicle working time.

3) power shovel parameter array: comprise the power shovel coding, the power shovel working strength, preferred number, the sign that networks, truck is estimated due in.

4) emptying point parameter array: comprise the emptying point coding, the working strength in emptying point, preferred number, the sign that networks, truck is estimated due in.

5) truck parameter array: comprise the truck coding, the place ahead target of current truck, truck loadtype.

6) operation road array: comprise each power shovel to each emptying point and each emptying point the minimal path to each power shovel, i.e. the node of process in the middle of the record, this route working time, target flow rate and actual flow rate.

Initialization:

1) from database, reads all parameters in the target code table, deposit the target code array in.

2) from database, read all parameters in the parameter list of highway section, deposit the highway section parameter array in.

3) from database, read all parameters in the power shovel parameter list, deposit the power shovel parameter array in.

4) from database, read all parameters in the parameter list of emptying point, deposit the emptying point parameter array in.

5) from database, read all parameters in the truck parameter list, deposit the truck parameter array in.

The major function of shortest path model is according to optimization algorithm, calculates the minimal path between the power shovel and emptying point among the road network figure.When the road net network changes, in time minimal path is upgraded according to new data.

Finding the solution the most frequently used in the algorithm of shortest path is dijkstra's algorithm, and it is the good algorithm of generally acknowledging in the graph theory.We are exactly the algorithm of this classics of employing.

List the shortest path calculation process of power shovel between all emptying points below:

1) from the parameter array of highway section, reads the number in all highway sections, and read starting point coding, terminal point coding, loaded vehicle time, the empty wagons time in each highway section in the parameter array of highway section.

2) from the target code array, by the difference of coding, read all road circuit node numbers, read the power shovel node number in the circuit node again, emptying point node number.

3) all road circuit node and highway sections have constituted a whole network figure, can obtain the minimal path that each power shovel arrives all power shovels to minimal path and each emptying point in all emptying points by dijkstra's algorithm.When calculating power shovel to the minimal path in emptying point, be starting point with the power shovel, the weights in highway section are got loaded vehicle working time; When calculating the emptying point to the minimal path of power shovel, be starting point with the emptying point, the weights in highway section are got empty wagons working time.

All power shovels that 4) will obtain to all emptying points and all emptying points to the minimal path of all power shovels and be saved in working time and move the road array.

System is in operation, and parameter changes when the highway section, comprises the power shovel shift position, and new open circuit section or discarded highway section need to upgrade highway section tables of data data, comes back to shortest path then and calculates this step, carries out the calculating of shortest path again.

The dijkstra's algorithm flow process:

Road network figure G, the node number is n among the G, comprises the intersection point of starting point and route, the bar number of route arc is m.The basic ideas of dijkstra's algorithm are: suppose that each node j has a pair of label (d _j, p _j), d wherein _jIt is the working time of shortest path from starting point s to node j; p _jIt then is the subscript of the last node of j node in the shortest path from s to j.The basic process of finding the solution the shortest path first from starting point s to node j is as follows:

1) initialization.Starting point is set to: d _s=0, p _s=s; All other i:d _i=+∞, p _i=i; Mark starting point s, note k=s, other all nodes are made as unmarked.

2) check from all the node k of mark to working time of its direct-connected node j unmarked and to be marked, and setting: d _j=min[d _j, d _k+ l _Kj] l in the formula _KjBe the working time of direct adapter path, and the unmarked node of revising among the j is a node to be marked from node k to j.

3) choose next point.From all nodes to be marked, choose d _jA middle minimum i:d _i=min (d _j), wherein j is all nodes to be marked, some i just be chosen as in the shortest path a bit, and be made as mark.

4) find the last node of node i, from the node of mark, find the some j ' that is directly connected to node i by shortest path,, be provided with: p as last node _i=j '

5) flag node i.If set to be marked is empty, perhaps end point all becomes mark, and then algorithm withdraws from fully, otherwise note k=i forwards 2 to) continue again.

Instantiation:

Existing network figure is as follows, establishes A, and B is a power shovel, and C, D are node, and E is the emptying point.

Be starting point with power shovel A below, search power shovel A is to the shortest path of other points, and the time that marks on the road is the loaded vehicle time.

1) initialization, it is A that starting point is set, label be (0, A) mark, all the other node i are unmarked d _i=+∞, p _i=i (i=B, C, D, E).

2) node of mark is to its direct-connected node unmarked and to be marked from all in check, and the node of mark is A, and node unmarked and to be marked has only node C, must be minimum, d _C=60, the last node of C is A, the label of revising C be (60, A), mark.

3) node of mark is to its direct-connected node unmarked and to be marked from all in check, and the node of mark comprises A, and C, node unmarked and to be marked comprise node D and node E, and it is to be marked revising these two nodes, d _D=60+30=90, d _E=60+80=140, label be respectively (90, D), (140, E).Because d _D=90, d _E=140, d _D＜d _ESo, the last node of D be the C label of revising node D for (90, C) mark.

4) node of mark is to its direct-connected node unmarked and to be marked from all in check, and the node of mark comprises A, C, and D, node unmarked and to be marked comprise Node B and node E, it is to be marked revising these two nodes, d _B=90+80=170, d _E=min (140,90+40)=130, label be respectively (170, B), (130, E).Because d _B=170, d _E=120, d _B＞d _ESo, the last node of E be the D label of revising node E for (130, D) mark.

5) node of mark is to its direct-connected node unmarked and to be marked from all in check, and the node of mark comprises A, C, and D, E, node unmarked and to be marked has only Node B, must be minimum, and the last node of B is D, d _B=170, the label of revising B be (170, D), mark.

6) node of mark is to its direct-connected node unmarked and to be marked from all in check, and end point all becomes mark, whole computation process end, and the label of the preceding E that traces back, obtaining power shovel A is A-C-D-E to the shortest path of emptying point E.Be 130s working time.

Best finding the solution of flow rate is the process of a complexity.At first we will carry out deep investigation, the target of truck dispatching in surface mine problem pursuit and the main constraint condition in the process that pursues one's goal are decided, and then are described this practical problems clear with the mathematics formula---Here it is sets up mathematical model.Setting up mathematical model comprises and variable is set, with variable objective function and constraint condition is write out.Be exactly we wish the target that realizes within a certain period of time, the total production maximum of whole stope always just adopt stripping amount maximum, if all power shovels reach maximum to the weighted sum of the loaded vehicle flow rate in emptying point, just can reach our target.The constraint condition that we select has four classes: the constraint of truck sum, each power shovel and emptying point maximum functional strength constraint, the constraint of wagon flow Kirchhoff's law, ore quality constraint etc.The mathematical model that we set up is a linear programming model, and its essential characteristic is: objective function is the linear function of variable, and constraint condition is the linear equality or the linear inequality of variable.The variable of linear programming model is established is exactly best flow rate on our each bar operation road of requiring.After linear programming model is set up, as long as adopt prior art---ask Simplex Method for Solving Linear Programs, can solve best flow rate.

Introduce the mathematical model of linear programming below.

At first adopt optimization algorithm to calculate minimal path between each power shovel and the emptying point, the variable of model just is set to the loaded vehicle flow rate x on each minimal path _iWith empty wagons flow rate y _k, unit is ton/hour.

Objective function:

$\mathrm{Max\; Z}=\underset{i\∈A}{\mathrm{\Σ}}{c}_i{x}_i,$ Make the Z maximization,

x _iThe flow rate of attaching most importance to, x _i〉=0, c _iThe attach most importance to preferred number of flow rate, c _i＞0, be the power shovel of corresponding loaded vehicle flow rate correspondence and the product of emptying point preferred number,

The attach most importance to set of flow rate subscript i of A

Z is the weighted sum of loaded vehicle flow rate.

Constraint condition:

Constraint condition mainly contains following four classes except the non-negative constraint of variable.

1) truck sum constraint:

$\underset{i\∈A}{\mathrm{\Σ}}{Q}_i{x}_i+\underset{k\∈B}{\mathrm{\Σ}}{R}_k{y}_k\≤N$

x _iThe flow rate of attaching most importance to, x _i〉=0;

y _kBe empty wagons flow rate, y _k〉=0;

Q _iFlow rate x attaches most importance to _iWith the conversion parameter of required truck quantity on the operation road, unit is hour/ton, and computing method are: in the loaded vehicle working time/capacity of corresponding road.Q _ix _iBe exactly the required truck quantity of corresponding road, Q _i＞0.R _kBe empty wagons flow rate y _kWith the conversion parameter of required truck quantity on the operation road, unit is hour/ton, and computing method are: in the empty wagons of corresponding road working time/truck delivered payload capability.R _ky _kBe exactly the required truck quantity of corresponding road, R _k＞0.

The attach most importance to set of flow rate subscript i of A

B is the set of empty wagons flow rate subscript k

N is the truck sum, N＞0.

2) each power shovel and emptying point maximum functional strength constraint:

$\underset{i\∈E_j}{\mathrm{\Σ}}{x}_i\≤b_j,$ $\underset{i\∈E_m}{\mathrm{\Σ}}{x}_i\≤d_m$

Wherein, b _j, d _mBe respectively the maximum functional intensity in power shovel, emptying point, i.e. maximum access intensity, unit is/hour, b _j, d _m＞0;

E _jSet for the loaded vehicle flow rate subscript i of the operation road that leads to power shovel j;

E _mSet for the loaded vehicle flow rate subscript i of the operation road that leads to emptying point m;

3) wagon flow Kirchhoff's law constraint:

$\underset{i\∈E_j}{\mathrm{\Σ}}{T}_i{x}_i-\underset{k\∈F_j}{\mathrm{\Σ}}{S}_k{y}_k=0$

$\underset{i\∈E_m}{\mathrm{\Σ}}{T}_i{x}_i-\underset{k\∈F_m}{\mathrm{\Σ}}{S}_k{y}_k=0$

Wherein, T _iFlow rate x attaches most importance to _iWith the conversion parameter of required truck quantity on the operation road, unit is hour/ton, T _iExpression is: T _i=at the loaded vehicle working time/capacity of corresponding road, T _i＞0;

S _kBe empty wagons flow rate y _kWith the conversion parameter of required truck quantity on the operation road, unit is hour/ton; S _kExpression is: S _k=at the empty wagons of corresponding road working time/truck delivered payload capability, S _k＞0;

E _jFor leading to the operation road loaded vehicle flow rate x of power shovel j _iThe set of subscript i;

E _mFor leading to the operation road loaded vehicle flow rate x of emptying point m _iThe set of subscript i;

F _iFor leading to the operation road empty wagons flow rate y of power shovel j _kThe set of subscript k;

F _mFor leading to the operation road empty wagons flow rate y of emptying point m _kThe set of subscript k;

4) ore quality constraint:

$\left(\underset{i\∈E_m}{\mathrm{\Σ}}{x}_i\right)H_{\mathrm{li}}\≤\underset{i\∈E_m}{\mathrm{\Σ}}\left(x_i{g}_i\right)\≤\left(\underset{i\∈E_m}{\mathrm{\Σ}}{x}_i\right)H_{\mathrm{uj}};$

Wherein, g _iBe head grade, H _Uj, H _LjBe respectively ore object grade bound, H _Uj＞H _Lj＞0;

More than provided our wagon flow mathematics for programming model, its basic structure, pattern are reasonably, have certain ubiquity.Certainly, for different surface mines, under different conditions of demand, the concrete form of mathematical model has difference.

List the detailed calculated flow process that best flow rate is found the solution below:

Find the solution the variable that needs a part, we are called the linear programming array, and the coefficient of linear programming variable of the objective function of linear programming and constraint condition and the constant on constraint right side are being deposited in the inside.

1) in power shovel parameter array and emptying point parameter array, checks networking power shovel and emptying point number,, then return if do not have power shovel or do not have the emptying point; If have power shovel and emptying point, read the number in power shovel and emptying point, coding, preferred number and loading and unloading intensity.

2) according to known conditions, set the variable of linear programming model, list objective function, and constraint condition.The coefficient of linear programming variable and the constant on constraint right side are stored in the linear programming array.

3) Simplex Method for Solving Linear Programs is asked in employing, solves the optimal value of variable, just the optimum value of the optimum value of loaded vehicle flow rate and empty wagons flow rate.

4) these optimum values are stored in the operation road array, call during best flow rate to be achieved.

Finding the solution of linear programming is basic according to the simplicial method principle, is presented in the method for solving that uses in the native system below

1) finds out Search Initial Feasible Basis, determine the Search Initial Feasible Basis feasible solution, set up initial simplex tableau.

2) check each nonbasic variable x _jCheck number be ${\mathrm{\σ}}_j=c_j-\underset{i=1}{\overset{m}{\mathrm{\Σ}}}{c}_i{a}_{\mathrm{ij}},$ If σ _j≤ 0, j=m+1 ..., n; Then obtained optimum solution, can stop calculating, otherwise change next step over to.

3) at σ _i＞0.j=m+1 ..., among the n, if certain σ is arranged _kCorresponding x _kCoefficient column vector P _k≤ 0, then this problem is a unbounded, stops to calculate.Otherwise, change next step over to.

4) according to max (σ _j＞0)=σ _k, determine x _kFor changing to variable, press the θ rule and calculate $\mathrm{\θ}=\min \left(\frac{b_i}{a_{\mathrm{ik}}}\right|a_{\mathrm{ik}}>0).$ Can determine the x of the θ correspondence of a minimum _lBe the variable that swaps out, change next step over to.

5) with a _LkFor principal element carries out iteration, x _kPairing column vector

$P_k=\left(\begin{array}{c}{a}_{1k}\\ a_{2k}\\ ..\\ a_{\mathrm{lk}}\\ ..\\ a_{\mathrm{mk}}\end{array}\right)\⇒\left(\begin{array}{c}0\\ 0\\ ..\\ 1\\ ..\\ 0\end{array}\right)$

With X _BX in the row _lBe changed to x _k, obtain new simplex tableau.Repeat second and went on foot for the 5th step, up to termination.

System is in operation, if carried out the calculating of shortest path again, new power shovel is arranged, and open in new emptying point, and original power shovel or emptying point are closed, perhaps power shovel, the parameter in emptying point changes, and upgrade the power shovel tables of data, the emptying point tables of data, get back to finding the solution this step of best flow rate then, carry out finding the solution of best flow rate again.

Finding the solution the target flow rate between each loading and unloading point that linear programming model obtains, is the dreamboat value that Real-Time Scheduling makes every effort to realize when sending a car.Actual flow rate on the operation road between each loading and unloading point is to realize by the appointment to each truck.In order optimally to assign each truck, make actual flow rate on the road as far as possible near the target flow rate, we have designed the Real-Time Scheduling model.The main part of Real-Time Scheduling model is exactly the Real-Time Scheduling criterion, to the appointment of each truck, and all will be according to the Real-Time Scheduling criterion.We have proposed the Real-Time Scheduling criterion of based target flow rate saturation degree.Can the Real-Time Scheduling criterion be realize the key of Optimization Dispatching.

Arrival interval control strategy based on prediction:

In order to avoid truck before power shovel, to line up as far as possible, improve the work efficiency of truck and power shovel to greatest extent, in the implementation method of best flow rate, added arrival interval control strategy based on prediction.For example from the emptying point to the power shovel, send a car, if the running time of truck from the emptying point to the power shovel can estimate, when dispatching a car, just can obtain expectation that truck arrives power shovel so constantly, for the current time adds running time.Each power shovel all exists some existing trucies to estimate due at any time, and they are determined by the appointment decision-making of making before, are sent by different emptying points.If certain attempts to dispatch a car to a power shovel in certain emptying point constantly, can obtain this truck and estimate due in, this is compared with existing those expectation due ins of power shovel constantly, if with certain interval constantly wherein less than the loading time of this power shovel, just at interval desirable, then take place in respect of the truck queuing in advance, dispatch a car so specifically and can cause the truck queuing, increase the truck stand-by period, influence the efficient of truck work, can under certain restrictive condition, seek another one and meet and at interval control power shovel and avoid this situation.If prediction has certain precision, according to the generation that can well avoid the truck queuing phenomena based on the arrival interval control strategy of prediction.

The Real-Time Scheduling criterion of based target flow rate saturation degree:

Before using the Real-Time Scheduling criterion, need to judge whether the current time interval of sending a car and sending a car last time meets the requirements on the relevant road.

Real-Time Scheduling criterion one:

If empty wagons scheduling, calculating can be selected the power shovel in the power shovel and the empty wagons flow rate saturation degree K of the operation road between the emptying point, empty wagons place _Ji

$K_{\mathrm{ji}}=\frac{q_{\mathrm{ji}}}{p_{\mathrm{ji}}},$ Wherein, p _JiBe the target empty flow rate of operation road between emptying point j and the power shovel i, q _JiBe the realization empty wagons flow rate of road between emptying point j and the power shovel i, q _Ji=T _Ji/ t _Ji, T wherein _JiBe the total delivered payload capability of operation truck on the road between emptying point j and the power shovel i, unit ton, t _JiBe the empty wagons working time between emptying point j and the power shovel i.

Calculate: $K_{\min }=\underset{i}{\min }{K}_{\mathrm{ji}},$

With K _MinSelect parameter as road, choose the road of target flow rate saturation degree minimum.

If loaded vehicle, calculating can be selected the power shovel in the power shovel and the empty wagons flow rate saturation degree K of the operation road between the emptying point, empty wagons place _Ij

$K_{\mathrm{ij}}=\frac{q_{\mathrm{ij}}}{p_{\mathrm{ij}}},$ Wherein, p _IjBe the target loaded vehicle flow rate of operation road between power shovel i and the emptying point j, q _IjBe the realization loaded vehicle flow rate of road between power shovel i and the emptying point j, q _Ij=T _Ij/ t _Ij, T wherein _IjBe operation truck gross deadweight on the road between power shovel i and the emptying point j, unit ton, t _IjBe the loaded vehicle working time between power shovel i and the emptying point j.

Calculate: $K_{\min }=\underset{j}{\min }{K}_{\mathrm{ij}},$

With K _MinSelect parameter as road, choose the road of target flow rate saturation degree minimum.

If the saturation degree of the road of target flow rate saturation degree minimum forwards criterion two to greater than 1.

Real-Time Scheduling criterion two:

If the empty wagons scheduling, the target flow rate saturation degree M of calculating power shovel _i:

$M_i=\frac{\underset{j\∈A}{\mathrm{\Σ}}{q}_{\mathrm{ji}}}{\underset{j\∈A}{\mathrm{\Σ}}{p}_{\mathrm{ji}}},$

A is the set .M in all emptying points _iThe realization degree of the target flow rate of expression power shovel i.

Calculate: $M_{\min }=\underset{i}{\min }{M}_i,$

With M _MinAs loading and unloading point selection parameter, choose the power shovel of target flow rate saturation degree minimum.

If the target flow rate saturation degree M in emptying point is calculated in the loaded vehicle scheduling _j:

$M_j=\frac{\underset{i\∈A}{\mathrm{\Σ}}{q}_{\mathrm{ij}}}{\underset{i\∈A}{\mathrm{\Σ}}{p}_{\mathrm{ij}}},$

A is the set of all power shovels.M _jThe realization degree of the target flow rate of expression emptying point j.

Calculate: $M_{\min }=\underset{j}{\min }{M}_j$

With M _MinAs loading and unloading point selection parameter, choose the emptying point of target flow rate saturation degree minimum.

The empty wagons scheduling flow is as follows

Need a number group record can select the power shovel coding, be called and select the power shovel array.

1) reads the truck coding of applying for truck, loadtype in the truck parameter array.Supposing that truck is an empty wagons, also is that loadtype is 0.

2) from the empty wagons flow rate of operation road array record, find and current truck emptying point between the empty wagons flow rate greater than all power shovels of 0, be decided to be and can select power shovel, with these power shovel code storage to selecting in the power shovel array.Read the working strength that can select power shovel from the power shovel parameter array, read this power shovel and the corresponding road minimal path in emptying point, truck place from operation road array, truck is estimated due in, target flow rate and actual flow rate.

3) calculate all and can select the current truck of power shovel to estimate due in, equal current time and corresponding road empty wagons time sum.

4) reading all can select known other trucies of power shovel to estimate due in.

5) check successively and can select power shovel, send truck the expectation due in of power shovel to, compare, judge whether and to line up at the power shovel place with some other known expectation due ins of having sent the truck of this power shovel to.If the interval of the estimated time of arrival (ETA) of all these trucies all is not less than the loading time of this power shovel, just the truck queuing phenomena then can not take place in the inverse of the working strength of power shovel; Otherwise, then can produce the queuing of truck queuing phenomena.If certain power shovel can produce the truck queuing phenomena, it is removed from can select the power shovel array.

6) check to select whether also to have power shovel in the power shovel, if forward 7 to); If not, forward 10 to)

7) calculate the power shovel to select in the power shovel and the target flow rate saturation degree of the operation road between the emptying point, empty wagons place successively.A power shovel of record saturation degree minimum.

8) check that whether this power shovel saturation degree is greater than 1, if forward 10 to); If not, forward 9 to).

9) this power shovel of record is the place ahead target of current truck in the truck parameter array, travels according to the minimal path between this emptying point and the power shovel.In operation road array, upgrade and realize flow rate, upgrade truck and estimate due in.Upgrade actual flow rate in two steps, reduce truck and come the realization flow rate on luck trade road and the realization flow rate of the operation road that the increase truck will travel; Upgrade truck and estimate due in also in two steps, remove an expectation due in emptying point, place when dispatching a car, increase by one for the target power shovel and finish to estimate due in.

10) reselect and to select power shovel, the power shovel of all unlatchings is decided to be selects power shovel.

11) read the minimal path of all emptying points to power shovel from operation road array, target flow rate and actual flow rate are calculated the power shovel target flow rate saturation degree that can select in the power shovel successively.A power shovel of record saturation degree minimum.

12) this power shovel of record is the place ahead target of current truck in the truck parameter array, travels according to the minimal path between this emptying point and the power shovel.In operation road array, upgrade and realize flow rate, upgrade truck and estimate due in.Upgrade and realize flow rate in two steps, reduce truck and come the realization flow rate on luck trade road and the realization flow rate of the operation road that the increase truck will travel; Upgrade truck and estimate due in also in two steps, remove an expectation due in emptying point, place when dispatching a car, increase by one for the target power shovel and finish to estimate due in.Finish.

The loaded vehicle scheduling flow:

Need a number group record can select the emptying point coding, be called and select the emptying point array.

1) reads the truck coding of applying for truck, loadtype in the truck parameter array.Supposing that truck is a loaded vehicle, also is that loadtype is 1.

2) from the loaded vehicle flow rate of operation road array record, find and current truck power shovel between the empty wagons flow rate greater than all emptying points of 0, be decided to be and can select the emptying point, with these emptying point code storage to selecting in the array of emptying point.Read the working strength that can select the emptying point from the emptying point parameter array, read this emptying point and the corresponding road minimal path of truck place power shovel from operation road array, truck is estimated due in, target flow rate and actual flow rate.

3) calculate all the current trucies that can select the emptying point and estimate due in, equal the current time+the corresponding road loaded vehicle time.

4) reading all can select known other trucies in emptying point to estimate due in.

5) check successively and can select the emptying point, send truck the expectation due in of emptying point to, compare, judge whether and to line up at the place, emptying point with some other known expectation due ins of having sent the truck in this emptying point to.If the interval of the estimated time of arrival (ETA) of all these trucies all is not less than the loading time in this emptying point, just the truck queuing phenomena then can not take place in the inverse of the working strength in emptying point; Otherwise, then can produce the queuing of truck queuing phenomena.If certain emptying point can produce the truck queuing phenomena, it is removed from can select the emptying point array.

6) check to select whether also to have the emptying point in the emptying point, if forward 7 to); If not, forward 10 to)

7) calculate the emptying point to select in the emptying point and the target flow rate saturation degree of the operation road between the power shovel of loaded vehicle place successively.An emptying point of record saturation degree minimum.

8) check that whether this emptying point saturation degree is greater than 1, if forward 10 to); If not, forward 9 to).

9) this emptying point of record is the place ahead target of current truck in the truck parameter array, travels according to the minimal path between this power shovel and the emptying point.In operation road array, upgrade and realize flow rate, upgrade truck and estimate due in.Upgrade and realize flow rate in two steps, the realization flow rate that reduces to come the realization flow rate on luck trade road and increase the operation road that will travel; Upgrade truck and estimate due in also in two steps, remove an expectation due in of place power shovel when dispatching a car, increase by one for the target emptying point and finish to estimate due in.

10) reselect and to select the emptying point, the emptying point of all unlatchings is decided to be selects the emptying point.

11) read the minimal path of all power shovels to the emptying point from operation road array, target flow rate and actual flow rate are calculated the emptying point target flow rate saturation degree that can select in the emptying point successively.An emptying point of record saturation degree minimum.

12) this emptying point of record is the place ahead target of current truck in the truck parameter array, travels according to the minimal path between this power shovel and the emptying point.In operation road array, upgrade and realize flow rate, upgrade truck and estimate due in.Upgrade and realize flow rate in two steps, reduce truck and come the realization flow rate on luck trade road and the realization flow rate of the operation road that the increase truck will travel; Upgrade truck and estimate due in also in two steps, remove an expectation due in of place power shovel when dispatching a car, increase by one for the target emptying point and finish to estimate due in.Finish.

Instantiation:

For a specific example, six A of power shovel are arranged, B, C, D, E, F emptying point one Z of place.Obtain Z-A through linear programming, Z-E, the empty wagons flow rate is greater than 0 between the Z-F.

Suppose in actual production have an empty wagons to file an application, suppose that at this moment the state of present system is as follows.

The ideal of power shovel A sends a car to be spaced apart 5 minutes, power shovel E, and the ideal of F sends a car to be spaced apart 10 minutes.

Last time, last time, last time was before power shovel F sent a car to be 10 minutes before power shovel E sends a car to be 3 minutes before power shovel A sends a car to be 6 minutes.

Unload a Z to power shovel A, E, the road target flow rate saturation degree of F is respectively 0.8,0.9,1.1.

Power shovel A, B, C, D, E, the target flow rate saturation degree of F is respectively 0.6,1.2,0.9,1,0.5,0.8.

1) at first reads the truck that application is dispatched, learn it is empty wagons.

2) the empty wagons flow rate has A greater than 0 power shovel and between the Z of emptying point, E, and F is so comprise power shovel A in the optional power shovel table, E, F.

3) calculate emptying point Z to power shovel A, E, actual the sending a car of F was respectively 6 minutes at interval, and 3 minutes, 10 minutes.

4) power shovel A, E, the F ideal sends a car to be respectively 5 minutes at interval, and 10 minutes, 10 minutes.

5) power shovel E actual send a car to send a car than ideal at interval little at interval, so from optional power shovel, remove, so also remaining power shovel A in the optional power shovel, F.

6) in the optional power shovel also the residue power shovel is arranged, forward 7 to

7) calculate emptying point Z to power shovel A, the target flow rate saturation degree of F is respectively 0.8,1.1.The power shovel of record saturation degree minimum is A.

8) power shovel A saturation degree is not more than 1, forwards 9 to.

9) record power shovel A is the place ahead target of current truck, assigns truck according to the operation road driving between emptying point Z and the power shovel A.

Finish.

Claims (1)

1. the optimal control method of surface mine wagon flow is characterized in that it contains following steps successively:

In the 1st step, in database, set following tables of data:

The 1.1st step, the target code table, it contains:

Each power shovel, the emptying point, truck, the coding in highway section is represented with different start bits respectively;

The 1.2nd step, the highway section parameter list, it contains:

Highway section starting point coding, road segment end coding, highway section empty wagons working time and highway section loaded vehicle working time;

The 1.3rd step, the power shovel parameter list, the emptying point parameter list, they contain respectively:

The power shovel coding, the emptying point coding, the working strength in power shovel and emptying point, truck is estimated due in, the preferred number and the sign that networks, wherein, whether the sign that networks expression power shovel or emptying point be current available; Preferred number is meant power shovel or emptying point importance degree aborning, is divided into to be that Pyatyi, the preferred number of adjacent two-stage differ ten times;

The 1.4th step, the truck parameter list, it contains:

The truck coding, the place ahead target of current truck is power shovel or emptying point, the truck loadtype: 1 expression loaded vehicle, 0 expression empty wagons;

In the 2nd step, the central dispatching computer that is arranged in central dispatching room reads dissimilar parameters respectively from database, deposits following corresponding array in:

Read all parameters in the target code table, deposit the target code array in;

Read all parameters in the parameter list of highway section, deposit the highway section parameter array in;

Read the power shovel parameter list, all parameters in the parameter list of emptying point deposit power shovel parameter array and emptying point parameter array respectively in;

Read all parameters in the truck parameter list, deposit the truck parameter array in;

The 3rd step, central dispatching computer with classical optimization algorithm be dijkstra's algorithm calculate each power shovel to each emptying point and each emptying point arrive the minimal path of each power shovel, i.e. truck the shortest route working time, it contains following steps successively:

In the 3.1st step, from the parameter array of highway section, read the number in all highway sections, and read the starting point coding in each highway section in the parameter array of highway section, terminal point coding, loaded vehicle working time, empty wagons working time;

The 3.2nd step, from the target code array, read all road circuit node numbers, read the power shovel node number in the circuit node again, emptying point node number;

In the 3.3rd step, from the network chart that constitutes by all road circuit nodes and highway section, obtain the minimal path and each emptying point minimal path to all power shovels of each power shovel to all emptying points by above-mentioned dijkstra's algorithm; When calculating power shovel to the minimal path in emptying point, be starting point with the power shovel, the weights in highway section are got loaded vehicle working time; When calculating the emptying point to the minimal path of power shovel, be starting point with the emptying point, the weights in highway section are got empty wagons working time;

The 3.4th step, the 3.3rd all power shovels of obtaining of step to all emptying points and all emptying points to the minimal path of all power shovels and deposit in working time and move the road array;

The 4th step is based on the 3rd each power shovel that obtain of step and the minimal path between the emptying point, the loaded vehicle flow rate x on each minimal path _i, empty wagons flow rate y _kTon/hour be variable, to reach maximum be the objective function that the total production of whole stope is linear programming model to the maximum to the weighted sum of the loaded vehicle flow rate on the minimal path from all power shovels to corresponding emptying point within a certain period of time, obtain the optimum value of loaded vehicle flow rate on each minimal path and the optimum value of empty wagons flow rate, the 4th step was contained following steps successively:

The 4.1st step, in power shovel parameter array and emptying point parameter array, check networking power shovel and emptying point number, if do not have power shovel or do not have the emptying point, then return; If have power shovel and emptying point simultaneously, then read the number in power shovel and emptying point, coding, preferred number and loading and unloading intensity;

In the 4.2nd step,, the variable x of above-mentioned linear programming model is set according to the known conditions that the 4.1st step obtained _iAnd y _k, list following objective function and constraint condition:

Objective function is: $\mathrm{MaxZ}=\underset{i\∈A}{\mathrm{\Σ}}{c}_i{x}_i,$

Wherein, x _iBe the loaded vehicle flow rate on each minimal path, i.e. the tonnage of the goods that passes through in the unit interval on this operation road is expressed as loaded vehicle working time of the aggregate tonnage/operation road on loaded vehicle flow rate=operation road, x _i〉=0; c _iThe attach most importance to preferred number of flow rate, c _i＞0, it is the product of the preferred number in the power shovel of corresponding loaded vehicle flow rate correspondence and emptying point; The A flow rate x that attaches most importance to _iThe set of subscript i, promptly all power shovels are to the set of all emptying point minimal paths; Z is loaded vehicle flow rate x on each minimal path _iWeighted sum;

Constraint condition is:

x _i, y _kAll more than or equal to 0;

I. truck sum constraint:

$\underset{i\∈A}{\mathrm{\Σ}}{Q}_i{x}_i+\underset{k\∈B}{\mathrm{\Σ}}{R}_k{y}_k\≤N,$

Wherein, x _i, y _kBe respectively loaded vehicle flow rate and empty wagons flow rate, above-mentioned y _kBe meant the truck delivered payload capability of passing through in the unit interval on this operation road, y _kThe empty wagons working time of total delivered payload capability/operation road on the=operation road; Q _iFlow rate x attaches most importance to _iWith the conversion parameter of required truck quantity on the operation road, unit is hour/ton, Q _iCan be expressed as: Q _i=at the loaded vehicle working time/capacity of corresponding road, Q _i＞0; Q _ix _iBe exactly the required truck quantity of corresponding road; R _kBe empty wagons flow rate y _kWith the conversion parameter of required truck quantity on the operation road, unit is hour/ton, R _kCan be expressed as: R _k=at the empty wagons of corresponding road working time/truck delivered payload capability, R _k＞0; R _ky _kBe exactly the required truck quantity of corresponding road;

The attach most importance to set of flow rate subscript i of A;

B is the set of empty wagons flow rate subscript k;

N is the truck sum, N＞0;

II. each power shovel and emptying point maximum functional strength constraint:

$\underset{i\∈E_j}{\mathrm{\Σ}}{x}_i\≤b_j,\underset{i\∈E_m}{\mathrm{\Σ}}{x}_i\≤d_m$

Wherein, b _j, d _mBe respectively the maximum functional intensity in power shovel, emptying point, i.e. maximum access intensity, unit is/hour, b _j, d _m＞0; E _jSet for the loaded vehicle flow rate subscript i of the operation road that leads to power shovel j;

E _mSet for the loaded vehicle flow rate subscript i of the operation road that leads to emptying point m;

III. wagon flow Kirchhoff's law constraint:

$\underset{i\∈E_j}{\mathrm{\Σ}}{T}_i{x}_i-\underset{k\∈F_j}{\mathrm{\Σ}}{S}_k{y}_k=0,$

$\underset{i\∈E_m}{\mathrm{\Σ}}{T}_i{x}_i-\underset{k\∈F_m}{\mathrm{\Σ}}{S}_k{y}_k=0,$

Wherein, T _iFlow rate x attaches most importance to _iWith the conversion parameter of required truck quantity on the operation road, unit is hour/ton, T _iExpression is: T _i=at the loaded vehicle working time/capacity of corresponding road, T _i＞0; S _kBe empty wagons flow rate y _kWith the conversion parameter of required truck quantity on the operation road, unit is hour/ton; S _kExpression is: S _k=at the empty wagons of corresponding road working time/truck delivered payload capability, S _k＞0; E _jFor leading to the operation road loaded vehicle flow rate x of power shovel j _iThe set of subscript i;

E _mFor leading to the operation road loaded vehicle flow rate x of emptying point m _iThe set of subscript i;

F _jFor leading to the operation road empty wagons flow rate y of power shovel j _kThe set of subscript k;

F _mFor leading to the operation road empty wagons flow rate y of emptying point m _kThe set of subscript k;

IV. ore quality is the grade constraint:

$\left(\underset{i\∈E_j}{\mathrm{\Σ}}{x}_i\right)H_{\mathrm{lj}}\≤\underset{i\∈E_j}{\mathrm{\Σ}}\left(x_i{g}_i\right)\≤\left(\underset{i\∈E_j}{\mathrm{\Σ}}{x}_i\right)H_{\mathrm{uj}};$

Wherein, g _iBe head grade, H _Uj, H _LjBe respectively ore object grade bound, H _Uj＞H _Lj＞0; Again linear programming variable x _i, y _kCoefficient and the constraint right side constant N, b _j, H _Uj, H _Lj, g _iBe stored in the linear programming array;

In the 4.3rd step,, solve the optimum value of loaded vehicle flow rate and the optimum value of empty wagons flow rate, i.e. target flow rate with asking Simplex Method for Solving Linear Programs;

In the 4.4th step, the optimum value that the 4.3rd step was obtained deposits in the road operation array;

In the 5th step, under the arrival interval condition that satisfies based on prediction, the Real-Time Scheduling criterion by based target flow rate saturation degree realizes the target flow rate, and it contains following steps successively:

In the 5.1st step, central dispatching computer judges whether to deposit by the communication computer that is provided with wireless communication terminal

Having the truck application scheduling of gps system,, then wait for if do not have; If have, then change next step over to;

In the 5.2nd step, central dispatching computer reads the truck coding of application truck, the coding in loadtype and this truck place power shovel or emptying point in the truck parameter array;

The 5.3rd step, if truck is empty wagons, just from the empty wagons flow rate of operation road array record, find and current truck emptying point between the empty wagons flow rate greater than all power shovels of 0, be decided to be and can select power shovel, with these power shovel code storage to selecting in the power shovel array; Read the working strength that to select power shovel from the power shovel parameter array; From operation road array, read this power shovel and the corresponding road minimal path in emptying point, truck place, target flow rate and actual flow rate;

If truck is loaded vehicle, just from the loaded vehicle flow rate of operation road array record, find and current truck place power shovel between the empty wagons flow rate greater than all emptying points of 0, be decided to be and can select the emptying point, with these emptying point code storage to selecting in the array of emptying point; Read the working strength that to select the emptying point from the emptying point parameter array; Read this emptying point and the corresponding road minimal path of truck place power shovel from operation road array, sent a car the time last time, target flow rate and actual flow rate;

In the 5.4th step,, calculate all the current trucies that can select power shovel and estimate that due in is current time and corresponding road empty wagons time sum if truck is an empty wagons;

If truck is a loaded vehicle, calculates all the current trucies that can select the emptying point and estimate that due in is current time and corresponding road loaded vehicle time sum;

The 5.5th step is if empty wagons reads all and can select known other trucies of power shovel to estimate due in;

If loaded vehicle reads all and can select known other trucies in emptying point to estimate due in;

The 5.6th step, if empty wagons is checked optional power shovel successively, send truck the expectation due in of power shovel to, compare with some other known expectation due ins of having sent the truck of this power shovel to, judge whether and can line up at the power shovel place; If the interval of the estimated time of arrival (ETA) of all these trucies all is not less than the loading time of this power shovel, just the truck queuing phenomena then can not take place in the inverse of the working strength of power shovel; Otherwise, then can produce the truck queuing phenomena.If certain power shovel can produce the truck queuing phenomena, it is removed from can select the power shovel array;

If loaded vehicle is checked optional emptying point successively, send truck the expectation due in of emptying point to, compare with some other known expectation due ins of having sent the truck in this emptying point to, judge whether and can line up at the place, emptying point.If the interval of the estimated time of arrival (ETA) of all these trucies all is not less than unloading the time of this emptying point, just the truck queuing phenomena then can not take place in the inverse of the working strength in emptying point; Otherwise, then can produce the truck queuing phenomena.If certain emptying point can produce the truck queuing phenomena, it is removed from can select the emptying point array;

In the 5.7th step, if empty wagons, calculating can be selected the power shovel in the power shovel and the empty wagons flow rate saturation degree K of the operation road between the emptying point, empty wagons place _Ji

$K_{\mathrm{ji}}=\frac{q_{\mathrm{ji}}}{p_{\mathrm{ji}}},$

Wherein, p _JiBe the target empty flow rate of operation road between emptying point j and the power shovel i, q _JiBe the realization empty wagons flow rate of road between emptying point j and the power shovel i, q _Ji=T _Ji/ t _Ji, T wherein _JiBe the total delivered payload capability of operation truck on the road between emptying point j and the power shovel i, unit ton, t _JiBe the empty wagons working time between emptying point j and the power shovel i;

Calculate: $K_{\min }=\underset{i}{\min }{K}_{\mathrm{ji}},$

With K _MinSelect parameter as road, choose the road of target flow rate saturation degree minimum;

If loaded vehicle, calculating can be selected the emptying point in the emptying point and the loaded vehicle flow rate saturation degree K of the operation road between the power shovel of loaded vehicle place _Ij

$K_{\mathrm{ij}}=\frac{q_{\mathrm{ij}}}{p_{\mathrm{ij}}},$

Wherein, p _IjBe the target loaded vehicle flow rate of operation road between power shovel i and the emptying point j, q _IjBe the realization loaded vehicle flow rate of road between power shovel i and the emptying point j, q _Ij=T _Ij/ t _Ij, T wherein _IjBe operation truck gross deadweight on the road between power shovel i and the emptying point j, unit ton, t _IjBe the loaded vehicle working time between power shovel i and the emptying point j;

Calculate: $K_{\min }=\underset{j}{\min }{K}_{\mathrm{ij}},$

With K _MinSelect parameter as road, choose the road of target flow rate saturation degree minimum;

In the 5.8th step, whether check the operation road saturation degree of selecting greater than 1, if forwarded for the 5.10th step to; If not, forwarded for the 5.9th step to;

In the 5.9th step, this power shovel of record or emptying point are the place ahead target of current truck in the truck parameter array, travel according to minimal path.In operation road array, upgrade and realize flow rate, upgrade truck and estimate due in.Upgrade and realize flow rate in two steps, reduce the realization flow rate that truck comes the realization flow rate on luck trade road and increases the operation road that will travel.Upgrade truck and estimate due in also in two steps, remove an expectation due in of loading and unloading point in place when dispatching a car, increase by one to target loading and unloading point and finish the expectation due in, forwarded for the 5.12nd step to;

In the 5.10th step,, the power shovel of all unlatchings is decided to be selects power shovel if empty wagons is reselected and can be selected power shovel;

If loaded vehicle is reselected and can be selected the emptying point, emptying point that can discharging with all is decided to be and can selects the emptying point;

The 5.11st step, if empty wagons, the target flow rate saturation degree M of calculating power shovel _i:

$M_i=\frac{\underset{j\∈A}{\mathrm{\Σ}}{q}_{\mathrm{ji}}}{\underset{j\∈A}{\mathrm{\Σ}}{p}_{\mathrm{ji}}},$

A is the set .M in all emptying points _iThe realization degree of the target flow rate of expression power shovel i;

Calculate: $M_{\min }=\underset{i}{\min }{M}_i,$

With M _MinAs loading and unloading point selection parameter, choose the power shovel of target flow rate saturation degree minimum.

If loaded vehicle calculates the target flow rate saturation degree M in emptying point _j:

$M_j=\frac{\underset{j\∈A}{\mathrm{\Σ}}{q}_{\mathrm{ij}}}{\underset{j\∈A}{\mathrm{\Σ}}{p}_{\mathrm{ij}}},$

A is the set of all power shovels, M _jThe realization degree of the target flow rate of expression emptying point j;

Calculate: $M_{\min }=\underset{j}{\min }{M}_j,$

With M _MinAs loading and unloading point selection parameter, choose the emptying point of target flow rate saturation degree minimum;

Forwarded for the 5.9th step then to;

In the 5.12nd step, finish.

Images