Balanced state evaluation method and system for mine unmanned transportation system

Abstract

The invention provides a method and system for evaluating the equilibrium state of a mine driverless transportation system, and relates to the field of rail transit, and the method comprises the steps: collecting the first state information of each mine truck in a preset time period and the second state information of a transportation line, and obtaining the first state information of each mine truck according to the first state information; calculating a vehicle equilibrium state evaluation parameter by using the computer equipment according to the first state information, calculating a road equilibrium state evaluation coefficient by using the computer equipment according to the second state information, evaluating the equilibrium state of the mining truck according to the vehicle equilibrium state evaluation parameter, and evaluating the road equilibrium state according to the road equilibrium state evaluation coefficient. And outputting the balance state of the mining truck and the balance state of the road. According to the invention, the working vehicles can be reasonably dispatched, the road maintenance work is arranged, and the maintenance efficiency and the mine transportation safety are improved.

Description

Technical Field

[0001] The present invention relates to the field of rail transportation, and in particular to a method and system for evaluating the equilibrium state of an unmanned mine transportation system. Background Art

[0002] The balanced state evaluation method of the unmanned mining transportation system is a technical means for monitoring and optimizing the load balance of unmanned mining truck clusters and their transportation routes. This method evaluates whether the vehicle operating load and road usage in the unmanned mining transportation system are balanced through data collection and calculation analysis, so as to optimize the scheduling strategy and maintenance plan to ensure the efficient and safe operation of the system.

[0003] In the process of unmanned transportation in mines, unmanned trucks perform cyclic operations through four links: loading, transporting, unloading and returning. However, due to the differences in usage frequency and load of different vehicles and roads, the system efficiency may be reduced, usage may be unbalanced, maintenance costs may be increased, and potential safety hazards may occur. Designing a balanced state evaluation method for unmanned transportation systems in mines is a necessary means to improve system efficiency.

[0004] However, the current management of mining truck clusters and transportation routes is usually based on local road sections. Information collection is not comprehensive enough, and there is a lack of balance assessment of the entire system. Maintenance work cannot be reasonably planned, affecting the overall efficiency and stability of the system. In addition, the existing scheduling methods cannot promptly identify the equilibrium state of vehicles and roads, and cannot quickly adjust the scheduling plan, resulting in low maintenance efficiency, affecting the safety and reliability of vehicle operation. Summary of the invention

[0005] In order to solve the technical problems existing in the prior art that the management of mining truck clusters and transportation routes is usually based on local road sections, information collection is not comprehensive enough, there is a lack of balance assessment of the entire system, and maintenance work cannot be reasonably planned, affecting the overall efficiency and stability of the system, and the existing scheduling methods cannot timely identify the equilibrium state of vehicles and roads, and cannot quickly adjust the scheduling plan, resulting in low maintenance efficiency and affecting the safety and reliability of vehicle operation, the present invention provides a method and system for evaluating the equilibrium state of a mine unmanned transportation system.

[0006] The technical solution provided by the embodiment of the present invention is as follows:

[0007] First aspect

[0008] An embodiment of the present invention provides a method for evaluating the equilibrium state of an unmanned mine transportation system, comprising:

[0009] S1: Collect the first status information of each mining truck within a preset time and the second status information of the transportation route, wherein the first status information includes the number of working vehicles, the number of unloading times of a single vehicle, the capacity of a single vehicle, the queuing time of a single vehicle, the working time of a single vehicle and the number of transportation cycles of a single vehicle, and the second status information includes the number of full-load use times and the number of empty-load use times;

[0010] S2: Calculate vehicle equilibrium state evaluation parameters using a computer device according to the first state information, wherein the vehicle equilibrium state evaluation parameters include the total cargo transportation volume of mining trucks, the average operation time of a single mining truck, the coefficient of variation of the queuing time of mining trucks, the coefficient of variation of the transportation volume at the loading point, and the coefficient of variation of the transportation volume at the unloading point;

[0011] S3: Calculate a road equilibrium state evaluation coefficient using a computer device according to the second state information, wherein the road equilibrium state evaluation coefficient includes a target road section load in the transportation route and a road use variation coefficient of the transportation route;

[0012] S4: evaluating the equilibrium state of the mining truck according to the vehicle equilibrium state evaluation parameter, and evaluating the equilibrium state of the road according to the road equilibrium state evaluation coefficient, wherein the equilibrium state of the mining truck and the road equilibrium state both include a normal state and an abnormal state;

[0013] S5: Output the equilibrium state of the mining truck and the equilibrium state of the road.

[0014] Second aspect

[0015] An embodiment of the present invention provides a mine unmanned transportation system equilibrium state evaluation system, comprising:

[0016] processor;

[0017] A memory having computer-readable instructions stored therein, which, when executed by a processor, implements the method for evaluating the equilibrium state of an unmanned mine transportation system according to the first aspect.

[0018] The third aspect

[0019] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the method for evaluating the equilibrium state of an unmanned mine transportation system according to the first aspect is implemented.

[0020] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0021] In the present invention, firstly, the status information of vehicles and roads is collected. The collected status information specifically includes the number of working vehicles, the number of unloading times of a single vehicle, the capacity of a single vehicle, the queuing time of a single vehicle, the working time of a single vehicle and the number of transport cycles of a single vehicle, the number of full-load uses and the number of empty-load uses, so as to provide a basis for balance evaluation. By comprehensively collecting the status information of vehicles and roads, potential imbalance problems can be discovered in time, and the balance status of vehicles and roads can be globally evaluated to avoid excessive use or idleness of certain vehicles or road sections. By calculating the vehicle balance status evaluation parameters and the road balance status evaluation coefficients, the vehicle and road use balance status can be quantitatively evaluated to provide an accurate data basis for the reasonable planning of road maintenance and scheduling, reduce excessive use of roads, and extend the service life of roads. By evaluating the balance status of mining trucks and roads, the scheduling plan can be quickly adjusted to improve maintenance efficiency, reduce the operation and maintenance costs of mine transportation, and realize efficient, stable and safe operation of mine transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A schematic diagram of a flow chart of a method for evaluating the equilibrium state of an unmanned mine transportation system provided by an embodiment of the present invention;

[0024] Figure 2 A structural schematic diagram of a mine unmanned transportation system equilibrium state evaluation system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0026] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "example" is intended to present the concept in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either of the two.

[0027] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0028] Reference Manual Attached Figure 1, showing a flow chart of a method for evaluating the equilibrium state of an unmanned mine transportation system provided by an embodiment of the present invention.

[0029] The embodiment of the present invention provides a method for evaluating the equilibrium state of an unmanned mine transportation system, which is applied to an evaluation platform for the equilibrium state of an unmanned mine transportation system. The evaluation platform for the equilibrium state of an unmanned mine transportation system includes a load measurement sensor, a positioning device, a communication device, and a computer device of a dispatching center of a mining truck. The processing flow of the method for evaluating the equilibrium state of an unmanned mine transportation system may include the following steps:

[0030] S1: Collect the first status information of each mining truck within a preset time and the second status information of the transportation route, wherein the first status information includes the number of working vehicles, the number of unloading times of a single vehicle, the capacity of a single vehicle, the queuing time of a single vehicle, the working time of a single vehicle and the number of transportation cycles of a single vehicle; the second status information includes the number of full-load uses and the number of empty-load uses.

[0031] Among them, the number of working vehicles is the total number of mining trucks involved in the transportation operation in the system, the number of unloading times of a single vehicle is the total number of unloading times of each mining truck within a specified time, the capacity of a single vehicle is the maximum cargo capacity of each mining truck transported at one time, usually in tons, the queuing time of a single vehicle is the total waiting time of each mining truck during loading or unloading, which can not only reflect the quality of the current scheduling algorithm but also whether the parameter settings of the scheduling system are reasonable, such as the number of vehicles, etc. The working time of a single vehicle is the total time that each mining truck actually engages in transportation tasks, including the entire operation process of loading, transportation, unloading and returning, the number of transportation cycles of a single vehicle is the number of complete transportation cycles completed by each mining truck within the specified time, the number of full-load uses is the number of times the mining truck runs in a fully loaded state during transportation, and the number of empty-load uses is the number of times the mining truck runs in an empty state during transportation.

[0032] It should be noted that by collecting the first status information of mining trucks and the second status information of transportation routes, we can fully understand the operating status of each vehicle and the usage of the routes, which not only provides accurate data support for subsequent balance analysis, but also helps identify bottleneck problems in transportation operations, optimize vehicle scheduling and resource allocation, improve the overall efficiency of the system, and reduce unnecessary idling and resource waste.

[0033] S2: Calculate vehicle equilibrium state evaluation parameters using computer equipment based on the first state information, wherein the vehicle equilibrium state evaluation parameters include the total cargo transportation volume of mining trucks, the average operation time of a single mining truck, the coefficient of variation of the queuing time of mining trucks, the coefficient of variation of the transportation volume at the loading point, and the coefficient of variation of the transportation volume at the unloading point.

[0034] Among them, the total cargo transportation volume refers to the total mass of cargo transported by the mine within a shift, which is closely related to the number of loadings and the load capacity, and directly reflects the freight organization situation in a certain period of mine transportation. The average operating time of a single mining truck is the average working time of each mining truck to perform tasks within a certain period of time, including transportation, loading, unloading and other links. This indicator plays a very important role in the mine vehicle dispatching system and can provide an important reference for optimizing the dispatching strategy and evaluating the system efficiency. The coefficient of variation of the queuing time of mining trucks reflects the degree of difference in the queuing time of each mining truck when waiting for loading or unloading. It is calculated by the standard deviation and mean, indicating the discreteness of the queuing time. The coefficient of variation of the loading point transportation volume indicates the degree of difference in the transportation volume of each loading point, reflecting whether the workload of different loading points is uniform, calculated by the standard deviation and mean of the transportation volume, and the coefficient of variation of the unloading point transportation volume expresses the degree of difference in the transportation volume of each unloading point, reflecting whether the workload of different unloading points is uniform, calculated by the standard deviation and mean of the transportation volume.

[0035] In a possible implementation, the total amount of cargo transported by mining trucks is specifically:

[0036]

[0037] Where V represents the total volume of cargo transported by mining trucks, M i represents the number of unloading times of the i-th mining truck, C i represents the capacity of the i-th mining truck, i = 1, 2, ..., n, and n represents the total number of mining trucks.

[0038] It should be noted that the formula used to calculate the total cargo transportation volume of mining trucks can accurately reflect the overall transportation efficiency of all vehicles over a period of time, quantify the actual contribution of each vehicle, intuitively understand the vehicle load and the overall transportation capacity of the system, avoid waste of resources, and improve the overall efficiency and operational results of the system.

[0039] In a possible implementation, the average operation time of a mining truck is specifically:

[0040]

[0041] Among them, T aver represents the average operating time of mining trucks, represents the total transportation time of the i-th mining truck, C i represents the number of transportation cycles of the i-th mining truck, i = 1, 2, …, n, and n represents the total number of mining trucks.

[0042] In a possible implementation, the coefficient of variation of the queue time of mining trucks is specifically:

[0043]

[0044] Among them, CV QT represents the coefficient of variation of the waiting time of mining trucks, SD(QT) represents the standard deviation of the waiting time of mining trucks, and Mean(QT) represents the mean of the waiting time of mining trucks.

[0045] Specifically, by calculating the coefficient of variation of the queue time of mining trucks and measuring the differences in queue time of each vehicle when loading or unloading, it is helpful to identify the problem of queue imbalance and optimize resource allocation and scheduling strategies, thereby reducing waiting time and improving operational efficiency.

[0046] In a possible implementation, the coefficient of variation of the transportation volume at the loading point and the coefficient of variation of the transportation volume at the unloading point of the mining truck are specifically:

[0047]

[0048] Among them, CV VL represents the coefficient of variation of the transportation volume of mining truck loading points, SD(VL) represents the standard deviation of the transportation volume of mining truck loading points, Mean(VL) represents the mean of the transportation volume of mining truck loading points, CV VD It represents the coefficient of variation of the transportation volume of mining truck unloading points, SD(VD) represents the standard deviation of the transportation volume of mining truck unloading points, and Mean(VD) represents the mean of the transportation volume of mining truck unloading points.

[0049] It should be noted that by calculating the vehicle equilibrium state evaluation parameters, the vehicle operation and the load conditions of each loading and unloading point are quantified, providing data support for scheduling optimization. By analyzing the total transportation volume, operation time, queuing time and coefficient of variation, the uneven load between vehicles and operation points can be accurately identified, helping to optimize vehicle scheduling strategies, improve system efficiency and reduce resource waste.

[0050] S3: Calculate a road equilibrium state evaluation coefficient using a computer device according to the second state information, wherein the road equilibrium state evaluation coefficient includes a target road section load in the transport route and a road usage variation coefficient of the transport route.

[0051] Among them, the target section load refers to the total load of a certain section of a specific transport route, which is usually measured by counting the number of fully loaded and unloaded operations of mining trucks on the section, reflecting the intensity of transport demand carried by the section. The coefficient of variation of road use is used to evaluate the differences in the frequency of use of each section of the transport route, which is measured by calculating the ratio of the standard deviation of the number of uses of each section to the mean, reflecting the degree of imbalance in use between different sections.

[0052] In a possible implementation manner, the target road section load is specifically:

[0053] LR =1*T f +0.5*T e

[0054] Among them, L R represents the load of the target road section, T f represents the number of full-load transportation times of mining trucks on the target road section, T e Indicates the number of empty-load transportations of mining trucks on the target road section;

[0055] The road use variation coefficient is:

[0056]

[0057] Among them, CV RT represents the coefficient of variation of road use, SD(QT) represents the standard deviation of the number of road use times, and Mean(QT) represents the mean of the number of road use times.

[0058] It should be noted that by calculating the road equilibrium state evaluation coefficient, the load and usage of each road section can be quantified, which helps identify sections of the transport routes that are overloaded or frequently used. This can optimize the planning and maintenance of transport routes, improve the overall utilization efficiency of the road network, extend the life of the road, and reduce wear and maintenance costs caused by excessive use of road sections.

[0059] S4: Evaluate the equilibrium state of the mining truck according to the vehicle equilibrium state evaluation parameter, and evaluate the road equilibrium state according to the road equilibrium state evaluation coefficient, wherein the mining truck equilibrium state and the road equilibrium state both include a normal state and an abnormal state.

[0060] In a possible implementation manner, S4 is specifically:

[0061] When the mining truck queue time variation coefficient is less than the preset mining truck queue time variation coefficient, the loading point transportation volume variation coefficient is less than the preset loading point transportation volume variation coefficient, and the unloading point transportation volume variation coefficient is less than the preset unloading point transportation volume variation coefficient, the mining truck equilibrium state is output as a normal state, otherwise, the mining truck equilibrium state is output as an abnormal state;

[0062] When the target road section load is less than the preset target road section load and the road usage variation coefficient value of the transportation route is less than the preset road usage variation coefficient value, the road balance state is output as a normal state, otherwise, the road balance state is output as an abnormal state.

[0063] It should be noted that those skilled in the art can set the value of the preset loading point transport volume variation coefficient, the preset unloading point transport volume variation coefficient, the preset target section load and the preset road use variation coefficient according to actual needs, and the present invention is not limited thereto.

[0064] Specifically, by comprehensively analyzing the balance status of vehicles and roads, imbalance problems in operations can be effectively identified. When the load and use of mining trucks or roads are abnormal, the system can make timely judgments and prompt dispatchers to make corresponding adjustments, thereby optimizing the dispatch strategy and ensuring the efficient operation of the system. It helps prevent the long-term existence of imbalanced conditions, reduce excessive use of equipment and maintenance costs, and improve the overall reliability and safety of the system.

[0065] S5: Output the equilibrium state of the mining truck and the equilibrium state of the road.

[0066] In a possible implementation manner, after S5, the method further includes:

[0067] In case of abnormality in the balance state of the mining truck or the balance state of the road, an early warning is issued.

[0068] It should be noted that by automatically issuing early warnings when the balance state of mining trucks or roads is abnormal, the dispatching system can respond to imbalances in a timely manner to prevent the problem from continuing to deteriorate. The early warning function helps to detect potential equipment overloads, road wear or low transportation efficiency problems in advance, allowing managers to take corrective measures quickly.

[0069] In actual application, if the equilibrium state of mining trucks and the equilibrium state of roads are both normal, the state parameters are collected again. Otherwise, with the variation coefficient values ​​of the mining truck queuing time coefficient, the loading point transportation volume coefficient and the unloading point transportation volume coefficient being less than the preset variation coefficient values, the mining trucks are balanced and dispatched through genetic algorithms, and the vehicle dispatch indicator variable representing whether the vehicle is dispatched is output. When the road equilibrium state is abnormal, a road maintenance reminder is issued; and the mining trucks and transportation roads are maintained according to the vehicle dispatch indicator variable and the road maintenance reminder.

[0070] The balanced dispatch of mining trucks through genetic algorithm is as follows:

[0071] Initialize the population:

[0072]

[0073] Where X represents the equilibrium dispatching plan for mining trucks, x ijrepresents the jth loading point or unloading point of the i-th mining truck, i=1,2,...n, j=1,2,...m, n represents the total number of mining trucks, and m represents the total number of loading points of mining trucks or the total number of unloading points of mining trucks;

[0074] Design fitness function:

[0075] f(X)=w1CV QT (X)+w2CV VL (X)+w3CV VD (X)+w4E(X)

[0076] Among them, w1, w2, w3 and w4 represent the weight coefficient of the coefficient of variation of the queue time of mining trucks, the weight coefficient of the coefficient of variation of the transportation volume of mining trucks at loading points, the weight coefficient of the coefficient of variation of the transportation volume of mining trucks at unloading points and the weight coefficient of the total energy consumption of mining truck operations, respectively. QT represents the coefficient of variation of the queue time of mining trucks, CV VL represents the coefficient of variation of the transportation volume at the loading point of mining trucks, CV VD represents the coefficient of variation of the transportation volume of mining trucks at the unloading point, and E(X) represents the total energy consumption of mining truck operations;

[0077] Select the equilibrium scheduling scheme with higher fitness in the population by selecting probability:

[0078]

[0079] Among them, P i Represents individual X i The probability of being selected, f max represents the lowest fitness value in the population, X i represents the i-th individual, X j represents the jth individual, i = 1, 2, ... P, j = 1, 2, ... P, P represents the total number of individuals in the population, f(X i ) represents the fitness function of the i-th individual, f(X j ) represents the fitness function of the jth individual;

[0080] Generate the optimal balanced scheduling solution through crossover and mutation operations;

[0081] Determine whether the value of the fitness function is less than the preset threshold. If so, output the solution corresponding to the selected individual as the balanced scheduling solution. Otherwise, return to the initialized population and re-determine the optimal balanced scheduling solution:

[0082]

[0083] in, represents the fitness value of the best individual in the tth generation, The fitness value ∈ of the best individual in the t-1th generation represents the preset threshold.

[0084] It should be noted that by outputting the equilibrium status of mining trucks and roads, the load distribution of vehicles and roads during operation is intuitively displayed, providing a basis for decision-making, which can help quickly identify imbalance points in the system, facilitate timely adjustment of vehicle scheduling or optimization of transportation routes, and ensure maximum system operation efficiency.

[0085] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0086] In the present invention, firstly, the status information of vehicles and roads is collected. The collected status information specifically includes the number of working vehicles, the number of unloading times of a single vehicle, the capacity of a single vehicle, the queuing time of a single vehicle, the working time of a single vehicle and the number of transport cycles of a single vehicle, the number of full-load uses and the number of empty-load uses, so as to provide a basis for balance evaluation. By comprehensively collecting the status information of vehicles and roads, potential imbalance problems can be discovered in time, and the balance status of vehicles and roads can be globally evaluated to avoid excessive use or idleness of certain vehicles or road sections. By calculating the vehicle balance status evaluation parameters and the road balance status evaluation coefficients, the vehicle and road use balance status can be quantitatively evaluated to provide an accurate data basis for the reasonable planning of road maintenance and scheduling, reduce excessive use of roads, and extend the service life of roads. By evaluating the balance status of mining trucks and roads, the scheduling plan can be quickly adjusted to improve maintenance efficiency, reduce the operation and maintenance costs of mine transportation, and realize efficient, stable and safe operation of mine transportation.

[0087] Reference Manual Attached Figure 2 , showing a structural schematic diagram of a mine unmanned transportation system equilibrium state evaluation system provided by the present invention.

[0088] The present invention also provides a mine unmanned transportation system equilibrium state evaluation system 20, which is applied to the above-mentioned mine unmanned transportation system equilibrium state evaluation method, comprising:

[0089] Processor 201.

[0090] The memory 202 stores computer-readable instructions. When the computer-readable instructions are executed by the processor 201, the method for evaluating the equilibrium state of an unmanned mine transportation system according to the method embodiment is implemented.

[0091] The mine unmanned transportation system equilibrium state evaluation system 20 provided by the present invention can execute the above-mentioned mine unmanned transportation system equilibrium state evaluation method and achieve the same or similar technical effects. To avoid repetition, the present invention will not go into details.

[0092] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0093] In the present invention, firstly, the status information of vehicles and roads is collected. The collected status information specifically includes the number of working vehicles, the number of unloading times of a single vehicle, the capacity of a single vehicle, the queuing time of a single vehicle, the working time of a single vehicle and the number of transport cycles of a single vehicle, the number of full-load uses and the number of empty-load uses, so as to provide a basis for balance evaluation. By comprehensively collecting the status information of vehicles and roads, potential imbalance problems can be discovered in time, and the balance status of vehicles and roads can be globally evaluated to avoid excessive use or idleness of certain vehicles or road sections. By calculating the vehicle balance status evaluation parameters and the road balance status evaluation coefficients, the vehicle and road use balance status can be quantitatively evaluated to provide an accurate data basis for the reasonable planning of road maintenance and scheduling, reduce excessive use of roads, and extend the service life of roads. By evaluating the balance status of mining trucks and roads, the scheduling plan can be quickly adjusted to improve maintenance efficiency, reduce the operation and maintenance costs of mine transportation, and realize efficient, stable and safe operation of mine transportation.

[0094] It should be understood that the processor in the embodiment of the present invention may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0095] It should also be understood that the memory in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0096] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When a computer instruction or computer program is loaded or executed on a computer, a process or function according to an embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0097] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0098] In the present invention, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0099] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0100] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0101] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described equipment, devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0102] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0103] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0104] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0105] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0106] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the method for evaluating the equilibrium state of an unmanned mine transportation system according to the method embodiment is implemented.

[0107] A computer-readable storage medium provided by the present invention can implement the steps and effects of the method for evaluating the equilibrium state of an unmanned mine transportation system in the above method embodiment. To avoid repetition, the present invention will not go into details.

[0108] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0109] In the present invention, firstly, the status information of vehicles and roads is collected. The collected status information specifically includes the number of working vehicles, the number of unloading times of a single vehicle, the capacity of a single vehicle, the queuing time of a single vehicle, the working time of a single vehicle and the number of transport cycles of a single vehicle, the number of full-load uses and the number of empty-load uses, so as to provide a basis for balance evaluation. By comprehensively collecting the status information of vehicles and roads, potential imbalance problems can be discovered in time, and the balance status of vehicles and roads can be globally evaluated to avoid excessive use or idleness of certain vehicles or road sections. By calculating the vehicle balance status evaluation parameters and the road balance status evaluation coefficients, the vehicle and road use balance status can be quantitatively evaluated to provide an accurate data basis for the reasonable planning of road maintenance and scheduling, reduce excessive use of roads, and extend the service life of roads. By evaluating the balance status of mining trucks and roads, the scheduling plan can be quickly adjusted to improve maintenance efficiency, reduce the operation and maintenance costs of mine transportation, and realize efficient, stable and safe operation of mine transportation.

[0110] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0111] There are a few points to note:

[0112] (1) The drawings of the embodiments of the present invention only relate to the structures related to the embodiments of the present invention, and other structures may refer to the general design.

[0113] (2) For the sake of clarity, in the drawings used to describe the embodiments of the present invention, the thickness of the layers or regions is exaggerated or reduced, that is, these drawings are not drawn according to the actual scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, the element may be "directly" "on" or "under" the other element or there may be intermediate elements.

[0114] (3) In the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other to obtain new embodiments.

[0115] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for evaluating the equilibrium state of an unmanned mine transportation system, characterized in that: The invention is applied to a balanced state evaluation platform of a mine unmanned transportation system, wherein the balanced state evaluation platform of the mine unmanned transportation system includes a load measurement sensor, a positioning device, a communication device and a computer device of a dispatching center of a mining truck, wherein each mining truck is connected to the dispatching center; the method comprises: S1: Collecting the first status information of each mining truck within a preset time and the second status information of the transportation route, wherein the first status information includes the number of working vehicles, the number of unloading times of a single vehicle, the capacity of a single vehicle, the queuing time of a single vehicle, the working time of a single vehicle and the number of transportation cycles of a single vehicle, and the second status information includes the number of full-load use times and the number of empty-load use times; S2: Calculate vehicle equilibrium state evaluation parameters using the computer device according to the first state information, wherein the vehicle equilibrium state evaluation parameters include the total cargo transportation volume of mining trucks, the average operation time of a single mining truck, the coefficient of variation of the queuing time of mining trucks, the coefficient of variation of the transportation volume at the loading point, and the coefficient of variation of the transportation volume at the unloading point; S3: Calculate a road equilibrium state evaluation coefficient using the computer device according to the second state information, wherein the road equilibrium state evaluation coefficient includes a target road section load in the transportation route and a road use variation coefficient of the transportation route; S4: evaluating the equilibrium state of the mining truck according to the vehicle equilibrium state evaluation parameter, and evaluating the road equilibrium state according to the road equilibrium state evaluation coefficient, wherein the equilibrium state of the mining truck and the road equilibrium state both include a normal state and an abnormal state; S5: Outputting the equilibrium state of the mining truck and the equilibrium state of the road.

2. The method for evaluating the equilibrium state of an unmanned mine transportation system according to claim 1, characterized in that: The total volume of cargo transported by mining trucks is specifically: Where V represents the total volume of cargo transported by mining trucks, M i represents the number of unloading times of the i-th mining truck, C i represents the capacity of the i-th mining truck, i = 1, 2, ..., n, and n represents the total number of mining trucks.

3. The method for evaluating the equilibrium state of an unmanned mine transportation system according to claim 1, characterized in that: The average operating time of the mining truck is specifically: Among them, T aver represents the average operating time of mining trucks, represents the total transportation time of the i-th mining truck, C i represents the number of transportation cycles of the i-th mining truck, i = 1, 2, …, n, and n represents the total number of mining trucks.

4. The method for evaluating the equilibrium state of an unmanned mine transportation system according to claim 1, characterized in that: The coefficient of variation of the queue time of mining trucks is specifically: Among them, CV QT represents the coefficient of variation of the waiting time of mining trucks, SD(QT) represents the standard deviation of the waiting time of mining trucks, and Mean(QT) represents the mean of the waiting time of mining trucks.

5. The method for evaluating the equilibrium state of an unmanned mine transportation system according to claim 1, characterized in that: The coefficient of variation of the transportation volume at the loading point and the coefficient of variation of the transportation volume at the unloading point of the mining truck are specifically: Among them, CV VL represents the coefficient of variation of the transportation volume of mining truck loading points, SD(VL) represents the standard deviation of the transportation volume of mining truck loading points, Mean(VL) represents the mean of the transportation volume of mining truck loading points, CV VD It represents the coefficient of variation of the transportation volume of mining truck unloading points, SD(VD) represents the standard deviation of the transportation volume of mining truck unloading points, and Mean(VD) represents the mean of the transportation volume of mining truck unloading points.

6. The method for evaluating the equilibrium state of an unmanned mine transportation system according to claim 1, characterized in that: The target road section load is specifically: L R =1*T f +0.5*T e Among them, L R represents the load of the target road section, T f represents the number of full-load transportation times of mining trucks on the target road section, T e Indicates the number of empty-load transportations of mining trucks on the target road section; The road use variation coefficient is specifically: Among them, CV RT represents the coefficient of variation of road use, SD(QT) represents the standard deviation of the number of road use times, and Mean(QT) represents the mean of the number of road use times.

7. The method for evaluating the equilibrium state of an unmanned mine transportation system according to claim 1, characterized in that: The S4 is specifically: When the mining truck queue time variation coefficient is less than the preset mining truck queue time variation coefficient, the loading point transportation volume variation coefficient is less than the preset loading point transportation volume variation coefficient, and the unloading point transportation volume variation coefficient is less than the preset unloading point transportation volume variation coefficient, the mining truck equilibrium state is output as a normal state, otherwise, the mining truck equilibrium state is output as an abnormal state; When the target road section load is less than the preset target road section load and the road usage variation coefficient value of the transportation route is less than the preset road usage variation coefficient value, the road balance state is output as a normal state, otherwise, the road balance state is output as an abnormal state.

8. The method for evaluating the equilibrium state of an unmanned mine transportation system according to claim 1, characterized in that: After S5, the method further includes: When the balance state of the mining truck or the balance state of the road is abnormal, an early warning is issued.

9. A mine unmanned transportation system equilibrium state evaluation system, characterized in that: include: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method for evaluating the equilibrium state of an unmanned mine transportation system according to any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for evaluating the equilibrium state of an unmanned mine transportation system as described in any one of claims 1 to 8 is implemented.

Images