Manned transport vehicle scheduling method and device

Abstract

The invention discloses a manned transport vehicle scheduling method and device, and relates to the manned transport vehicle scheduling technology, and the method comprises the steps: obtaining the vehicle information and map data of a target mining area, and generating a global scheduling scheme through the vehicle information and map data, the global scheduling scheme comprises the step of carrying out vehicle scheduling according to the determined number of vehicles to be allocated at each loading point and the determined number of vehicles to be allocated at each heavy-load transportation path; according to the method, the manned transport vehicles in the target mining area are scheduled according to the global scheduling scheme, the mining area vehicles can be accurately scheduled, accurate and balanced scheduling of the manned transport vehicles is realized, the overall efficiency of mining area operation is improved, and the transportation cost is reduced.

Description

Technical Field

[0001] The present application relates to manned transport vehicle scheduling technology, and in particular, to a manned transport vehicle scheduling method and device. Background Art

[0002] Traditional mine manual driving dispatching systems are generally fixed group dispatching, which is characterized by fixedly assigning mining trucks to unique loading and unloading points. Although this dispatching strategy is simple and feasible, with low frequency of target changes and friendly to drivers, it often results in unreasonable vehicle allocation, such as too many vehicles in some areas and insufficient vehicles in other areas, which affects operating efficiency. At the same time, fixed group dispatching is also difficult to adapt to large-scale mining production operation dispatching. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, the present application provides a method and device for dispatching manned transport vehicles.

[0004] The technical solution adopted by this application to solve its technical problem is:

[0005] In a first aspect, a method for dispatching manned transport vehicles is provided, comprising:

[0006] Obtaining vehicle information and map data of the target mining area, wherein the vehicle information includes the type of transport vehicles, the number of transport vehicles, and the speed of the transport vehicles, and the map data includes the geographical coordinates of each loading point, the geographical coordinates of each unloading point, loading equipment data, and information of each heavy-load transportation route, and the loading equipment data includes the number of available loading equipment equipped at each loading point;

[0007] Generating a global dispatching scheme using the vehicle information and the map data, the global dispatching scheme comprising: dispatching vehicles according to the determined number of vehicles to be assigned to each loading point and the number of vehicles to be assigned to each heavy-load transport route;

[0008] Manned transport vehicles in the target mining area are dispatched according to the global dispatch plan.

[0009] Furthermore, in the process of scheduling the manned transport vehicles in the target mining area according to the global scheduling plan, the method also includes: determining in real time whether the local update condition is triggered; after the local update condition is triggered, determining the target local scheduling plan corresponding to the local update condition, and the target local scheduling plan is a part of the global scheduling plan; determining the target update method corresponding to the local update condition; updating the target local scheduling plan according to the target update method; and scheduling the corresponding part of the manned transport vehicles according to the updated target local scheduling plan.

[0010] Furthermore, generating a global dispatching plan using the vehicle information and the map data includes: determining the number of vehicles to be assigned to each loading point using the heavy-load transport time, empty-load transport time, loading time and unloading time of each manned transport vehicle.

[0011] Furthermore, generating a global dispatching plan using the vehicle information and the map data also includes: determining the number of vehicles to be assigned to each heavy-load transport route according to a preset unloading plan based on the type of unloading point.

[0012] Further, determining the number of vehicles to be assigned to each loading point using the heavy-load transportation time, empty-load transportation time, loading time, and unloading time of each manned transportation vehicle includes: determining the number of vehicles to be assigned to each loading point based on a loading point balanced allocation model, wherein the loading point balanced allocation model is: in, Represents any loading point i, n k is the number of vehicles of model k, r i is the vehicle allocation ratio coefficient of loading point i, z i is the number of vehicles that should be allocated to loading point i. The vehicle allocation ratio coefficient of each loading point is determined by the heavy-load transportation time, empty-load transportation time, loading time and unloading time of the manned transport vehicle.

[0013] Furthermore, the vehicle allocation ratio coefficient for each loading point is determined by using the heavy-load transportation time, empty-load transportation time, loading time, and unloading time of each manned transportation vehicle in the following way: Using the formula ts ijk =T ijk +T jik +s ik +t jk , j,k, determine the single trip time of any vehicle type k between any unloading point j and any loading point i, where ts ijk is the single trip time of vehicle type k between unloading point j and loading point i, T ijk is the average transportation time of vehicle type k from loading point i to unloading point j, T jik is the average transportation time of vehicle type k from unloading point j to loading point i, s ik is the average loading time of vehicle type k at loading point i, t jk is the average residence time of vehicle type k at unloading point j; using the formula Determine the average single trip time from all unloading points to loading point i, where K is the total number of vehicle models, J is the total number of unloading points, i is the number of loading points, and ts i is the average single trip time from all unloading points to loading point i; using the formula Determine the vehicle allocation ratio coefficient for loading point i, where s iis the average loading time.

[0014] Further, based on the type of unloading point, determining the number of vehicles to be allocated to each heavy-load transport path according to the preset unloading plan includes: if the unloading point is a complete dumping site, determining the number of vehicles to be allocated to each heavy-load transport path according to the first preset unloading plan, the first preset unloading plan preferentially arranges all vehicles to the dumping site with the smallest average single trip time until the current unloading point is saturated, and the average single trip time is the average time for the vehicle to travel from the unloading point to the loading point; or, if the unloading point is a complete crushing station, determining the number of vehicles to be allocated to each heavy-load transport path according to the second preset unloading plan, the second preset unloading plan determines the number of vehicles to be allocated to each heavy-load transport path based on the unloading point balanced allocation model, and the unloading point balanced allocation model is: Among them, x ij is the number of vehicles that should be assigned to the heavy-load transportation path between any loading point i and any unloading point j, r j is the vehicle allocation ratio coefficient of unloading point j, z i is the number of vehicles required for loading point i; or, if the unloading point is a mixture of a dumping site and a crushing station, the number of vehicles required for each heavy-load transport route is determined according to the third preset unloading plan, and the third preset unloading plan preferentially arranges all vehicles to the dumping site with the smallest average single-trip time until the corresponding unloading point is saturated.

[0015] Furthermore, before determining the number of vehicles to be assigned to each heavy-load transport path based on the unloading point balanced allocation model, the second preset unloading plan also includes: using the formula Determine the average single trip time from all loading points to unloading point j, where I is the number of loading points and ts ijk is the single trip time between unloading point j and loading point i for vehicle type k; using the formula Determine the vehicle allocation ratio coefficient of unloading point j, where s i is the average unloading time, ts j is the average single trip time from all loading points to unloading point j.

[0016] Furthermore, the local update condition is that the loading equipment is short of vehicles, and the target update method is: replacing the scheduling target of the first designated vehicle on the subsequent road, adding a target vehicle corresponding to the loading equipment with the short of vehicles, and the target vehicle uses the loading equipment with the short of vehicles as the scheduling target, and the first designated vehicle includes an empty vehicle that can be updated, or, the local update condition is material mismatch, and the material mismatch means that the loaded materials do not match the current target unloading point, and the target update method is: updating the target unloading point of the current vehicle; or, the local update condition is unloading point saturation, and the target update method is: changing the vehicle scheduling target on the subsequent road so that the saturated unloading point is no longer used as the vehicle scheduling target.

[0017] Furthermore, when the local update condition is that the loading device is out of vehicles, real-time judgment on whether the local update condition is triggered includes: calculating the number of locked vehicles for each loading device; calculating the clearing time of the locked vehicles for each loading device based on the number of locked vehicles; calculating the idle time of the target loading device when the second designated vehicle arrives at each loading device, the second designated vehicle being a vehicle whose designated target loading point is the corresponding loading device but the loading device is not locked; marking the loading device whose idle time is not zero as a loading device out of vehicles, and triggering the local update condition.

[0018] Furthermore, calculating the clearing time of each locked vehicle of each loading device according to the number of locked vehicles includes: determining the priority of the loading device; calculating the clearing time of each locked vehicle of the loading device according to the priority and the number of locked vehicles; and / or, updating the target local scheduling scheme according to the target update method includes: selecting the loading device with the largest idle time as the target loading device to be updated; if there is a vehicle whose distance meets the preset conditions on the heavy-load transport path where the target loading device is located, then modifying the scheduling target of the vehicle whose scheduling target is other loading devices and whose distance is closer to the target loading device to the target loading device.

[0019] Furthermore, in the process of scheduling manned transport vehicles in the target mining area according to the global scheduling plan, the method also includes: determining in real time whether a global update condition is triggered; after the global update condition is triggered, regenerating a new global scheduling plan and executing the new global scheduling plan.

[0020] In a second aspect, a manned transport vehicle dispatching device is provided, comprising:

[0021] a data acquisition unit, used to acquire vehicle information and map data of a target mining area, wherein the vehicle information includes the type of transport vehicles, the number of transport vehicles and the speed of transport vehicles, and the map data includes the geographical coordinates of each loading point, the geographical coordinates of each unloading point, loading equipment data and information of each heavy-load transport route, and the loading equipment data includes the number of available loading equipment equipped at each loading point;

[0022] A global dispatching scheme generating unit, configured to generate a global dispatching scheme using the vehicle information and the map data, wherein the global dispatching scheme includes: dispatching vehicles according to the determined number of vehicles to be assigned to each loading point and the number of vehicles to be assigned to each heavy-load transport route;

[0023] A global scheduling unit is used to schedule manned transport vehicles in the target mining area according to the global scheduling plan.

[0024] In a third aspect, a manned transport vehicle dispatching device is provided, comprising:

[0025] at least one processor and at least one memory;

[0026] The memory stores executable instructions of the processor;

[0027] The processor is configured to execute any of the above-mentioned manned transport vehicle scheduling methods.

[0028] The technical solution of the present application provides a method and device for scheduling manned transport vehicles, which utilizes vehicle information and map data to generate a global scheduling plan. The global scheduling plan includes: scheduling vehicles according to the number of vehicles to be assigned to each loading point and the number of vehicles to be assigned to each heavy-load transport route; scheduling manned transport vehicles in a target mining area according to the global scheduling plan. When formulating the global scheduling plan, the method fully considers the vehicle data and map data, provides an accurate global scheduling plan for the mine, realizes accurate and balanced scheduling of manned transport vehicles, improves the overall efficiency of mining operations, and reduces transportation costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 It is a flowchart of a method for dispatching manned transport vehicles provided in an embodiment of the present application;

[0031] Figure 2 It is a flowchart of another method for dispatching manned transport vehicles provided in an embodiment of the present application;

[0032] Figure 3 It is a functional structure diagram of a manned transport vehicle dispatching device provided in an embodiment of the present application;

[0033] Figure 4 It is a functional structure diagram of another manned transport vehicle dispatching device provided in an embodiment of the present application;

[0034] Figure 5 It is a functional structure diagram of a dispatching device for manned transport vehicles provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the present application is described in detail below in conjunction with the accompanying drawings and embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other implementation methods obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0036] To solve this problem, refer to Figure 1 , an embodiment of the present application provides a method for dispatching manned transport vehicles, the method comprising:

[0037] 101. Obtain vehicle information and map data of the target mining area. The vehicle information includes the type of transport vehicles, the number of transport vehicles, and the speed of transport vehicles. The map data includes the geographic coordinates of each loading point, the geographic coordinates of each unloading point, the loading equipment data, and the information of each heavy-load transportation route. The loading equipment data includes the number of available loading equipment equipped at each loading point.

[0038] 102. Generate a global dispatching plan using vehicle information and map data. The global dispatching plan includes: dispatching vehicles according to the number of vehicles to be assigned to each loading point and the number of vehicles to be assigned to each heavy-load transportation route.

[0039] 103. Dispatch manned transport vehicles within the target mining area according to the overall dispatch plan.

[0040] The manned transport vehicle scheduling method provided in this embodiment uses vehicle information and map data to generate a global scheduling plan. The global scheduling plan includes: scheduling vehicles according to the number of vehicles to be allocated for each loading point and the number of vehicles to be allocated for each heavy-load transport route; scheduling manned transport vehicles in the target mining area according to the global scheduling plan. When formulating the global scheduling plan, the method fully considers the vehicle data and map data to provide the mine with an accurate global scheduling plan to avoid unreasonable vehicle scheduling during the scheduling process.

[0041] Traditional fixed group scheduling lacks flexibility and is difficult to respond to changes in on-site operating conditions in the mining area in a timely manner. In addition, the scheduling target update frequency of the current unmanned driving intelligent scheduling algorithm is generally high, and the map accuracy requirements are also high. If the unmanned driving scheduling algorithm is applied to the manual driving system, the high-frequency update will be difficult for the driver to adapt to, and it will also be difficult to match the lower-precision maps generally used by the manual driving system, so the unmanned driving scheduling algorithm cannot be directly applied.

[0042] To solve the above technical problems, as an improvement of the above embodiments, the embodiments of the present invention provide another method for dispatching manned transport vehicles. The method can be executed by a manned driving management system. The manned driving management system can be set on a vehicle-mounted device or on other computer systems (for example, a cloud platform). The method is divided into two parts: global allocation and local update. The global allocation is used for overall calculation to give the dispatching targets of all vehicles, including loading points and unloading points. The local update updates the dispatching targets of single vehicles in real time according to the actual situation. The method performs global dispatching in a mining area with multiple loading devices and multiple unloading areas according to the loading capacity of the loading equipment, the unloading capacity and unloading condition constraints of the unloading area, the transportation distance of the mining truck and other conditions, and locally dynamically updates the dispatching targets of the mining trucks according to the real-time changes in the conditions at the work site. While minimizing the frequency of dispatching target updates and improving driver satisfaction, accurate and balanced dispatching of manual mining trucks can be achieved, the overall efficiency of mining operations can be improved, and transportation costs can be reduced. See. Figure 2 , the method comprising:

[0043] 201. Obtain vehicle information and map data of the target mining area.

[0044] Among them, vehicle information includes the type of transport vehicle, the number of transport vehicles and the speed of transport vehicles. Map data includes the geographic coordinates of each loading point, the geographic coordinates of each unloading point, loading equipment data and information on each heavy-load transport route. Loading equipment data includes the number of available loading equipment equipped at each loading point.

[0045] It should be noted that the method of obtaining vehicle information and map data is not limited in the embodiment of the present invention and can be determined by those skilled in the art according to engineering needs. Specifically, the vehicle information and map data can be manually input into the manned driving management system.

[0046] 202. Generate a global dispatching plan using vehicle information and map data, wherein the global dispatching plan includes: dispatching vehicles according to the determined number of vehicles to be assigned to each loading point and the number of vehicles to be assigned to each heavy-load transportation route.

[0047] In some optional embodiments, 202 may be implemented by, but not limited to, the following process (not shown in the figure):

[0048] 2021: Use the heavy-load transport time, empty-load transport time, loading time, and unloading time of each manned transport vehicle to determine the number of vehicles that should be assigned to each loading point.

[0049] In some optional embodiments, the number of vehicles to be assigned to each loading point is determined based on a loading point balanced allocation model, and the loading point balanced allocation model is: in, Represents any loading point i, n k is the number of vehicles of model k, r i is the vehicle allocation ratio coefficient of loading point i, z i is the number of vehicles that should be allocated to loading point i. The vehicle allocation ratio coefficient of each loading point is determined by the heavy-load transportation time, empty-load transportation time, loading time and unloading time of the manned transport vehicle.

[0050] Specifically, the vehicle allocation ratio coefficient for each loading point can be determined by using the heavy-load transportation time, empty-load transportation time, loading time, and unloading time of each manned transport vehicle in the following way:

[0051] Use the formula ts ijk =T ijk +T jik +s ik +t jk , j,k, determine the single trip time of any vehicle type k between any unloading point j and any loading point i, where ts ijk is the single trip time of vehicle type k between unloading point j and loading point i, T ijk is the average transportation time of vehicle type k from loading point i to unloading point j, T jik is the average transportation time of vehicle type k from unloading point j to loading point i, s ik is the average loading time of vehicle type k at loading point i, t jk is the average residence time of vehicle type k at unloading point j.

[0052] Using the formula Determine the average single trip time from all unloading points to loading point i, where K is the total number of vehicle models, J is the total number of unloading points, i is the number of loading points, and ts i is the average single trip time from all unloading points to loading point i.

[0053] Using the formula Determine the vehicle allocation ratio coefficient for loading point i, where s i is the average loading time.

[0054] To facilitate the readers' understanding, the following is a detailed description of the process of determining the number of vehicles to be assigned to a loading point:

[0055] Determine the load point balance distribution model:

[0056] The single trip time of vehicle type k between unloading point j and loading point i is:

[0057] ts ijk =T ijk +T jik +s ik +t jk , j,k, where T ijk is the average transportation time (heavy-load transportation time) from loading point i to unloading point j of vehicle type k, T jik is the average transportation time (empty transportation time) from unloading point j to loading point i of vehicle type k, s ik is the average loading time of vehicle type k at loading point i, t jk is the average residence time of vehicle type k at unloading point j.

[0058] Determine the average single trip time from all unloading points to loading point i:

[0059] Among them, K is the total number of vehicle models, and J is the total number of unloading points.

[0060] Determine the vehicle allocation ratio coefficient for loading point i:

[0061] Among them, s i is the average loading time.

[0062] The calculation formula for the number of vehicles to be equipped at loading point i is: Among them, n k is the number of trucks of model k.

[0063] According to the above loading point balanced allocation model, determine the number of vehicles that should be allocated to each loading point.

[0064] It should be noted that the method for obtaining the heavy-load transportation time, empty-load transportation time, loading time and unloading time is not limited in the embodiment of the present invention and can be determined by those skilled in the art according to the needs of the project. For example, the driver can record it during the transportation process and upload it to the manned driving management system through the vehicle-mounted equipment; or, the above-mentioned times can be obtained by sensing the change of the vehicle state through the sensors installed on the vehicle. For example, the gravity sensor installed on the bucket can detect the vehicle switching from heavy load to empty load, from empty load to heavy load, and the change of vehicle body load, etc. For another example, the unloading time can be detected by the sensor installed on the lifting device.

[0065] 2022: Based on the type of unloading point, determine the number of vehicles to be allocated for each heavy-load transport route according to the preset unloading plan.

[0066] In some optional embodiments, 2022 may be, but is not limited to, the following situations:

[0067] If the unloading point is a complete soil dumping site, the number of vehicles to be allocated for each heavy-load transport route is determined according to the first preset unloading plan. The first preset unloading plan gives priority to arranging all vehicles to the soil dumping site with the smallest average single-trip time until the current unloading point is saturated. The average single-trip time is the average time it takes for a vehicle to travel from the unloading point to the loading point.

[0068] If the unloading point is a complete crushing station, the number of vehicles to be allocated to each heavy-load transport path is determined according to the second preset unloading plan. The second preset unloading plan determines the number of vehicles to be allocated to each heavy-load transport path based on the unloading point balanced allocation model. The unloading point balanced allocation model is: Among them, x ij is the number of vehicles that should be assigned to the heavy-load transportation path between any loading point i and any unloading point j, r j is the vehicle allocation ratio coefficient of unloading point j, z i is the number of vehicles that should be assigned to loading point i.

[0069] In some optional embodiments, the second preset unloading scheme uses the formula Determine the average single trip time from all loading points to unloading point j, where I is the number of loading points and ts ijk is the single trip time of vehicle type k between unloading point j and loading point i.

[0070] In some optional embodiments, the second preset unloading scheme uses the formula Determine the vehicle allocation ratio coefficient of unloading point j, where s i is the average unloading time, ts j is the average single trip time from all loading points to unloading point j.

[0071] If the unloading point is a mixture of a spoil dump and a crushing station, the number of vehicles required for each heavy-load transport route will be determined according to the third preset unloading plan. The third preset unloading plan will give priority to arranging all vehicles to the spoil dump with the shortest average single-trip time until the corresponding unloading point is saturated.

[0072] To facilitate the readers’ understanding, the following is a detailed explanation of how to determine the number of vehicles that should be allocated from each loading point to the unloading point:

[0073] After determining the number of vehicles that should be deployed at the loading point, calculate the number of vehicles that should be deployed between each loading point and each unloading point, which is divided into the following three situations:

[0074] (1) If all unloading points are dumping sites, it can be considered that the unloading resources of the unloading points are unlimited. In order to reduce the overall transportation distance, all vehicles are preferentially arranged to the dumping site with the smallest average single trip time. It should be noted that the unloading target will be updated in real time according to the saturation of the unloading points, which will be explained in detail in the local update section.

[0075] (2) If the unloading point is a complete crushing station, due to the limited unloading resources of the crushing station, it is necessary to balance the unloading points.

[0076] The average single trip time from all loading points to unloading point j is:

[0077] Where I is the number of loading points.

[0078] Determine the vehicle allocation ratio coefficient at unloading point j:

[0079] Among them, s i is the average unloading time.

[0080] Determine the number of vehicles to be deployed between loading point i and unloading point j:

[0081]

[0082] According to the above equilibrium allocation model, determine the number of vehicles that should be allocated between each "loading point-unloading point" combination.

[0083] (3) If the unloading point is a mixture of a crushing station and a dumping site: prioritize all vehicles to the dumping site with the shortest average single trip time. It should be noted that the unloading target will be updated in real time based on the real-time material information of the loading equipment and the saturation of the unloading point, which will be explained in detail in the local update section.

[0084] After determining the number of vehicles to be assigned to the loading point and the number of vehicles to be assigned to the heavy-load path, the dispatch target is arranged for the mine truck according to the number of vehicles to be assigned. According to the data of vehicles operating in the mining area and the calculation results of the number of vehicles to be assigned, the dispatch target for all vehicles in the mine is updated. The result of global vehicle allocation will continue to be executed until there is no next update or local update.

[0085] 203. Dispatch manned transport vehicles within the target mining area according to the overall dispatch plan.

[0086] In some optional embodiments, during the process of executing 203, a local scheduling solution update 204 is also performed. Specifically, the local scheduling solution update 204 includes the following steps (not shown in the figure):

[0087] 2041. Determine in real time whether a local update condition is triggered.

[0088] In some optional embodiments, when the local update condition is that the loading device is out of vehicles, 2041 may be implemented by, but not limited to, the following process (not shown in the figure):

[0089] 20411. Calculate the number of vehicles locked by each loading device.

[0090] 20412. Calculate the clearing time of locked vehicles for each loading device based on the number of locked vehicles.

[0091] Specifically, the priority of the loading device may be determined first, and the clearing time of the locked vehicles of each loading device may be calculated according to the priority and the number of locked vehicles.

[0092] 20413. Calculate the idle time of the target loading device when the second designated vehicle arrives at each loading device, the second designated vehicle being a vehicle whose designated target loading point is the corresponding loading device but the loading device is not locked.

[0093] 20414. Mark the loading device whose idle time is not zero as a vehicle-deficient loading device and trigger the local update condition.

[0094] 2042. After the local update condition is triggered, determine a target local scheduling scheme corresponding to the local update condition, where the target local scheduling scheme is part of the global scheduling scheme.

[0095] 2043. Determine a target update method corresponding to the local update condition.

[0096] In some optional embodiments, 2043 may have the following situations:

[0097] Case 1: The local update condition is that the loading equipment is out of vehicle. The target update method is: replace the scheduling target of the first designated vehicle on the subsequent road, add the target vehicle corresponding to the loading equipment with the missing vehicle, and the target vehicle will use the loading equipment with the missing vehicle as the scheduling target. The first designated vehicle includes an empty vehicle that can be updated.

[0098] Case 2: The local update condition is material mismatch. Material mismatch means that the loaded material does not match the current target unloading point. The target update method is: update the target unloading point of the current vehicle.

[0099] Case 3: The local update condition is the saturation of unloading points. The target update method is: change the vehicle scheduling target on the subsequent road so that the saturated unloading points are no longer used as the vehicle scheduling target.

[0100] 2044. Update the target local scheduling plan according to the target update method.

[0101] In some optional embodiments, 2044 can be implemented but is not limited to the following process: selecting the loading device with the largest idle time as the target loading device to be updated; if there is a vehicle whose distance meets the preset conditions on the heavy-load transport path where the target loading device is located, then the scheduling target of the vehicle whose scheduling target is other loading devices and whose distance is closer to the target loading device is modified to the target loading device.

[0102] 2045. Dispatch the corresponding manned transport vehicles according to the updated target local dispatch plan.

[0103] Partial updates are triggered by conditions. The specific triggering scenarios are described in detail as follows:

[0104] 1. Lack of loading equipment: When it is predicted that there will be a shortage of loading equipment, the scheduling target of the empty vehicles that can be updated on the subsequent roads will be replaced to fill the vacancies of the fewer loading equipment vehicles.

[0105] The loading point shortage prediction algorithm is as follows:

[0106] 1) Calculate the number of vehicles locked by the loading equipment (the number of vehicles whose dispatch target is the equipment and whose target is locked).

[0107] 2) According to the number of vehicles locked by the excavator, calculate the clearing time of the vehicles locked by the excavator. The clearing time can be calculated by subtracting the loading time of the corresponding number of vehicles according to the priority of the loading equipment:

[0108] Clearing time = actual clearing time - n × loading time (in actual engineering applications, n is configured by technicians in this field according to the priority level).

[0109] 3) Calculate the idle time of the excavator when the untargeted vehicle (targeting the excavator but in a position where it can still change its destination) arrives at the excavator.

[0110] 4) If the idle time is zero, it means that there is no equipment shortage and no local update is required; otherwise, the excavator with the largest idle time is selected, and the vehicles whose targets are closer to other excavators are updated to this excavator, and the targets are exchanged with vehicles of the same model (to minimize the fluctuation of global allocation); if there is no closer vehicle on the path, the target is not updated for this excavator, and the next excavator with idle time is processed instead.

[0111] 2. Material mismatch: When the mining truck is loaded and the material type does not match the currently assigned unloading point, update the target unloading point.

[0112] 3. Unloading point saturation:

[0113] When the unloading point is saturated with locked vehicles, the scheduling targets of the vehicles on the subsequent roads are updated to avoid vehicles waiting.

[0114] 205. Determine in real time whether a global update condition is triggered. After the global update condition is triggered, enter 201 to regenerate a new global scheduling plan and execute the new global scheduling plan.

[0115] Preferably, the global update is performed by both conditional triggering and timed triggering. The triggering conditions may include: loading equipment status change, batch increase, reduction of operable mining trucks, unloading point status change, and manual map update.

[0116] It should be noted that the methods for obtaining various data involved in the embodiments of the present application are not limited in the embodiments of the present application and can be determined by those skilled in the art according to engineering needs.

[0117] The manned transport vehicle scheduling method provided in this embodiment uses vehicle information and map data to generate a global scheduling plan, and in the process of scheduling according to the global scheduling plan, updates the global scheduling plan and the local scheduling plan in real time. When formulating the global scheduling plan, the method fully considers the vehicle data and map data, and updates the scheduling plan in real time according to changes in mines and vehicles, etc., so that the scheduling of manned transport vehicles is more accurate and efficient, and all vehicles, loading points and unloading points are fully utilized.

[0118] According to the embodiment of the present application, a manned transport vehicle scheduling method is also provided. The method is implemented by a manned transport vehicle scheduling algorithm. The algorithm is divided into two parts: global allocation and local update. Among them, global allocation is used for overall calculation to give the scheduling target of all vehicles, including loading points and unloading points; local update updates the scheduling target of a single vehicle in real time according to actual conditions. The following is a detailed description of these two layers of algorithms:

[0119] 1. Global allocation:

[0120] The global allocation condition trigger is parallel to the timed trigger. The trigger conditions include: loading equipment status change, batch increase or decrease of operable mining trucks, unloading point status change, manual map update, etc.

[0121] 1. First, calculate the number of vehicles that should be allocated between each "loading point-unloading point" combination.

[0122] 1.1 Determine the number of vehicles required for the loading point.

[0123] 1.2 Loading point balanced distribution model.

[0124] The single trip time of vehicle type k between unloading point j and loading point i is:

[0125] ts ijk =T ijk +T jik +s ik +t jk , j,k, where T ijk is the average transportation time (heavy-load transportation time) from loading point i to unloading point j of vehicle type k, T jik is the average transportation time (empty transportation time) from unloading point j to loading point i of vehicle type k, s ik is the average loading time of vehicle type k at loading point i, t jk is the average residence time of vehicle type k at unloading point j.

[0126] The average single trip time from all unloading points to loading point i is:

[0127] Among them, K is the total number of vehicle models, and J is the total number of unloading points.

[0128] The vehicle allocation ratio coefficient at loading point i is:

[0129] Among them, s i is the average loading time.

[0130] The calculation formula for the number of vehicles to be equipped at loading point i is:

[0131] Among them, n k is the number of trucks of model k.

[0132] According to the above loading point balanced allocation model, determine the number of vehicles that should be allocated to each loading point.

[0133] 1.3 Determine the number of vehicles required from each loading point to the unloading point:

[0134] After determining the number of vehicles that should be deployed at the loading point, calculate the number of vehicles that should be deployed between each loading point and each unloading point, which is divided into the following three situations:

[0135] (1) The unloading point is a complete dumping site:

[0136] If all unloading points are spoil dumps, it can be considered that the unloading resources of the unloading points are unlimited. In order to reduce the overall transportation distance, all vehicles are preferentially arranged to the spoil dump with the shortest average single-trip time.

[0137] (2) The unloading point is a complete crushing station:

[0138] The unloading resources of the crushing station are limited. If all the unloading points are crushing stations, the unloading points need to be evenly distributed.

[0139] Determine the balanced distribution model of unloading points:

[0140] The average single trip time from all loading points to unloading point j is:

[0141] Where I is the number of loading points.

[0142] The vehicle allocation ratio coefficient at unloading point j is:

[0143] Among them, s i is the average unloading time.

[0144] According to the following equilibrium allocation model, the number of vehicles that should be allocated between each "loading point-unloading point" combination is determined. The number of vehicles that should be allocated between loading point i and unloading point j is:

[0145] Among them, x ij is the number of vehicles that should be assigned to the heavy-load transportation path between any loading point i and any unloading point j, r j is the vehicle allocation ratio coefficient of unloading point j, z i is the number of vehicles that should be assigned to loading point i.

[0146] (3) The unloading point is the mixing of the crushing station and the spoil dump:

[0147] Priority will be given to all vehicles being assigned to the spoil dump with the shortest average single-trip time.

[0148] According to the number of vehicles to be assigned, the dispatch target is arranged for the mine trucks. According to the data of vehicles operating in the mine area and the calculation results of the number of vehicles to be assigned, the dispatch target for all vehicles in the mine is updated. The result of global vehicle allocation will continue to be executed until the next update or local update.

[0149] Specifically, the update task follows the following principles:

[0150] 1) Minimize the number of vehicles that change the scheduling target.

[0151] 2) For mining trucks with locked loading and unloading points, the dispatch target should not be changed as much as possible; if the locked loading equipment cannot be operated, the dispatch target must be changed; (Locked: mining trucks need to turn around to go to other loading and unloading points).

[0152] 2. Partial Update

[0153] Partial updates are triggered by conditions, which can be divided into the following triggering scenarios:

[0154] 1. Loading equipment is out of stock:

[0155] When it is predicted that there will be a shortage of loading equipment, the scheduling target is replaced for the empty vehicles that can be updated on the subsequent roads to fill the vacancies of the fewer loading equipment vehicles.

[0156] The loading point shortage prediction algorithm is as follows:

[0157] 1) Calculate the number of vehicles locked by the loading equipment (the number of vehicles whose dispatch target is the equipment and whose target is locked).

[0158] 2) According to the number of vehicles locked by the excavator, calculate the clearing time of the vehicles locked by the excavator. The clearing time can be calculated by subtracting the loading time of the corresponding number of vehicles according to the priority of the loading equipment:

[0159] Clearing time = actual clearing time - n × loading time, (n is configured according to the priority size, and n is less than the number of vehicles).

[0160] 3) Calculate the idle time of the excavator when the untargeted vehicle (targeting the excavator but in a position where it can still change its destination) arrives at the excavator.

[0161] 4) If the idle time is zero, it means that there is no equipment shortage and no local update is required; otherwise, the excavator with the largest idle time is selected, and the vehicles whose targets are closer to other excavators are updated to this excavator, and the targets are exchanged with vehicles of the same model (to minimize the fluctuation of global allocation); if there is no closer vehicle on the path, the target is not updated for this excavator, and the next excavator with idle time is processed instead.

[0162] 2. Material mismatch:

[0163] When the mining truck is loaded and the material type does not match the currently assigned unloading point, update the target unloading point.

[0164] 3. Unloading point saturation:

[0165] When the unloading point is saturated with locked vehicles, the scheduling targets of the vehicles on the subsequent roads are updated to avoid vehicles waiting.

[0166] This embodiment performs global scheduling in a mining area with multiple loading equipment and multiple unloading areas based on the loading capacity of the loading equipment, the unloading capacity and unloading condition constraints of the unloading area, the transportation distance of the mining truck, and other conditions, and dynamically updates the mining truck scheduling target locally based on the real-time changes in the conditions of the work site. While reducing the frequency of scheduling target updates as much as possible and improving the driver's satisfaction, it achieves accurate and balanced scheduling of manual mining trucks, improves the overall efficiency of mining operations, and reduces transportation costs.

[0167] In order to cooperate with the implementation of the above method, the embodiment of the present invention provides a manned transport vehicle dispatching device, see Figure 3 , the device comprises:

[0168] The data acquisition unit 31 is used to obtain vehicle information and map data of the target mining area. The vehicle information includes the type of transport vehicles, the number of transport vehicles and the speed of transport vehicles. The map data includes the geographical coordinates of each loading point, the geographical coordinates of each unloading point, the loading equipment data and the information of each heavy-load transportation route. The loading equipment data includes the number of available loading equipment equipped at each loading point.

[0169] The global dispatching scheme generating unit 32 is used to generate a global dispatching scheme using vehicle information and map data. The global dispatching scheme includes: dispatching vehicles according to the determined number of vehicles to be assigned to each loading point and the number of vehicles to be assigned to each heavy-load transport route.

[0170] The global scheduling unit 33 is used to schedule manned transport vehicles in the target mining area according to the global scheduling plan.

[0171] The manned transport vehicle scheduling device provided in this embodiment, the global scheduling plan generating unit generates a global scheduling plan by using vehicle information and map data, and the global scheduling plan includes: vehicle scheduling according to the determined number of vehicles to be allocated for each loading point and the number of vehicles to be allocated for each heavy-load transport route; the global scheduling unit schedules the manned transport vehicles in the target mining area according to the global scheduling plan. When formulating the global scheduling plan, the method fully considers the vehicle data and map data, provides the mine with an accurate global scheduling plan, and avoids unreasonable vehicle scheduling during the scheduling process.

[0172] As an improvement of the above embodiment, the present invention provides another manned transport vehicle dispatching device, see Figure 4 , the device comprises:

[0173] The data acquisition unit 41 is used to obtain vehicle information and map data of the target mining area. The vehicle information includes the type of transport vehicles, the number of transport vehicles and the speed of transport vehicles. The map data includes the geographical coordinates of each loading point, the geographical coordinates of each unloading point, the loading equipment data and the information of each heavy-load transport route. The loading equipment data includes the number of available loading equipment equipped at each loading point.

[0174] The global dispatching scheme generating unit 42 is used to generate a global dispatching scheme using vehicle information and map data. The global dispatching scheme includes: dispatching vehicles according to the determined number of vehicles to be assigned to each loading point and the number of vehicles to be assigned to each heavy-load transport route.

[0175] The global scheduling unit 43 is used to schedule manned transport vehicles in the target mining area according to the global scheduling plan.

[0176] The local real-time update unit 44 determines in real time whether the local update condition is triggered; after the local update condition is triggered, determines the target local scheduling plan corresponding to the local update condition, and the target local scheduling plan is a part of the global scheduling plan; determines the target update method corresponding to the local update condition; updates the target local scheduling plan according to the target update method; and schedules the corresponding part of the manned transport vehicles according to the updated target local scheduling plan.

[0177] Specifically, the local real-time update unit 44 updates the target local scheduling plan according to the target update method, including: the local real-time update unit 44 selects the loading equipment with the largest idle time as the target loading equipment to be updated; if there is a vehicle whose distance meets the preset conditions on the heavy-load transport path where the target loading equipment is located, then the scheduling target of the vehicle whose scheduling target is other loading equipment and whose distance is closer to the target loading equipment is modified to the target loading equipment.

[0178] In some optional embodiments, there are the following corresponding relationships between the local update condition and the target update mode:

[0179] The local update condition is that the loading equipment is out of vehicle. The target update method is: replace the scheduling target of the first designated vehicle on the subsequent road, add the target vehicle corresponding to the loading equipment with the missing vehicle, and the target vehicle will take the loading equipment with the missing vehicle as the scheduling target. The first designated vehicle includes an empty vehicle that can be updated.

[0180] The local update condition is material mismatch. Material mismatch means that the loaded material does not match the current target unloading point. The target update method is: update the target unloading point of the current vehicle.

[0181] The local update condition is the saturation of unloading points, and the target update method is: change the vehicle scheduling target on the subsequent road so that the saturated unloading points are no longer used as the vehicle scheduling target.

[0182] In some optional embodiments, when the local update condition is that the loading equipment is out of vehicles, the local real-time update unit 44 determines in real time whether the local update condition is triggered, including:

[0183] Count the number of vehicles locked out of each loading device.

[0184] The clearing time of the locked vehicles of each loading device is calculated according to the number of locked vehicles, specifically including: determining the priority of the loading device; and calculating the clearing time of the locked vehicles of each loading device according to the priority and the number of locked vehicles.

[0185] The idle time of the target loading device is calculated when the second designated vehicle arrives at each loading device, the second designated vehicle being a vehicle whose designated target loading point is the corresponding loading device but the loading device is not locked.

[0186] The loading devices whose idle time is not zero are marked as vehicle-deficient loading devices, and the local update condition is triggered.

[0187] In some optional embodiments, the local real-time updating unit 44 determines in real time whether to trigger the local update condition, including:

[0188] Count the number of vehicles locked out of each loading device.

[0189] The clearing time of locked vehicles for each loading device is calculated based on the number of locked vehicles.

[0190] The idle time of the target loading device is calculated when the second designated vehicle arrives at each loading device, the second designated vehicle being a vehicle whose designated target loading point is the corresponding loading device but the loading device is not locked.

[0191] The loading devices whose idle time is not zero are marked as vehicle-deficient loading devices, and the local update condition is triggered.

[0192] In some optional embodiments, the global scheduling scheme generating unit 42 includes:

[0193] The loading point vehicle configuration module 421 is used to determine the number of vehicles to be assigned to each loading point by using the heavy-load transportation time, empty-load transportation time, loading time and unloading time of each manned transportation vehicle.

[0194] In some optional embodiments, the loading point vehicle configuration module 421 includes:

[0195] The single trip time determination submodule 4211 is used to use the formula ts ijk =T ijk +Tjik +s ik +t jk , j,k, determine the single trip time of any vehicle type k between any unloading point j and any loading point i, where ts ijk is the single trip time of vehicle type k between unloading point j and loading point i, T ijk is the average transportation time of vehicle type k from loading point i to unloading point j, T jik is the average transportation time of vehicle type k from unloading point j to loading point i, s ik is the average loading time of vehicle type k at loading point i, t jk is the average residence time of vehicle type k at unloading point j.

[0196] The average single trip time determination submodule 4212 is used to use the formula Determine the average single trip time from all unloading points to loading point i, where K is the total number of vehicle models, J is the total number of unloading points, i is the number of loading points, and ts i is the average single trip time from all unloading points to loading point i.

[0197] The proportional coefficient determination submodule 4213 is used to use the formula Determine the vehicle allocation ratio coefficient for loading point i, where s i is the average loading time.

[0198] The submodule 4214 for determining the number of vehicles to be assigned to each loading point determines the number of vehicles to be assigned to each loading point based on the loading point balanced allocation model. The loading point balanced allocation model is: in, Represents any loading point i, n k is the number of vehicles of model k, r i is the vehicle allocation ratio coefficient of loading point i, z i is the number of vehicles that should be assigned to loading point i.

[0199] The transport path vehicle configuration module 422 is used to determine the number of vehicles to be allocated to each heavy-load transport path according to a preset unloading plan based on the type of unloading point.

[0200] In some optional embodiments, the transport path vehicle configuration module 422 determines the number of vehicles to be assigned to each heavy-load transport path according to the preset unloading plan based on the type of unloading point, including:

[0201] If the unloading point is a complete soil dumping site, the number of vehicles to be allocated for each heavy-load transport route is determined according to the first preset unloading plan. The first preset unloading plan gives priority to arranging all vehicles to the soil dumping site with the smallest average single-trip time until the current unloading point is saturated. The average single-trip time is the average time it takes for a vehicle to travel from the unloading point to the loading point.

[0202] If the unloading point is a complete crushing station, the number of vehicles to be allocated to each heavy-load transport path is determined according to the second preset unloading plan. The second preset unloading plan determines the number of vehicles to be allocated to each heavy-load transport path based on the unloading point balanced allocation model. The unloading point balanced allocation model is: Among them, x ij is the number of vehicles that should be assigned to the heavy-load transportation path between any loading point i and any unloading point j, r j is the vehicle allocation ratio coefficient of unloading point j, z i is the number of vehicles that should be assigned to loading point i.

[0203] If the unloading point is a mixture of a spoil dump and a crushing station, the number of vehicles required for each heavy-load transport route will be determined according to the third preset unloading plan. The third preset unloading plan will give priority to arranging all vehicles to the spoil dump with the shortest average single-trip time until the corresponding unloading point is saturated.

[0204] In some optional embodiments, before determining the number of vehicles to be assigned to each heavy-load transport path based on the unloading point balanced allocation model, the second preset unloading plan further includes:

[0205] Using the formula Determine the average single trip time from all loading points to unloading point j, where I is the number of loading points and ts ijk is the single trip time of vehicle type k between unloading point j and loading point i.

[0206] Using the formula Determine the vehicle allocation ratio coefficient of unloading point j, where s i is the average unloading time, ts j is the average single trip time from all loading points to unloading point j.

[0207] The global real-time update unit 45 determines in real time whether the global update condition is triggered; after the global update condition is triggered, the trigger data acquisition unit 41, the global scheduling scheme generation unit 42 and the global scheduling unit 43 regenerate a new global scheduling scheme and execute the new global scheduling scheme.

[0208] The manned transport vehicle scheduling device provided in this embodiment uses vehicle information and map data to generate a global scheduling plan, and in the process of scheduling according to the global scheduling plan, updates the global scheduling plan and the local scheduling plan in real time. When formulating the global scheduling plan, this method fully considers the vehicle data and map data, and updates the scheduling plan in real time according to changes in mines and vehicles, etc., so that the scheduling of manned transport vehicles is more accurate and efficient, and all vehicles, loading points and unloading points are fully utilized.

[0209] Based on the same inventive concept, Figure 5 As shown, the present application also provides a manned transport vehicle dispatching device, comprising:

[0210] at least one processor 51 and at least one memory 52;

[0211] The memory stores executable instructions of the processor;

[0212] The processor is configured to execute the manned transport vehicle scheduling method provided in the above embodiment.

[0213] The manned transport vehicle scheduling device provided in this embodiment stores executable instructions of the processor in a memory. When the executable instructions are executed, the processor can generate a global scheduling plan using vehicle information and map data, and in the process of scheduling according to the global scheduling plan, update the global scheduling plan and the local scheduling plan in real time. When formulating the global scheduling plan, the method fully considers the vehicle data and map data, and updates the scheduling plan in real time according to changes in mines and vehicles, etc., so that the scheduling of manned transport vehicles is more accurate and efficient, and all vehicles, loading points and unloading points are fully utilized.

[0214] It should be noted that, in the description of this application, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0215] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

Claims

1. A method for dispatching manned transport vehicles, characterized in that: include: Obtaining vehicle information and map data of the target mining area, wherein the vehicle information includes the type of transport vehicles, the number of transport vehicles, and the speed of the transport vehicles, and the map data includes the geographical coordinates of each loading point, the geographical coordinates of each unloading point, loading equipment data, and information of each heavy-load transportation route, and the loading equipment data includes the number of available loading equipment equipped at each loading point; Generating a global dispatching scheme using the vehicle information and the map data, the global dispatching scheme comprising: dispatching vehicles according to the determined number of vehicles to be assigned to each loading point and the number of vehicles to be assigned to each heavy-load transport route; Manned transport vehicles in the target mining area are dispatched according to the global dispatch plan.

2. The method according to claim 1, characterized in that: In the process of scheduling manned transport vehicles in the target mining area according to the global scheduling plan, the method further includes: Determine in real time whether the local update conditions are triggered; After the local update condition is triggered, determining a target local scheduling scheme corresponding to the local update condition, wherein the target local scheduling scheme is a part of the global scheduling scheme; Determine the target update method corresponding to the local update condition; Updating the target local scheduling scheme according to the target update method; Dispatch the corresponding part of manned transport vehicles according to the updated target local dispatch plan.

3. The method according to claim 2, characterized in that: Generating a global dispatching plan using the vehicle information and the map data includes: The number of vehicles required for each loading point is determined by using the heavy-load transport time, empty-load transport time, loading time and unloading time of each manned transport vehicle.

4. The method according to claim 1 or 2, characterized in that: Generating a global scheduling solution using the vehicle information and the map data also includes: Based on the type of unloading point, the number of vehicles to be allocated for each heavy-load transport route is determined according to the preset unloading plan.

5. The method according to claim 3, characterized in that: The number of vehicles to be assigned to each loading point is determined by using the heavy-load transportation time, empty-load transportation time, loading time, and unloading time of each manned transport vehicle, including: The number of vehicles to be assigned to each loading point is determined based on a loading point balanced allocation model, wherein the loading point balanced allocation model is: in, Represents any loading point i, n k is the number of vehicles of model k, r i is the vehicle allocation ratio coefficient of loading point i, z i is the number of vehicles to be allocated to loading point i. The vehicle allocation ratio coefficient for each loading point is determined by the heavy-load transport time, empty-load transport time, loading time and unloading time of the manned transport vehicle.

6. The method according to claim 5, characterized in that: The vehicle allocation ratio factor for each loading point is determined by using the heavy-load transportation time, empty-load transportation time, loading time and unloading time of each manned transportation vehicle in the following way: Use the formula ts ijk =T ijk +T jik +s ik +t jk , j,k, determine the single trip time of any vehicle type k between any unloading point j and any loading point i, where ts ijk is the single trip time of vehicle type k between unloading point j and loading point i, T ijk is the average transportation time of vehicle type k from loading point i to unloading point j, T jik is the average transportation time of vehicle type k from unloading point j to loading point i, s ik is the average loading time of vehicle type k at loading point i, t jk is the average residence time of vehicle type k at unloading point j; Using the formula Determine the average single trip time from all unloading points to loading point i, where K is the total number of vehicle models, J is the total number of unloading points, i is the number of loading points, and ts i is the average single trip time from all unloading points to loading point i; Using the formula Determine the vehicle allocation ratio coefficient for loading point i, where s i is the average loading time.

7. The method according to claim 4, characterized in that: Based on the type of unloading point, the number of vehicles to be allocated for each heavy-load transport route is determined according to the preset unloading plan, including: If the unloading point is a complete dumping site, the number of vehicles to be assigned to each heavy-load transport route is determined according to the first preset unloading plan, which preferentially arranges all vehicles to the dumping site with the smallest average single trip time until the current unloading point is saturated. The average single trip time is the average time it takes for a vehicle to travel from the unloading point to the loading point; or, If the unloading point is a complete crushing station, the number of vehicles to be allocated to each heavy-load transport path is determined according to the second preset unloading plan, which determines the number of vehicles to be allocated to each heavy-load transport path based on the unloading point balanced allocation model, and the unloading point balanced allocation model is: Among them, x ij is the number of vehicles that should be assigned to the heavy-load transportation path between any loading point i and any unloading point j, r j is the vehicle allocation ratio coefficient of unloading point j, z i is the number of vehicles to be assigned to loading point i; or, If the unloading point is a mixture of a spoil dump and a crushing station, the number of vehicles to be allocated to each heavy-load transport route is determined according to the third preset unloading plan, and the third preset unloading plan preferentially arranges all vehicles to the spoil dump with the smallest average single-trip time until the corresponding unloading point is saturated.

8. The method according to claim 7, characterized in that: Before determining the number of vehicles to be assigned to each heavy-load transport path based on the unloading point balanced allocation model, the second preset unloading plan also includes: Using the formula Determine the average single trip time from all loading points to unloading point j, where I is the number of loading points and ts ijk is the single trip time of vehicle type k between unloading point j and loading point i; Using the formula Determine the vehicle allocation ratio coefficient of unloading point j, where s i is the average unloading time, ts j is the average single trip time from all loading points to unloading point j.

9. The method according to claim 2, characterized in that: The local update condition is that the loading equipment is short of vehicles. The target update method is: the first designated vehicle on the subsequent road is replaced as the scheduling target, and the target vehicle corresponding to the loading equipment with the short of vehicles is added. The target vehicle uses the loading equipment with the short of vehicles as the scheduling target. The first designated vehicle includes an empty vehicle that can be updated, or, The local update condition is material mismatch, where the material mismatch means that the loaded material does not match the current target unloading point. The target update method is: updating the target unloading point of the current vehicle; or, The local update condition is that the unloading points are saturated, and the target update method is: changing the vehicle scheduling target on the subsequent road so that the saturated unloading points are no longer used as the vehicle scheduling target.

10. The method according to claim 9, characterized in that When the local update condition is that the loading equipment is out of stock, the real-time determination of whether the local update condition is triggered includes: Calculate the number of locked vehicles per loading device; Calculate the clearing time of locked vehicles for each loading device based on the number of locked vehicles; calculating the idle time of the target loading device when the second designated vehicle arrives at each loading device, the second designated vehicle being a vehicle whose designated target loading point is the corresponding loading device but not locked to the loading device; The loading devices whose idle time is not zero are marked as vehicle-deficient loading devices, and the local update condition is triggered.

11. The method according to claim 10, characterized in that Calculating the clearing time of each loading device locked vehicle according to the number of locked vehicles includes: determining the loading device priority; calculating the clearing time of each loading device locked vehicle according to the priority and the number of locked vehicles; and / or, Updating the target local scheduling scheme according to the target update method includes: The loading device with the largest idle time is selected as the target loading device to be updated; if there is a vehicle whose distance meets the preset conditions on the heavy-load transport path where the target loading device is located, the scheduling target of the vehicle whose scheduling target is other loading devices and whose distance is closer to the target loading device is changed to the target loading device.

12. The method according to claim 1, characterized in that In the process of scheduling manned transport vehicles in the target mining area according to the global scheduling plan, the method further includes: Determine in real time whether the global update conditions are triggered; After the global update condition is triggered, a new global scheduling scheme is regenerated and executed.

13. A manned transport vehicle dispatching device, characterized in that: include: a data acquisition unit, used to acquire vehicle information and map data of a target mining area, wherein the vehicle information includes the type of transport vehicles, the number of transport vehicles and the speed of transport vehicles, and the map data includes the geographical coordinates of each loading point, the geographical coordinates of each unloading point, loading equipment data and information of each heavy-load transport route, and the loading equipment data includes the number of available loading equipment equipped at each loading point; A global dispatching scheme generating unit, configured to generate a global dispatching scheme using the vehicle information and the map data, wherein the global dispatching scheme includes: dispatching vehicles according to the determined number of vehicles to be assigned to each loading point and the number of vehicles to be assigned to each heavy-load transport route; A global scheduling unit is used to schedule manned transport vehicles in the target mining area according to the global scheduling plan.

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