Mine road network scheduling method, device, equipment and medium

Abstract

The invention relates to a mine road network scheduling method and device, equipment and a medium, and the method comprises the steps: obtaining the average loading time length of each loading region; obtaining the driving duration of the scheduled mine card reaching each loading area in the target state; acquiring the queuing duration of the dispatched mine cards in each loading area; based on the average loading time length of each loading area and the driving time length and the queuing time length of the dispatched mine cards, the loading operation estimated time length of the dispatched mine cards relative to each loading area is determined; and taking the loading area corresponding to the minimum loading operation estimation duration as a target loading area, controlling the dispatched mine card to run to the target loading area according to a path corresponding to the shortest running duration, and determining that a target electric shovel performs operation processing on the dispatched mine card according to the electric shovel use state of the target loading area. Therefore, the shortest dispatching time length of the mine cards can be quickly and accurately obtained to dispatch the mine cards, and the mine card dispatching efficiency and effect are improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of data processing, and in particular, to a scheduling method, device, equipment, and medium for a mine road network. Background Art

[0002] Currently, the mining process of open-pit mines mainly includes drilling, blasting, loading, transportation, waste dumping, etc.; among them, the design of the scheduling process for transport vehicles to go to the electric shovels in the loading area for operation is one of the important steps in mine production. It is necessary to cooperate with the electric shovels under the influence of environmental factors such as the scheduling of other vehicles on site, the road conditions along the way, and whether the excavators are busy. Therefore, the technology of finding a planning scheme with the shortest total scheduling duration in a complex mine site is one of the key technologies for realizing an intelligent mine.

[0003] However, there are still many problems in the current design of the scheduling process at mine operation sites, such as the design being too simple and not considering the reality of complex road conditions on site enough; for example, there is often a phenomenon of blindly dispatching vehicles at existing mine scheduling sites, resulting in missing a relatively efficient scheduling scheme, thus the operation efficiency is low and the scheduling process takes too long. Summary of the Invention

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a scheduling method, device, equipment, and medium for a mine road network.

[0005] The present disclosure provides a scheduling method for a mine road network. The mine road network includes multiple loading areas, and there are multiple electric shovels in each of the loading areas. The method includes: determining the average loading duration of each loading area based on the average loading duration of all the electric shovels in each loading area; obtaining the driving duration of the scheduled ore truck reaching each loading area in the target state, and obtaining the queuing duration of the scheduled ore truck in each loading area; determining the estimated loading operation duration of the scheduled ore truck relative to each loading area based on the average loading duration of each loading area, the driving duration, and the queuing duration of the scheduled ore truck; taking the loading area corresponding to the minimum estimated loading operation duration as the target loading area, and controlling the scheduled ore truck to travel to the target loading area along the path corresponding to the shortest driving duration, and determining a target electric shovel to perform operation processing on the scheduled ore truck according to the use status of the electric shovels in the target loading area.

[0006] In an alternative embodiment of the present disclosure, there are multiple paths from the starting position of the scheduled mining truck to any of the loading areas, and each path has multiple road segments. The target state is that there are no other mining trucks on all paths. Obtaining the travel duration of the scheduled mining truck reaching each loading area in the target state includes: obtaining, through a big data model, the average passing duration value of each road segment of each path that the scheduled mining truck has traveled to any of the loading areas a target number of times during a target historical time period; summing up the average passing duration values of different road segments of the same path to obtain the required duration for the scheduled mining truck to travel to each loading area; screening out a target path with the shortest required duration for traveling to each loading area, and taking the duration required for the target path as the travel duration of the scheduled mining truck reaching each loading area.

[0007] In an alternative embodiment of the present disclosure, the road segment is a one-way road segment, and the target state is that there are other mining trucks. For each road segment of all paths to any loading area, if it is determined that the road segment does not require yielding, the driving speed of the scheduled mining truck is the maximum speed limit rate in the mine site under no-load conditions.

[0008] In an alternative embodiment of the present disclosure, if it is determined that the road segment requires yielding, two oncoming trucks meet and both trucks are either no-load or fully loaded; the vehicle that arrives at the one-way intersection first has the right of way; or, two oncoming trucks meet and arrive at the one-way intersection at the same time; the fully loaded vehicle has the right of way; or, two oncoming trucks meet and one of them is a no-load vehicle and the other is a fully loaded vehicle. At the same time, if the no-load vehicle arrives at the one-way intersection first, assume that the required duration for the no-load vehicle to reach the one-way intersection is the first duration, the required duration for the fully loaded vehicle to reach the one-way intersection is the second duration, the passing duration for the no-load mining truck to pass through the one-way road segment at the maximum no-load speed limit rate at the dispatching site is the third duration, and the passing duration for the fully loaded mining truck to pass through the one-way road segment at the maximum fully loaded speed limit rate at the dispatching site is the fourth duration; if the sum of the first duration and the third duration is greater than or equal to the second duration, the fully loaded vehicle has the right of way, otherwise the no-load vehicle has the right of way.

[0009] In an alternative embodiment of the present disclosure, the road segment is an intersection road segment. When two trucks driving towards the same intersection meet, the vehicle that arrives at the intersection first has the right of way, and the time interval difference between any two adjacent mining trucks passing through the intersection point is greater than or equal to a preset duration threshold.

[0010] In an alternative embodiment of the present disclosure, for the scheduling method of the mine road network, obtaining the queuing duration of the ore trucks to be scheduled in each loading area includes: based on each loading area, obtaining the number of electric shovels, and determining a first one-dimensional array with a target length corresponding to each loading area for recording the number of ore trucks served by the number of electric shovels, where the initial values of each element in the first one-dimensional array are all 1; obtaining the number of trucks waiting in line in each loading area; determining a second one-dimensional array with a target length corresponding to each loading area based on the number of electric shovels for recording the total loading duration of the number of electric shovels; the initial values of each element in the second one-dimensional array are the remaining durations for which the number of electric shovels is currently loading the current vehicle; querying the minimum value in the second one-dimensional array, setting the element corresponding to the minimum value as the complete service duration of the electric shovel, and adding 1 to the value of the element corresponding to the minimum value and the first one-dimensional array; repeating the above steps until the sum of all values in the first one-dimensional array is the number of trucks waiting in line, and the elements of the second one-dimensional array are the total loading durations for all the waiting vehicles in each loading area as the queuing duration of each loading area.

[0011] In an alternative embodiment of the present disclosure, determining the target electric shovel to perform operation processing on the ore truck to be scheduled according to the usage status of the electric shovels in the target loading area includes: obtaining that all the electric shovels in the target loading area are busy, then the ore truck to be scheduled goes to the electric shovel that finishes the current loading task first for loading operation; or, obtaining that there is one or more idle electric shovels in the target loading area, then the ore truck to be scheduled goes to the electric shovel with the highest loading efficiency among the idle electric shovels for loading operation.

[0012] The present disclosure provides a scheduling device for a mine road network. The mine road network includes multiple loading areas, and there are multiple electric shovels in each loading area. The device includes: a first determination module for determining the average loading duration of each loading area based on the average loading duration of all the electric shovels in each loading area; a first acquisition module for acquiring the driving duration of the ore truck to be scheduled when reaching each loading area in the target state; a second acquisition module for acquiring the queuing duration of the ore truck to be scheduled in each loading area; a second determination module for determining the estimated loading operation duration of the ore truck to be scheduled relative to each loading area based on the average loading duration of each loading area, the driving duration, and the queuing duration of the ore truck to be scheduled; a control module for taking the loading area corresponding to the minimum estimated loading operation duration as the target loading area and controlling the ore truck to be scheduled to travel to the target loading area along the path with the shortest driving duration; a processing module for determining the target electric shovel to perform operation processing on the ore truck to be scheduled according to the usage status of the electric shovels in the target loading area.

[0013] According to an embodiment of the present disclosure, an electronic device is provided. The electronic device includes: a processor; a memory for storing executable instructions executable by the processor; the processor is configured to read the executable instructions from the memory and execute the instructions to implement the scheduling method of the mine road network provided by the embodiment of the present disclosure.

[0014] According to an embodiment of the present disclosure, a computer-readable storage medium is provided. The storage medium stores a computer program, and the computer program is used to execute the scheduling method of the mine road network provided by the embodiment of the present disclosure.

[0015] An embodiment of the present disclosure further provides a computer program product, including a computer program, and the computer program is executed by a processor to implement the scheduling method of the mine road network provided by the embodiment of the present disclosure.

[0016] The technical solution provided by the embodiment of the present disclosure has the following advantages compared with the prior art:

[0017] The present disclosure proposes a scheduling scheme for a mine road network. The mine road network includes multiple loading areas, and there are multiple electric shovels in each loading area. Based on the average loading time of all the electric shovels in each loading area, the average loading time of each loading area is determined; the driving time for the scheduled ore truck to reach each loading area in the target state is obtained, and the queuing time for the scheduled ore truck in each loading area is obtained; based on the average loading time of each loading area, the driving time and the queuing time of the scheduled ore truck, the estimated loading operation time of the scheduled ore truck relative to each loading area is determined; the loading area corresponding to the minimum estimated loading operation time is used as the target loading area, and the scheduled ore truck is controlled to travel to the target loading area along the path corresponding to the shortest driving time, and the target electric shovel is determined according to the use status of the electric shovels in the target loading area to perform operation processing on the scheduled ore truck. Thereby, the shortest scheduling time of the ore truck can be quickly and accurately obtained to schedule the ore truck, improving the scheduling efficiency and effect of the ore truck. Description of the Drawings

[0018] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present disclosure and used together with the specification to explain the principles of the present disclosure.

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a schematic diagram of the scheduling site of multiple loading areas according to an embodiment of the present disclosure;

[0021] Figure 2 Flow example diagram of a scheduling method for a mine road network provided by an embodiment of the present disclosure;

[0022] Figure 3 Schematic diagram of two mine trucks with the same empty load or the same full load moving towards each other and going to a single-lane section;

[0023] Figure 4 Schematic diagram of two mine trucks moving towards each other and meeting at a single-lane section theoretically arriving at the same time;

[0024] Figure 5 Schematic diagram of the situation where an empty-load mine truck and a full-load mine truck move towards each other and the empty-load mine truck theoretically arrives at the single-lane section first;

[0025] Figure 6 Schematic diagram of a path of a scheduled mine truck going to a certain loading area;

[0026] Figure 7 Schematic diagram of the queuing situation of mine trucks outside a certain loading area;

[0027] Figure 8 Schematic diagram of all mine trucks targeting the same loading area at the starting moment;

[0028] Figure 9 Structural schematic diagram of a scheduling device for a mine road network provided by an embodiment of the present disclosure. Detailed implementation manners

[0029] In order to be able to more clearly understand the above-mentioned objects, features, and advantages of the present disclosure, the solution of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other.

[0030] Many specific details are set forth in the following description in order to fully understand the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all of the embodiments.

[0031] Based on the foregoing description of the background art, there are still many problems in the scheduling process design at the current mine operation sites. The design is too simple and does not fully consider the complex road conditions on site. For example, there is often a phenomenon of blindly dispatching vehicles at the existing mine scheduling sites, resulting in missing a relatively efficient scheduling plan, and thus the operation efficiency is low. Another example is that the design of individual scheduling plans is too simple and does not consider whether there are one-way sections, intersections, etc. where yielding is required along the way; or whether it is necessary to yield to heavy-loaded vehicles, and in the process of calculating the total duration, the remaining required duration of the ore truck receiving loading service at the corresponding electric shovel position is ignored (it may be regarded as the total duration; or it may be regarded as 0), etc. All of the above problems may result in an overly long scheduling process, thus leading to the technical problem of relatively low ore truck scheduling efficiency.

[0032] In view of the above problems, the present disclosure proposes a scheduling method for a mine road network, which is applied to a scenario where there are multiple loading areas in the mine road network, and there are multiple electric shovels in each loading area. The method uses big data models and relevant theories of operations research for optimization, calculates a scheduling algorithm with the shortest time consumption for the ore truck to reach the loading area and complete loading, so as to solve the problem of low scheduling efficiency. Among them, the ore truck to be dispatched may pass through a one-way section along the way to the loading area, and may need to wait for the oncoming ore truck to pass first. When the oncoming ore truck is heavy-loaded, the possibility that the ore truck to be dispatched needs to yield will further increase. In addition, at intersections, there may also be similar situations - the ore truck to be dispatched needs to wait for the laterally passing ore truck to pass before entering the intersection.

[0033] Specifically, the schematic diagram of the scheduling site is as Figure 1 shown. There are m loading areas at the scheduling site, and the ore truck to be dispatched can go to any loading area for loading operations. Combining the queuing situation of ore trucks outside each loading area and the road conditions of all paths to each loading area, each possible situation will be calculated and the required durations will be screened and compared to find the scheduling plan with the shortest total time and complete this scheduling.

[0034] Figure 2 The following is a flowchart example of a scheduling method for a mine road network provided by an embodiment of the present disclosure. The mine road network includes multiple loading areas, and there are multiple electric shovels in each loading area, including:

[0035] Step 101, determine the average loading duration of each loading area based on the average loading duration of all electric shovels in each loading area.

[0036] Specifically, by obtaining the required time of the electric shovel in the loading area during multiple actual operations, the average loading time of each loading area is calculated. That is, through a big data model, the loading time data of all electric shovels in all loading areas in the recent past is obtained, so as to calculate and obtain the average loading time of these electric shovels. Based on the average loading time of all electric shovels in all loading areas calculated above, by superimposing the loading efficiency of all electric shovels in the same loading area, the average loading time of all loading areas is calculated in real time.

[0037] As an example, calculating the average loading time of each loading area includes: Step 1, for each electric shovel, according to the previous loading time of the electric shovel multiple times, through a big data model, calculate the average loading time of the electric shovel; this step is used to provide data for calculating the average loading time of the loading area in Step 2; Step 2, in Step 1, the average loading time of each electric shovel in each loading area has been calculated; now, there are m loading areas at the dispatching site; next, according to the average loading time of these electric shovels, calculate the average loading time of each loading area; the calculation process is as follows:

[0038] The average loading efficiency of the i-th loading area is:

[0039]

[0040] Then the average loading time of the i-th loading area is:

[0041]

[0042] Among them, w i is the number of electric shovels in the i-th loading area, t ij is the average loading time of the j-th electric shovel in the i-th loading area, i = 1, 2,......, m.

[0043] Step 102, obtain the driving time of the scheduled ore truck reaching each loading area in the target state, and obtain the queuing time of the scheduled ore truck in each loading area.

[0044] In one embodiment, there are multiple paths from the starting position of the scheduled mining truck to any loading area, and each path has multiple road segments. The target state is that there are no other mining trucks on all paths. Obtaining the travel duration of the scheduled mining truck to reach each loading area in the target state includes: obtaining, through a big data model, the average passing duration value of each road segment of each path that the scheduled mining truck has passed through the target number of times to any loading area in the target historical time period; summing up the average passing duration values of different road segments of the same path to obtain the required duration for the scheduled mining truck to reach each loading area; screening out a target path with the shortest required duration for reaching each loading area, and using the duration required for the target path as the travel duration of the scheduled mining truck to reach each loading area.

[0045] Specifically, the ideal state can be understood as the situation where there are no other mining trucks on the road. There are multiple paths from the starting position of the scheduled mining truck to any loading area, and each path has multiple road segments. Through the big data model, obtain the duration of each road segment of each path that the scheduled mining truck has passed through multiple times to any loading area in the recent past and take the average value, and then perform arithmetic summation on the average passing durations of different road segments of the same path to calculate the duration for the mining truck to reach each working area in the ideal state.

[0046] In one embodiment, the road segment is a one-way road segment, and the target state is that there are other mining trucks. For each road segment of all paths to any loading area, if it is determined that the road segment does not require yielding, the driving speed of the scheduled mining truck is the maximum speed limit rate in the mine site under no-load conditions.

[0047] In one embodiment, when it is determined that the road segment requires yielding, two oncoming trucks meet and both trucks are either no-load or fully loaded; the vehicle that arrives at the one-way intersection first has the right of way; or, two oncoming trucks meet and both trucks arrive at the one-way intersection at the same time; the fully loaded vehicle has the right of way; or, two oncoming trucks meet and one of the trucks is a no-load vehicle and the other is a fully loaded vehicle. At the same time, if the no-load vehicle arrives at the one-way intersection first, assume that the required duration for the no-load vehicle to reach the one-way intersection is the first duration, the required duration for the fully loaded vehicle to reach the one-way intersection is the second duration, the passing duration for the no-load mining truck to pass through the one-way road segment at the maximum no-load speed limit rate at the dispatching site is the third duration, and the passing duration for the fully loaded mining truck to pass through the one-way road segment at the maximum fully loaded speed limit rate at the dispatching site is the fourth duration; if the sum of the first duration and the third duration is greater than or equal to the second duration, the fully loaded vehicle has the right of way, otherwise the no-load vehicle has the right of way.

[0048] In one embodiment, the road section is an intersection road section. When two trucks driving towards the same intersection meet, the vehicle that arrives at the intersection first has the right of way, and the time interval difference between the passing times of any two adjacent mining trucks at the boundary point of the intersection is greater than or equal to a preset duration threshold.

[0049] Specifically, for each road section of all the paths to any loading area, there is the following judgment method: (1) If it is determined that no yielding is required on this road section, and the driving speed of the dispatched mining truck at this time is the maximum speed limit rate under no-load conditions at the mine site; then the calculation method for the required time for the dispatched mining truck to pass through this road section is the manner described in the foregoing embodiment; (2) If yielding may be required on this road section, the dispatched mining truck needs to decelerate in advance before reaching the starting point of this road section to ensure that the mining truck with the right of way passes through this road section first; in addition, in order to shorten the passing time as much as possible, the dispatched mining truck needs to reach the starting point position of this road section at the moment when the mining truck with the right of way passes through this road section, and the driving speed resumes the maximum speed limit rate under no-load conditions at the mine site. For example Figure 3 , Figure 4 and Figure 5 as shown. The oncoming mining trucks may be no-load mining trucks; they may also be heavy-load mining trucks.

[0050] Specifically, in a path, the arithmetic sum of the required times for each road section is the required time for the current path. For each path to any loading area, the required time for the mining truck to pass through is calculated in this way. Next, among all the paths to each loading area, the path with the shortest required time to reach this loading area is selected, and the time required for this path is set as the driving time on the road for the dispatched mining truck to reach this loading area.

[0051] Specifically, for the case where the road section is a one-way road section, it includes: (1) When two trucks driving towards each other meet (both trucks are at the very front of their respective driving directions) and both trucks are either no-load or heavy-load; at this time, the vehicle that arrives at the one-way intersection first has the right of way, as Figure 3 shown; (2) When two trucks driving towards each other meet (both trucks are at the very front of their respective driving directions) and both trucks arrive at the one-way intersection at the same time; at this time, the heavy-load vehicle has the right of way, as Figure 4 shown; (3) When two trucks driving towards each other meet (both trucks are at the very front of their respective driving directions) and one of the two trucks is a no-load vehicle and the other is a heavy-load vehicle, and at the same time, the no-load vehicle arrives at the one-way intersection first; at this time, assume that the required time for the no-load vehicle to reach the one-way intersection is t e1 ; the required time for the heavy-load vehicle to reach the one-way intersection is t f1 ; under normal circumstances, that is, when the mining truck passes through the one-way road section at the maximum speed limit rate v under no-load conditions at the dispatching site, the passing time is te2 ; Under normal circumstances, the overloaded truck travels at the maximum speed limit v of the overloaded vehicles at the dispatching site - The time taken to pass through a single-lane section is t f2 ; That is, t e1 < t f1 At this time, compare t e1 + t e2 with t f1 ; If t e1 + t e2 ≥ t f1 , that is, the time taken for the overloaded vehicle to reach the single-lane section is less than or equal to the time taken for the empty vehicle to leave the single-lane section. At this time, the overloaded vehicle has the right of way; conversely, that is, t e1 + t e2 < t f1 , then the empty vehicle has the right of way; as Figure 5 shown.

[0052] Specifically, for the case where the road section is a crossroads section (similar to a single-lane section), it includes: (1) Two trucks driving towards the same crossroads meet (both trucks are at the forefront of their respective driving directions); at this time, the vehicle that arrives at the crossroads first has the right of way; (2) Time interval limit. To ensure the safe operation of the dispatching site, the time interval difference between any two adjacent ore trucks passing through the junction point of the crossroads must not be less than a preset time threshold, such as τ.

[0053] Step 103, determine the estimated loading operation time of the ore truck to be dispatched relative to each loading area based on the average loading time of each loading area, the driving time of the ore truck to be dispatched, and the queuing time.

[0054] Specifically, based on the operation conditions of all electric shovels in each loading area at the actual mine site, calculate the queuing situation of ore trucks outside the loading area. The ore trucks involved in the calculation include other ore trucks that arrived at the loading area before the ore truck to be dispatched (at this time, the ore truck to be dispatched has selected the shortest path on the road to the corresponding loading area, because if it is not the shortest path, more ore trucks may arrive at the loading area before the ore truck to be dispatched and cause the queuing waiting time to become longer), and also include the queuing time required for the ore truck to be dispatched outside any loading area.

[0055] In one embodiment, obtaining the queuing duration of the scheduled ore trucks in each of the loading areas includes: based on each loading area, obtaining the number of electric shovels, determining a first one-dimensional array with a target length corresponding to each loading area based on the number of electric shovels for recording the number of ore trucks served by the number of electric shovels, and the initial value of each element in the first one-dimensional array is 1; obtaining the number of queuing trucks in each loading area; determining a second one-dimensional array with a target length corresponding to each loading area based on the number of electric shovels for recording the total loading duration of the number of electric shovels; the initial value of each element in the second one-dimensional array is the remaining duration of the number of electric shovels currently loading the current vehicle at the current moment; querying the minimum value in the second one-dimensional array, setting the element corresponding to the minimum value as the complete service duration of the electric shovel, and adding 1 to the value of the element corresponding to the first one-dimensional array; repeating the above process until the sum of all values in the first one-dimensional array is the number of queuing trucks, and the elements of the second one-dimensional array are the total loading durations for all waiting vehicles in each loading area as the queuing duration of each loading area.

[0056] Step 104: Use the loading area corresponding to the minimum estimated loading operation duration as the target loading area, control the scheduled ore truck to travel to the target loading area along the path with the shortest travel duration, and determine the target electric shovel to perform operation processing on the scheduled ore truck according to the usage status of the electric shovels in the target loading area.

[0057] In one embodiment, determining the target electric shovel to perform operation processing on the scheduled ore truck according to the usage status of the electric shovels in the target loading area includes: obtaining that all the electric shovels in the target loading area are busy, then the scheduled ore truck goes to the electric shovel that finishes the current loading task first for loading operation; or, obtaining that there is one or more idle electric shovels in the target loading area, then the scheduled ore truck goes to the electric shovel with the highest loading efficiency among the idle electric shovels for loading operation.

[0058] Specifically, by calculating the estimated duration for the ore truck to travel to each working area and complete the loading operation (the travel duration of the ore truck on the road + the queuing duration of the ore truck outside the loading area + the average loading duration of the loading area), the working area that the scheduled ore truck needs to go to for this scheduling task is determined. Among them, the working area with the shortest estimated duration is the working area that the scheduled ore truck goes to; after the ore truck arrives at the working area, according to whether the electric shovel in the working area is idle, the specific electric shovel to go to is determined. The principles for determining the electric shovel to go to are as follows: (1) If at this time, all the electric shovels in this loading area are busy, then the scheduled ore truck goes to the electric shovel that finishes the current loading task first for loading operation; (2) If at this time, there is one or more idle electric shovels in this loading area, then the scheduled ore truck goes to the electric shovel with the highest loading efficiency among the idle electric shovels for operation; at this time, the shortest loading duration of the scheduled ore truck for this time can be obtained.

[0059] It is understandable that the time taken by the mining truck to pass through each section under ideal conditions and the time required for all feasible paths to reach each working area are calculated; the known number of passable paths to these loading areas are: num1, num2, num3,......num m ; In addition, the ideal state is that there are no vehicles on the road and all electric shovels are not operating; for each path to each mining area, it consists of multiple different sections. There are: (1) The time taken by the mining truck to pass through each section. In the case of no other vehicles, the time taken by the mining truck to pass through each section at the maximum speed limit v at the mine site; (2) The time to reach each loading area; for any loading area, the time taken to reach under ideal conditions for each reachable path is the sum of the times taken for multiple sections.

[0060] Among them, the method for calculating the time taken by the mining truck to reach each loading area. At this time, the entire road network where there may be vehicles on each road leading to different loading areas is considered. It is now known that there are m loading areas at the dispatching site; and the number of passable paths to these loading areas are: num1, num2, num3,......num m ; Therefore, the total number of passable paths is At this time, the time taken by the mining truck to pass through each section under ideal conditions; there are three places where the vehicles to be dispatched are not yet determined: (1) Which specific loading area to go to for this dispatch; (2) Under the condition that the loading area to go to is determined, which dispatch route to take to reach this loading area; (3) After the dispatched vehicle reaches the loading area, which specific excavator to go to,

[0061] It is necessary to find the path with the shortest travel time on the road to each loading area (if it is not the path with the shortest time, there may be more mining trucks in front of the dispatched mining truck) - for each loading area, it is necessary to traverse all the paths to this area and then select the one with the shortest time; before the dispatched mining truck accepts the dispatch, assume that the mining truck passes through different paths to reach the corresponding loading area; for each path, the potential situation of having to give way needs to be considered.

[0062] As an example, as Figure 6 shown, assume that the path sequence of the vehicle to be dispatched this time is #27 - #31 - #17 - #29 - #39. Among them, section #17 is a one-way section, and there is a passable intersection between sections #27 and #31, and there is a passable intersection between sections #29 and #39.

[0063] The vehicle conditions based on the path taken this time include:

[0064] 1. The vehicle in front of the dispatching dump truck moving in the same direction. This part of the vehicles is concerned from near to far from the loading area (from far to near from the dispatching vehicle), including: (1) The vehicle in front 1 still needs a time t truck11 to reach the loading area at the departure moment of the dispatching dump truck; (2) The vehicle in front 2 still needs a time t truck21 to reach the single-lane section #17 at the departure moment of the dispatching dump truck; If it continues to travel at the normal speed v, the following situations will occur: The time to pass through the single-lane section #17 is t road#17 ; The time to pass through the section #29 is t road#29 (to reach the intersection #2); The time to pass through the section #39 is t road#39 (to reach the loading area); (3) The vehicle in front 3 still needs a time t truck31 to reach the section #31 (to reach the intersection 1) at the departure moment of the dispatching dump truck; If it continues to travel at the normal speed v, the following situations will occur: The time to pass through the section #31 is t road#31 ; The time to pass through the single-lane section #17, the section #29 and the section #39 is the same as that of the vehicle in front 2.

[0065] 2. The vehicles moving towards the vehicle to be dispatched. This part of the vehicles is concerned from far to near from the loading area (from near to far from the dispatching vehicle), including: (1) The oncoming vehicle 1 is empty and still needs a time t truck12 to pass through the single-lane section #17; If it continues to travel at the normal speed v, the following situations will occur: The time to pass through the section #31 is the same as that of the vehicle in front 3 passing through the section #31, which is t road#31 ; The time to pass through the section #27 is t road#27 ; (2) The oncoming vehicle 2 is fully loaded and still needs a time t truck22 to pass through the section #29; If it continues to travel at the maximum speed limit v - for heavy vehicles (v - < v), the following situations will occur: The time to pass through the single-lane section #17 is t #17重车 ; (to reach the intersection 1) The time to pass through the section #31 is t #31重车 ; The time to pass through the section #27 is t #27重车 .

[0066] 3. The situation of the intersections, from near to far from the loading area (from far to near from the dispatching vehicle), including: (1) Intersection 1. Intersection 1 is the junction of section #27 and section #31. The normal speed of the dispatching dump truck to pass through section #27 is time1, that is, t road#27; According to the big data model, multiple different durations from the origin of the scheduled mining truck to intersection 1 can be obtained, and the value time2 with a passing duration exceeding 99% is intercepted; record the mining trucks passing horizontally through intersection 1 within the duration of time2 starting from the departure time of the scheduled mining truck. If the passing duration is greater than the normal passing duration of the scheduled mining truck, it will not be considered; in addition, if a mining truck turns into this scheduling route, loads, and arrives at the loading area before the scheduled mining truck, they will be loaded first before the scheduled mining truck; (2) Intersection 2, intersection 2 is the junction of section #29 and section #39; according to the big data model, multiple different durations from the origin of the scheduled mining truck to intersection 2 can be obtained, and the value time3 with a passing duration exceeding 99% is intercepted; record the mining trucks passing horizontally through intersection 2 within the duration of time3 starting from the departure time of the scheduled mining truck. If the passing duration is greater than the normal passing duration of the scheduled mining truck, it will not be considered.

[0067] For each truck passing through on the scheduling route (including the scheduled mining truck and other mining trucks), before the intersection or one-way road, it is divided into the following two situations: (1) The mining truck with the right of way can pass normally; (2) The mining truck that needs to yield needs to decelerate in advance, but to ensure passing as quickly as possible under the premise of safety, it needs to reach the one-way intersection at the moment when the mining truck with the right of way passes through the one-way intersection / intersection, and after calculation, the speed of the yielding mining truck returns to normal at this time.

[0068] 4. The time taken for the scheduled mining truck to pass through each section under ideal conditions includes: If the scheduled mining truck travels at the maximum speed limit rate v at the mine site under no-load conditions, combined with the driving conditions of the mining truck mentioned above, it can be obtained that the duration for the scheduled mining truck to pass through section #27 is t road#27 ; The duration for passing through section #31 is t road#31 ; The duration for passing through section #17 is t road#17 ; The duration for passing through section #29 is t road#29 ; The duration for passing through section #39 is t road#39 ;

[0069] 5. The following is part of the scheduling calculation process: Take the leading vehicle 2 and the oncoming vehicle 1 as an example; at this time, the oncoming vehicle 1 is driving on the one-way section #17, and the oncoming vehicle 1 still needs a duration of t truck12 to pass through the one-way section #17, and the leading vehicle 2 still needs a duration of t truck21 to reach the one-way section #17; at this time, compare t truck12 with t truck21 ; If t truck21 ≥ t truck12 , that is, when the leading vehicle 2 reaches the entrance of the one-way section #17, the oncoming vehicle 1 has already passed through the one-way section #17; at this time, the progress of the leading vehicle 2 is not affected; on the contrary, ttruck21 <t truck12 , that is, when the leading vehicle 2 reaches the intersection of the one-way section #17, the oncoming vehicle 1 has not yet passed through the one-way section #17; at this time, the leading vehicle 2 needs to decelerate in advance and control the speed to reduce the vehicle speed from the original speed v to a certain value and when reaching the intersection of the one-way section #17, the speed resumes to v and it takes time t truck12 .

[0070] The following is the calculation method for a specific route to a specific loading area; among them, taking Figure 6 as an example, for any mining truck (including the scheduled mining truck and other mining trucks), if there is no need to face the situation of giving way, it will travel at the maximum speed limit rate v at the dispatching site.

[0071] Part of the calculation process is as follows: (1) Pass through section #27. According to the big data model, the multiple different passing times of the scheduled mining truck passing through section #27 can be obtained, and the value time2 of the passing time exceeding 99% is intercepted. At this time, there is a mining truck in front of the scheduled mining truck, that is, the leading vehicle 3; record the mining trucks passing horizontally through intersection 1 and their quantities within the time period of time2 starting from the departure time of the scheduled mining truck. The traveling situation of the leading vehicle 3 is as follows: If it travels at the maximum speed limit rate v at the dispatching site and takes the departure time of the scheduled mining truck as the starting time, it still needs time t truck31 to pass through section #27 and reach intersection 1; at this time, it is divided into the following three situations:

[0072] 1. If t truck31 > τ, and there are no mining trucks passing laterally within the time interval (t truck31 -τ, t truck31 +τ), then the leading vehicle 3 can pass through this section at the maximum speed limit rate v at the dispatching site, and the passing time is

[0073] 2. If t truck31 > τ, and there are mining trucks passing laterally within the time interval (t truck31 -τ, t truck31 +τ), since the time difference between different mining trucks passing through the same location must not be less than τ, it is again divided into four situations at this time:

[0074] 2.1 There is a lateral mining truck reaching the intersection within the time interval (t truck31 -τ, t truck31 ). In this current situation, the lateral mining truck arrives at the intersection earlier than the leading vehicle 3; therefore, the leading vehicle 3 needs to wait for τ time for the mining truck to pass through the intersection before passing through the intersection; the lateral mining truck does not need to decelerate and travels at the speed limit rate v at the dispatching site, and the arrival time at the intersection is t m , (t truck31-τ < t m < t truck31 ), then the leading vehicle 3 needs to wait for the lateral mining truck to pass through for a duration of τ before it can reach the intersection, that is In addition, the leading vehicle 3 needs to decelerate in advance and appropriately decelerate while maintaining a distance from the vehicle in front of it of not less than v * τ so that the passing duration is and the driving speed of the leading vehicle 3 resumes to the speed limit rate v at the dispatching site when it reaches the intersection.

[0075] 2.2 There is a mining truck arriving at the intersection in the time interval (t truck31 , t truck31 + τ). In the current situation, the lateral mining truck arrives at the intersection after the leading vehicle 3; at this time, the leading vehicle 3 has the right of way and therefore does not need to decelerate and can pass normally, that is, the passing duration is

[0076] 2.3 There is a mining truck arriving at the intersection in the time interval (t truck31 - τ, t truck31 ) and another mining truck arriving at the intersection in the time interval (t truck31 , t truck31 + τ). In the current situation, the lateral mining truck arriving at the intersection in the time interval (t truck31 , t truck31 + τ) will pass through the intersection after the leading vehicle 3; while the mining truck arriving at the intersection in the time interval (t truck31 - τ, t truck31 ) calculates the passing time in the same way as in part 2.1 - this mining truck travels at the speed limit rate v of the dispatching site and arrives at the intersection at time t k , (t truck31 - τ < t k < t truck31 ), then the leading vehicle 3 needs to wait for the lateral mining truck to pass through for a duration of τ before it can reach the intersection, that is

[0077] 2.4 There is a mining truck arriving at the intersection at time t truck31 . At this time, if both the leading vehicle 3 and the lateral mining truck pass through at the maximum speed limit, they will arrive at the intersection simultaneously and cause a collision between the two mining trucks. Therefore, one of the mining trucks needs to yield; if the lateral mining truck is a heavy vehicle at this time, the leading vehicle 3 needs to decelerate in advance so that its arrival time at the intersection is If the lateral mining truck is also an empty vehicle at this time, there is a 50% possibility for each of the leading vehicle 3 and the lateral mining truck to yield to the other; that is, the passing time of the leading vehicle 3 through the intersection is and both have a 50% possibility.

[0078] 3. If t truck31≤τ, then according to the rules, the side dump truck needs to wait for the vehicle in front, vehicle 31, to pass and then can pass through the intersection τ moments later; that is, the moment when vehicle 3 passes through the intersection is At this time, the moment when vehicle 3 arrives at the intersection has been determined. The travel situation of the truck to be scheduled on section #27: If the truck to be scheduled travels at the speed limit v of the dispatching site, the time taken to pass through section #27 is time1; next, it is necessary to compare the value of time1 with and divide it into the following two cases: If there is: when the truck to be scheduled arrives at the intersection, vehicle 3 in front has passed through the intersection for more than τ; at this time, the temporarily preset time taken to pass through section #27 is time1 new1 = time1; if there is: when the truck to be scheduled arrives at the intersection, vehicle 3 in front has not passed through the intersection for more than τ; at this time, the temporarily preset time taken to pass through section #27 is

[0079] Next, pay attention to whether there is a side - passing dump truck in the time interval (time1 new1 - τ, time1 new1 + τ); at this time, it is again divided into four cases:

[0080] 1. There is a side dump truck arriving at the intersection in the time interval (time1 new1 - τ, time1 new1 ). In this current situation, the side dump truck arrives at the intersection earlier than the truck to be scheduled; therefore, the truck to be scheduled needs to wait for τ moments after the side dump truck passes through the intersection before it can pass through the intersection; the side dump truck does not need to decelerate and travels at the speed limit v of the dispatching site, and the moment it arrives at the intersection is timecorner m1 (time1 new1 - τ < timecorner m1 < time1 new1 ), then the truck to be scheduled needs to wait for τ moments after the side dump truck passes before it can reach the intersection, that is In addition, the truck to be scheduled needs to decelerate in advance and appropriately decelerate while keeping the distance from the vehicle in front not less than v * τ so that the passing time is and the traveling speed of the previous truck to be scheduled resumes to the speed limit v of the dispatching site when it arrives at the intersection.

[0081] 2. There is a dump truck in the time interval (time1 new1 , time1 new1+(τ) arrives at the intersection. In the current situation, the lateral mining truck arrives at the intersection after the scheduled mining truck; at this time, the scheduled mining truck has the right of way and does not need to decelerate, so it can pass normally, that is, the passing time is

[0082] 3. There is a mining truck that arrives at the intersection in the time interval (time1 new1 -τ, time1 new1 ) and another mining truck that arrives at the intersection in the time interval (time1 new1 , time1 new1 +τ). In the current situation, the lateral mining truck that arrives at the intersection in the time interval (time1 new1 , time1 new1 +τ) will pass through the intersection after the scheduled mining truck; while the mining truck that arrives at the intersection in the time interval (time1 new1 -τ, time1 new1 ) arrives at the intersection at a speed of v limited by the dispatching site, and the arrival time at the intersection is t k , (time1 new1 -τ < t k < time1 new1 ), then the scheduled mining truck needs to wait for the lateral mining truck to pass for τ time before it can reach the intersection, that is

[0083] 4. There is a mining truck that arrives at the intersection at time time1 new1 . At this time, if both the scheduled mining truck and the lateral mining truck pass at the maximum speed limit, they will arrive at the intersection at the same time and cause a collision between the two mining trucks. Therefore, one of the mining trucks needs to yield; if the lateral mining truck is a heavy truck at this time, the scheduled mining truck needs to decelerate in advance so that its arrival time at the intersection is If the lateral mining truck is also an empty truck at this time, there is a 50% possibility that both the scheduled mining truck and the lateral mining truck need to yield to each other; that is, the passing time of the scheduled mining truck through the intersection is and The possibility of both is 50%.

[0084] (2) Passing through section #31, the progress of the mining trucks along the way: At this time, the leading vehicle 2, the leading vehicle 3, the oncoming vehicle 2 and the oncoming vehicle 1 may all affect the time used in the dispatching process of the scheduled mining truck. The meeting situation of the leading vehicle 2 and the oncoming vehicle 1: Compare the values of t truck21 and t truck12 ; if t truck21 ≥t truck12 , then the leading vehicle 2 can drive through section #31 normally, and the updated passing time of the leading vehicle 2 through section #31 is On the contrary, that is, t truck21 <ttruck12 , the leading vehicle 2 needs to decelerate in advance and restore its driving speed to the maximum speed limit v under no-load conditions at the dispatching site when it reaches the intersection of section #31 and section #17. And the updated time taken for the leading vehicle 2 to pass through section #31 is

[0085] Meeting situation between the leading vehicle 2 and the oncoming vehicle 2: If That is, when the leading vehicle 2 passes through the one-way section #17 at the normal driving speed v and reaches the junction of section #17 and section #29, the oncoming vehicle 2 (loaded vehicle) has not yet reached the one-way section #17; at this time, the leading vehicle 2 drives normally, and the time taken to reach the one-way section #17 is If That is, when the leading vehicle 2 passes through section #31 at the normal driving speed v and enters the one-way section #17, the oncoming vehicle 2 has already left the one-way section #17; at this time, the leading vehicle 2 drives normally, and the time taken to reach the one-way section #17 is If That is, if the leading vehicle 2 passes through the one-way section #17 at the normal driving speed v and reaches the junction of section #17 and section #29, and the oncoming vehicle 2 (loaded vehicle) is driving in the one-way section #17 at this time, the leading vehicle 2 needs to decelerate in advance and wait for the oncoming vehicle 2 to pass through the one-way section #17 before entering the one-way section #17. And when the leading vehicle 2 reaches the junction of section #31 and the one-way section #17, its driving speed resumes to the normal driving speed v; meanwhile, the time taken to reach the one-way section #17 is

[0086] Meeting situation between the leading vehicle 3 and the oncoming vehicle 1: If Then the leading vehicle 3 can drive normally through section #31, and the updated time taken for the leading vehicle 3 to pass through section #31 is Conversely, that is Then the leading vehicle 3 needs to decelerate in advance and wait for the oncoming vehicle 1 to pass through the one-way section #17 before entering the one-way section #17. And when the leading vehicle 3 reaches the junction of section #31 and the one-way section #17, its driving speed resumes to the normal driving speed v, and the time taken to pass through section #31 is If The time taken for the leading vehicle 3 to pass through section #31 is Conversely, that is The updated time taken for the leading vehicle 3 to pass through section #31 is

[0087] Meeting situation between the leading vehicle 3 and the oncoming vehicle 2: If That is, when the leading vehicle 3 passes through the one-way section #17 at the normal driving speed v and reaches the junction of section #17 and section #29, the oncoming vehicle 2 (loaded vehicle) has not yet reached the one-way section #17; at this time, the leading vehicle 3 drives normally, and the time taken to reach the one-way section #17 is If When the leading vehicle 3 passes through section #31 at the normal driving speed v and enters the one-way section #17, the oncoming vehicle 2 has already left the one-way section #17; at this time, the leading vehicle 3 is driving normally, and the time taken to reach the one-way section #17 is If That is, if the leading vehicle 3 passes through the one-way section #17 at the normal driving speed v and reaches the intersection point of section #17 and section #29, the oncoming vehicle 2 (heavy vehicle) is driving in the one-way section #17. At this time, the leading vehicle 3 needs to decelerate in advance and wait for the oncoming vehicle 2 to pass through the one-way section #17 before it can enter the one-way section #17. At the same time, when the leading vehicle 3 reaches the intersection point of section #31 and the one-way section #17, the driving speed resumes to the normal driving speed v; also, the time taken to reach the one-way section #17 is If The time taken for the leading vehicle 3 to pass through section #31 is Conversely, that is The time taken for the leading vehicle 3 to pass through section #31 is updated to

[0088] The traveling situation of the dispatching ore truck in section #31: If The time taken for the dispatching ore truck to pass through section #31 is longer than that of the leading vehicle 3, and the time required for the dispatching ore truck to pass through section #31 is Conversely, that is The time taken for the dispatching ore truck to pass through section #31 is shorter than that of the leading vehicle 3. The dispatching ore truck needs to decelerate in advance, and the time required to pass through section #31 is At the same time, when the dispatching ore truck reaches the intersection point of section #31 and the one-way section #17, the driving speed resumes to the normal driving speed v.

[0089] (3) Passing through section #17, the traveling situation of the ore trucks along the way: Without the influence of the leading vehicle, the traveling situation of the dispatching ore truck in section #17: Since section #17 is a one-way section, the dispatching vehicle can drive at the on-site speed limit rate v when passing through this section, and the passing time is t #road17 .

[0090] It should be noted that the calculation methods for passing through section #29 and section #39 are the same, and the calculation methods for other paths are also the same. The corresponding paths with the shortest time for each loading area are selected.

[0091] Specifically, calculate the queuing situation of the ore trucks outside the loading area. As an example, such as Figure 7As shown, it has been determined that there are m loading areas at the dispatching site. Next, focus on the situation of the first loading area. The number of electric shovels in the first loading area is n. The number of trucks queuing in this loading area is c. At this time, assume a one-dimensional array number[] with a length of 1*n. This array is used to record the number of ore trucks served (loaded) by these n electric shovels; at this time, the values of the n elements in the array number[] are all 1.

[0092] Assume another one-dimensional array tot[] with a length of 1*n. This array records the total loading time of these n electric shovels (calculated from the departure time of the dispatched vehicle). At the starting moment, the values of the n elements in the array tot[] are the remaining time for these n electric shovels to load the current vehicle at the current moment (i.e., the departure time of the dispatched vehicle); if one or more of these electric shovels have no loading tasks at this time, the values corresponding to these one or more electric shovels in the array tot[] are 0.

[0093] Next, find the smallest value in the array tot[], that is, the electric shovel corresponding to the one that finishes loading first; then, among the queuing ore trucks outside the loading area, the first ore truck goes to this electric shovel to start loading. If there are multiple minimum values, for example, there are at least 2 zero elements in the array tot[], at this time, the frontmost ore truck in the queue goes to the electric shovel with the highest loading efficiency to load. The corresponding position in the array tot[] of this electric shovel is added with the complete service time of this electric shovel. In addition, the value at the corresponding position in the array number[] corresponding to the smallest value in the array tot[] is incremented by 1; for example: if the smallest value in the array tot[] at this time is the second element in the array, then the second element value in the array number[] is incremented by 1.

[0094] Repeat the above process until the sum of all the values in the array number[] reaches c, that is, all the vehicles waiting in the loading area start loading, and this process ends. At this time, the elements in the array tot[] are the moments when all the waiting vehicles in this loading area complete their operations. There is no need to obtain the specific values of the elements in the array tot[], but the values in this array will affect the subsequent calculations.

[0095] In the dispatching site, each loading area records and calculates the queuing situation of the ore trucks outside this area according to the above steps.

[0096] After going through the situation on the way to the loading area, the shortest-time paths to each loading area have been selected. Because if the path with the shortest time is selected to pass through and reach this loading area, then among the other vehicles queuing in the loading area, there may only be fewer or the same number of vehicles and no more, which can reduce the time used in the queuing process. The determined excavator plans for the ore trucks that queued in the loading area before and the ore trucks that merged into the dispatching route from the fork are as follows:

[0097] Specifically, the elements in the array tot[] are the cumulative working hours of each electric shovel in the current loading area (counted from the departure time of the vehicle to be scheduled); next, find the electric shovel corresponding to the element with the smallest value in the array as the electric shovel serving the first passing dump truck; if there are multiple idle electric shovels when the first passing dump truck arrives at the loading area, the dump truck goes to the excavator with the shortest average loading time for operation.

[0098] Each of the previous passing vehicles (all arriving at the loading area before the dump truck to be scheduled) determines the specific electric shovel in this way; if there are equal values, go to the electric shovel with the highest efficiency for operation. The corresponding position in the array tot[] of this electric shovel is added with the complete service duration of this electric shovel.

[0099] After determining the electric shovels these vehicles will go to, start paying attention to the vehicle to be scheduled; at this time, the following two situations occur: (1) All electric shovels in the current loading area are idle. Since the loading efficiencies of different electric shovels are different, the vehicle to be scheduled goes to the electric shovel with the highest efficiency. (2) At least one electric shovel in the current loading area is busy. If all electric shovels are busy, wait for the electric shovel that finishes the current loading first to finish loading, and the vehicle to be scheduled goes to this electric shovel for operation; if some electric shovels are busy and some are idle, the vehicle to be scheduled goes to the electric shovel with the highest efficiency among the idle electric shovels for operation.

[0100] The shortest times for going to m loading areas have been obtained, as follows: T onroad1 , T onroad2 ,......, T onroadm ; In addition, the average loading times of m different loading areas have been obtained:

[0101]

[0102] Until

[0103] Next, take loading area 1 as an example to calculate the waiting time of the dump truck to be scheduled outside the loading area; if the dump truck to be scheduled goes to loading area 1 for loading, then: the shortest travel time on the road is T onroad1 ; As Figure 8 shown, at the departure time of the dump truck to be scheduled, the number of dump trucks queuing outside loading area 1 is n1, and the number of vehicles that have gone to loading area 1 but have not arrived at the loading area and are before the dump truck to be scheduled is m1, then the number of vehicles that have been loaded before the dump truck to be scheduled is m1 + n1 + n; next, compare T onroad1 with the time when m1 + n1 + 1 vehicles among these m1 + n1 + n preceding vehicles have completed loading; if T onroad1If the value is greater than or equal to the value of the time when the first m1 + n1 + 1 vehicles complete loading, the expected average time for the dispatching dump truck is Total1 = T onroad1 + T1; otherwise, it is necessary to wait for the first m1 + n1 + 1 vehicles to complete loading, and the sum of the value of this time and T1 is the expected average time Total1 for the dispatching dump truck; (if m1 = 0, the number of vehicles being loaded may be n, or may be less than n, for n - , then the number of vehicles that are loaded before the dispatching dump truck is n1 + n - ; Next, compare T onroad1 with the values of the times when n1 + n - of the n1 + n - vehicles in front of this vehicle complete loading).

[0104] The calculation steps for the loading duration of the first m1 + n1 + 1 vehicles are as follows:

[0105] (1) Calculate the time taken for the dump trucks queuing outside the loading area to complete loading; this process is similar to step 6; at this time, assume a matrix matrix[][] with dimensions n1 * 2; where, the first column of the matrix records the electric shovels that the n1 dump trucks queue to go to at the starting time (the departure time of the dispatched vehicle); the second column records the time when the n1 dump trucks complete loading. Obtain the remaining service durations of the n electric shovels currently loading in the current loading area as: t rest1 , t rest2 , t rest3 ,......t restn ; For these n1 dump trucks, the method to determine their specific excavators to go to and calculate the departure time is as follows: at the starting time (the departure time of the dispatched vehicle), the array tot[] can be expressed as t rest1 t rest2 t rest3 ... t restn .

[0106] Next, start to focus on the one at the forefront among these n1 dump trucks. First, compare the sizes of the elements in the array tot[] and find the smallest one. Next, record the position of the element with the smallest value in the array tot[] at this time and record it in the position of the first row and the first column of the matrix matrix[][]; for example, if the element with the smallest value in the array tot[] at this time is the 3rd element in the array, that is, t rest3 , then the value in the position of the first row and the first column of the matrix matrix[][] is 3. Then, record the time when the dump truck completes loading - that is, the sum of the element with the smallest value in the array tot[] and the average operation duration of the corresponding electric shovel at this position; for example, if the element with the smallest value in the array tot[] at this time is the 3rd element in the array, that is, trest3 Then the value at the position of the first row and the second column of the matrix matrix[][] is t rest3 +t 13 where t 13 is the average loading time of the third electric shovel in the first loading area.

[0107] Finally, update the values in the array tot[]; at this time, the value of the third element in the array changes, and the new value is t rest3 +t 13 .

[0108] Among the other mining trucks queuing outside the loading area at the starting time, the method for calculating the departure time is the same. For example, for the i-th mining truck, record the position of the element with the smallest value in the array tot[] at this time and record it at the position of the i-th row and the first column of the matrix matrix[][]; record the time when the mining truck finishes loading - that is, the sum of the average operation time of the electric shovel corresponding to the position of the element with the smallest value in the array tot[] and put it at the value at the position of the i-th row and the second column of the matrix matrix[][].

[0109] (2) Calculate the time when the mining trucks on the road finish loading at the starting time. In the case that there are other mining trucks on the road at the starting time (if there are no trucks on the road, this step is ignored), calculate the time when they finish loading. For each of these mining trucks, starting from the mining truck that arrives at the loading area first, compare the time when it arrives at the loading area with the time when the vehicle that finishes loading last among the previous n vehicles (since there are n electric shovels in the loading area) (if there is only one electric shovel in the loading area, compare it with the time when the vehicle that finishes loading last among all the previous vehicles). If the time when it arrives at the loading area is after the time when the vehicle that finishes loading last among the previous n vehicles, there is no need to queue because there is already an idle excavator at this time, and go to the one with the highest efficiency among the idle excavators for loading; otherwise, wait until the time when the vehicle that finishes loading last among the previous n vehicles starts loading, and record the time when the vehicle finishes loading for the calculation of the time when the following vehicles finish loading.

[0110] For other loading areas, the calculation methods of the estimated average travel times Total2, Total3,......,Total m are the same; and compare the sizes of Total1, Total2, Total3,......,Total m and select the loading area corresponding to the smallest value; the dispatched mining truck goes to this loading area.

[0111] In addition, if the number of mining trucks being loaded is n -, if the sum of the number of peripheral queuing mining trucks n1, the number of mining trucks along the way m1, and the number of shovels n is still less than the number of electric shovels n, the scheduled mining trucks do not need to queue, and after arriving at the loading area, they go to the most efficient electric shovel among the idle excavators for operation. That is, in the array tot[], find all elements with values less than the duration T on the shortest path onroad1 and find the most efficient one among the electric shovels corresponding to these elements at the corresponding positions.

[0112] After the mining truck arrives at the operation area, it determines which electric shovel to go to according to whether the electric shovel in the operation area is idle. At this time, the mining truck has determined the loading area to go to and arrived at this area, and there are no other queuing mining trucks in front of the scheduled mining truck; the process of determining the specific excavator is divided into the following three situations:

[0113] (1) All the excavators in this loading area are busy, and the scheduled mining truck waits for the excavator that finishes the current loading first and performs the operation, that is, find the excavator corresponding to the smallest element position in the array tot[]; if there are multiple excavators that finish loading at the same time, the scheduled mining truck goes to the excavator with the highest loading efficiency for loading; (2) All the excavators in this loading area are idle, and the scheduled mining truck goes to the excavator with the highest loading efficiency for operation, that is, find all elements in the array tot[] that are less than the shortest duration T along the way onroad1 and find the excavator with the highest efficiency among the excavators corresponding to these elements; (3) There are busy excavators and idle excavators in this loading area, and the scheduled mining truck goes to the excavator with higher loading efficiency among the idle excavators for loading, that is, find all elements in the array tot[] that are less than the shortest duration T along the way onroad1 and find the excavator with the highest efficiency among the excavators corresponding to these elements.

[0114] Thus, the average operation duration of all excavators is obtained, and the average loading duration corresponding to the selected excavator is the average loading duration of the scheduled mining truck. At this time, the required duration for this scheduling of the mining truck has been obtained.

[0115] In summary, for the scheduling method of the mine road network in the embodiments of the present disclosure, the mine road network includes multiple loading areas, and there are multiple electric shovels in each loading area. The average loading time of each loading area is determined based on the average loading time of all the electric shovels in each loading area; the travel time for the scheduled ore truck to reach each loading area in the target state is obtained, and the queuing time for the scheduled ore truck in each loading area is obtained; based on the average loading time of each loading area, the travel time and the queuing time of the scheduled ore truck, the estimated loading operation time of the scheduled ore truck relative to each loading area is determined; the loading area corresponding to the minimum estimated loading operation time is used as the target loading area, and the scheduled ore truck is controlled to travel to the target loading area along the path corresponding to the shortest travel time, and the target electric shovel is determined according to the usage status of the electric shovels in the target loading area to perform operation processing on the scheduled ore truck. Thus, the shortest scheduling time of the ore truck can be quickly and accurately obtained to schedule the ore truck, improving the scheduling efficiency and effect of the ore truck.

[0116] Corresponding to the aforementioned scheduling method of the mine road network, an embodiment of the present disclosure provides a scheduling device for a mine road network. Figure 9 As shown in the structural schematic diagram of a scheduling device for a mine road network provided by an embodiment of the present disclosure, this device can be implemented by software and / or hardware and is generally integrated in an electronic device, such as Figure 9 shown, the mine road network includes multiple loading areas, and there are multiple electric shovels in each of the loading areas. The scheduling device 900 of the mine road network includes the following modules:

[0117] The first determination module 901 is configured to determine the average loading time of each loading area based on the average loading time of all the electric shovels in each loading area.

[0118] The first acquisition module 902 is configured to acquire the travel time for the scheduled ore truck to reach each loading area in the target state.

[0119] The second acquisition module 903 is configured to acquire the queuing time for the scheduled ore truck in each loading area.

[0120] The second determination module 904 is configured to determine the estimated loading operation time of the scheduled ore truck relative to each loading area based on the average loading time of each loading area, the travel time and the queuing time of the scheduled ore truck.

[0121] The control module 905 is configured to use the loading area corresponding to the minimum estimated loading operation time as the target loading area, and control the scheduled ore truck to travel to the target loading area along the path corresponding to the shortest travel time.

[0122] The processing module 906 is configured to determine the target electric shovel to perform operation processing on the scheduled ore truck according to the usage status of the electric shovels in the target loading area.

[0123] In some embodiments, in alternative embodiments of the present disclosure, there are multiple paths from the starting position of the scheduled mining truck to any of the loading areas, and each path has multiple road segments. The target state is that there are no other mining trucks on all paths. The first acquisition module 902 is specifically configured to: obtain, through a big data model, the average passing duration value of each road segment of each path that the scheduled mining truck travels to any of the loading areas a target number of times during a target historical time period; sum up the average passing duration values of different road segments of the same path to obtain the required duration for the scheduled mining truck to travel to each of the loading areas; screen out a target path with the shortest required duration for traveling to each of the loading areas, and use the duration required for the target path as the driving duration for the scheduled mining truck to reach each of the loading areas.

[0124] In alternative embodiments of the present disclosure, the road segment is a one-way road segment, and the target state is that there are other mining trucks. For each road segment of all paths to any loading area, if it is determined that the road segment does not require yielding, the driving speed of the scheduled mining truck is the maximum speed limit rate under no-load conditions at the mine site.

[0125] In alternative embodiments of the present disclosure, if it is determined that the road segment requires yielding, two oncoming trucks meet and both trucks are either no-load or fully loaded; the vehicle that arrives at the one-way intersection first has the right of way; or, two oncoming trucks meet and both trucks arrive at the one-way intersection at the same time; the fully loaded vehicle has the right of way; or, two oncoming trucks meet and one of the trucks is a no-load vehicle and the other is a fully loaded vehicle. At the same time, if the no-load vehicle arrives at the one-way intersection first, assume that the required duration for the no-load vehicle to arrive at the one-way intersection is the first duration, the required duration for the fully loaded vehicle to arrive at the one-way intersection is the second duration, the passing duration for the no-load mining truck to pass through the one-way road segment at the maximum no-load speed limit rate at the dispatching site is the third duration, and the passing duration for the fully loaded mining truck to pass through the one-way road segment at the maximum fully loaded speed limit rate at the dispatching site is the fourth duration; if the sum of the first duration and the third duration is greater than or equal to the second duration, the fully loaded vehicle has the right of way, otherwise the no-load vehicle has the right of way.

[0126] In alternative embodiments of the present disclosure, the road segment is an intersection road segment. When two trucks driving towards the same intersection meet, the vehicle that arrives at the intersection first has the right of way, and the time interval difference between any two adjacent mining trucks passing through the intersection boundary point is greater than or equal to a preset duration threshold.

[0127] In an alternative embodiment of the present disclosure, for the scheduling method of the mine road network, the second acquisition module 903 is specifically configured to: based on each loading area, obtain the number of electric shovels, and determine a first one-dimensional array with a target length corresponding to each loading area for recording the number of mining trucks served by the number of electric shovels, and the initial value of each element in the first one-dimensional array is 1; obtain the number of trucks waiting in line for each loading area; based on the number of electric shovels, determine a second one-dimensional array with a target length corresponding to each loading area for recording the total loading duration of the number of electric shovels; the initial value of each element in the second one-dimensional array is the remaining duration of the number of electric shovels currently loading the current vehicle; query the minimum value in the second one-dimensional array, set the element corresponding to the minimum value as the complete service duration of the electric shovel, and add 1 to the value of the element corresponding to the minimum value and the first one-dimensional array; repeat the above process until the sum of all values in the first one-dimensional array is the number of trucks waiting in line, and the elements of the second one-dimensional array are the total loading durations for all waiting vehicles to complete operations in each loading area as the queuing duration for each loading area.

[0128] In an alternative embodiment of the present disclosure, the processing module 906 is specifically configured to: if it is obtained that all the electric shovels in the target loading area are busy, the scheduled mining truck goes to the electric shovel that has completed the current loading task first for loading operations; or, if it is obtained that there is one or more idle electric shovels in the target loading area, the scheduled mining truck goes to the electric shovel with the highest loading efficiency among the idle electric shovels for loading operations.

[0129] The scheduling device of the mine road network provided by the embodiments of the present invention can execute the scheduling method of the mine road network provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0130] According to an embodiment of the present disclosure, an electronic device is provided, and the electronic device includes: a processor; a memory for storing executable instructions of the processor; the processor is configured to read the executable instructions from the memory and execute the instructions to implement the scheduling method of the mine road network as provided by the embodiment of the present disclosure.

[0131] The embodiment of the present disclosure also provides a storage medium including computer executable instructions, and the computer executable instructions are used to implement the scheduling method of the mine road network provided by the embodiments of the present invention when executed by a computer processor.

[0132] Of course, for a storage medium including computer executable instructions provided by the embodiments of the present invention, the computer executable instructions are not limited to the above method operations, and can also execute related operations in the scheduling method of the mine road network provided by any embodiment of the present invention.

[0133] An embodiment of the present disclosure also provides a computer program product, including a computer program, where the computer program, when executed by a processor, implements the scheduling method of the mine road network provided in the embodiments of the present disclosure.

[0134] From the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software and necessary general-purpose hardware. Of course, it can also be implemented by hardware, but in many cases, the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as a floppy disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (FLASH), a hard disk, or an optical disc of a computer, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0135] It should be noted that in the above embodiments of the search device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0136] It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0137] The above are only specific embodiments of the present disclosure, enabling those skilled in the art to understand or implement the present disclosure. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments described herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for dispatching a mine road network, characterized in that: The mine road network includes a plurality of loading areas, each of which has a plurality of electric shovels, and the method includes: Determine the average loading time of each loading area based on the average loading time of all electric shovels in each loading area; Obtaining the travel time of the scheduled mining truck to reach each of the loading areas under the target state, and obtaining the queuing time of the scheduled mining truck in each of the loading areas; Determine the estimated loading operation duration of the scheduled mining truck relative to each of the loading areas based on the average loading duration of each of the loading areas, the travel duration and the queue duration of the scheduled mining truck; The loading area corresponding to the minimum estimated loading operation duration is taken as the target loading area, and the scheduled mining truck is controlled to travel to the target loading area along the path corresponding to the shortest driving time, and the target electric shovel is determined according to the usage status of the electric shovel in the target loading area to perform operation processing on the scheduled mining truck.

2. The method for dispatching a mine road network according to claim 1, characterized in that: There are multiple paths for the scheduled mining truck to start from the starting position and go to any of the loading areas, and each path has multiple sections. The target state is that there are no other mining trucks on all the paths. The method of obtaining the travel time of the scheduled mining truck to reach each of the loading areas under the target state includes: The average passing time value of each section of each path for the target number of times the scheduled mining trucks go to any of the loading areas during the target historical period is obtained through the big data model; The average passing time values ​​of different sections of the same route are summed to obtain the time required for the dispatched mining truck to travel to each loading area; A target path with the shortest required time to reach each of the loading areas is screened out, and the time required for the target path is used as the travel time for the scheduled mining truck to reach each of the loading areas.

3. The method for dispatching a mine road network according to claim 2, characterized in that: The road section is a one-way section, and the target state is the presence of other mining trucks. For each road section of all paths to any loading area, if it is determined that the road section does not require giving way, the driving speed of the dispatched mining truck is the maximum speed limit when the mine site is empty.

4. The method for dispatching a mine road network according to claim 3, characterized in that: If the road section is determined to require giving way, and two trucks traveling in opposite directions meet and both trucks are empty or heavily loaded; the vehicle that arrives at the one-way intersection first has the right of way; or, Two trucks traveling in opposite directions meet and arrive at the one-way intersection at the same time; Heavy vehicles have the right of way; or, Two trucks traveling in opposite directions meet and one of the two trucks is an empty vehicle and the other is a heavily loaded vehicle. At the same time, the empty vehicle arrives at the one-way intersection first. It is assumed that the time required for the empty vehicle to arrive at the one-way intersection is the first time, the time required for the heavily loaded vehicle to arrive at the one-way intersection is the second time, the time required for the empty mining truck to pass through the one-way section at the dispatch site's maximum unloaded speed limit is the third time, and the time required for the heavily loaded mining truck to pass through the one-way section at the dispatch site's maximum heavily loaded speed limit is the fourth time; If the sum of the first time duration and the third time duration is greater than or equal to the second time duration, the heavy-loaded vehicle has the right of priority; otherwise, the unloaded vehicle has the right of priority.

5. The method for dispatching a mine road network according to claim 2, characterized in that: The road section is an intersection section. When two trucks heading to the same intersection meet, the vehicle that arrives at the intersection first has the right of way, and the time interval difference between any two adjacent mining trucks passing through the intersection point of the intersection is greater than or equal to a preset time threshold.

6. The method for dispatching a mine road network according to claim 1, characterized in that: Obtaining the queuing time of the scheduled mining truck in each loading area, including: Based on each of the loading areas, the number of electric shovels is obtained, and based on the number of electric shovels, a first one-dimensional array of a target length corresponding to each of the loading areas is determined, which is used to record the number of electric shovels and the number of mining trucks served by the electric shovels, wherein the initial value of each element in the first one-dimensional array is 1; Obtain the number of vehicles waiting in queue at each loading area; The second one-dimensional array of the target length corresponding to each loading area is determined based on the number of electric shovels, and is used to record the total loading time of the electric shovels of the number of electric shovels; the initial value of each element of the second one-dimensional array is the remaining time that the electric shovels of the number of electric shovels are loading the current vehicle at the current moment; Query the minimum value in the second one-dimensional array, set the element corresponding to the minimum value as the complete service time of the electric shovel, and add 1 to the value of the element corresponding to the minimum value and the first one-dimensional array; Repeat the above steps until the sum of all values ​​in the first one-dimensional array is the number of vehicles waiting in the queue, and the elements of the second one-dimensional array are the total loading time for all vehicles waiting to complete the operation in each loading area as the queue time of each loading area.

7. The method for dispatching a mine road network according to claim 1, characterized in that: The step of determining, according to the use status of the electric shovel in the target loading area, that a target electric shovel performs operation processing on the dispatched mining truck comprises: If all the electric shovels in the target loading area are busy, the dispatched mining truck will go to the electric shovel that has completed the current loading task first to perform the loading operation; or, It is obtained that there are one or more idle electric shovels in the target loading area, and the dispatched mining truck goes to the idle electric shovel with the highest loading efficiency to perform installation operations.

8. A dispatching device for a mine road network, characterized in that: The mine road network includes a plurality of loading areas, each of which has a plurality of electric shovels, and the device includes: A first determining module, configured to determine an average loading time of each loading area based on an average loading time of all electric shovels in each loading area; The first acquisition module is used to obtain the travel time of the scheduled mining truck to reach each of the loading areas under the target state; The second acquisition module is used to obtain the queuing time of the scheduled mining truck in each loading area; The second determination module is used to determine the estimated loading operation duration of the scheduled mining truck relative to each of the loading areas based on the average loading time of each of the loading areas, the travel time and the queue time of the scheduled mining truck; A control module, used to take the loading area corresponding to the minimum estimated loading operation duration as the target loading area, and control the dispatched mining truck to travel to the target loading area along the path corresponding to the shortest driving duration; The processing module is used to determine the target electric shovel to perform operation processing on the dispatched mining truck according to the use status of the electric shovel in the target loading area.

9. An electronic device, characterized in that: The electronic device comprises: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the instructions to implement the mine road network scheduling method described in any one of claims 1-7 above.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the mine road network scheduling method described in any one of claims 1-7.

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