Mine car dispatching system
By constructing a digital map of the mine and optimizing the mine truck path using a cost function, the problems of low path accuracy and efficiency in mine truck scheduling were solved, achieving efficient resource utilization and optimization of the scheduling system.
Patent Information
- Application Number
- CN202511490314.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-17
- Publication Date
- 2026-02-17
AI Technical Summary
In the existing technology, the dispatching of mining trucks relies on manual experience and simple rules to determine the route and loading/unloading sequence, resulting in low accuracy of the optimal path, low efficiency and serious waste of resources.
By constructing a digital map of the mine, the optimal path for mine trucks to reach the scheduling location is determined using a cost function. The optimal mine truck is selected based on a path optimization algorithm, and it is controlled to travel along the optimal path. The scheduling is optimized by combining real-time monitoring and positioning systems.
It improves the accuracy and efficiency of mine truck scheduling path selection, reduces resource consumption and waste, and enhances the overall performance of the mine truck scheduling system.
Smart Images
Figure CN121543916A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of mine car dispatching technology, and in particular to a mine car dispatching system. Background Technology
[0002] In existing technologies, mining trucks are typically scheduled based on the pre-scheduled daily / weekly plans of the mine, relying on manual experience and simple rules to determine vehicle routes and loading / unloading sequences. These routes and sequences are usually fixed and lack flexibility. Furthermore, the optimal routes set for mining trucks during manual scheduling often contain errors, leading to resource waste. In addition, manually setting mining truck routes is inefficient and time-delayed. Summary of the Invention
[0003] In view of this, the purpose of the present invention is to provide a mine car scheduling system that can solve the technical problems of low accuracy and low efficiency of manually marked optimal paths for mine car travel in the prior art.
[0004] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows: In a first aspect, embodiments of the present invention provide a mine truck dispatching system, comprising: Digital map acquisition module: used to construct a digital map of the mine based on point cloud data of the mine; Optimal path determination module: used to mark the scheduling location in the mine digital map, and determine the optimal path for each mine car to reach the scheduling location based on a cost function; wherein, the cost function determines the cost of the optimal path corresponding to each mine car; Mining truck dispatch module: used to determine the optimal mining truck based on the cost value of each optimal path, and control the optimal mining truck to arrive at the scheduling position according to the corresponding optimal path; wherein, the optimal path corresponding to the optimal mining truck has the lowest cost value.
[0005] Furthermore, this embodiment of the invention provides a first possible implementation of the first aspect, wherein constructing a digital map of the mine based on point cloud data of the mine includes: The point cloud data of the mine is acquired using a point cloud acquisition device, and a digital map of the mine is constructed based on the point cloud data. The nodes of the digital map and the edges connecting each node are marked. The nodes include the intersections, loading points and unloading points of the mine. The edges include the connection paths between each node in the mine.
[0006] Furthermore, this embodiment of the invention provides a second possible implementation of the first aspect, wherein marking the scheduling location on the mine digital map and determining the optimal path for each mine truck to reach the scheduling location based on a cost function includes: In the digital map of the mine, the nodes corresponding to the scheduling locations are marked, and the marked nodes are used as the scheduling endpoints. The cost function is set, and the path coefficients corresponding to each edge in the digital mine map are used as inputs to determine the edge cost value corresponding to each edge in the digital mine map; wherein, the path coefficients include the distance coefficient, slope coefficient and congestion coefficient corresponding to each path; The optimal path for each mining truck to reach the scheduling endpoint is determined based on the path optimization algorithm; wherein, each optimal path is the mining truck travel path corresponding to the minimum sum of edge values for each mining truck.
[0007] Furthermore, this embodiment of the invention provides a third possible implementation of the first aspect, wherein the mining truck scheduling system further includes: a congestion coefficient determination module; The congestion coefficient determination module is used to monitor the traffic status of each path in the mine in real time, and update the congestion coefficient corresponding to each path in real time based on the traffic status.
[0008] Furthermore, this embodiment of the invention provides a fourth possible implementation of the first aspect, wherein determining the optimal mining truck based on the cost value of each of the optimal paths, and controlling the optimal mining truck to arrive at the scheduling position according to the corresponding optimal path, includes: Sort the optimal path corresponding to each minecart in ascending order of cost, and select the minecart corresponding to the optimal path with the lowest cost as the optimal minecart. The dispatching command is issued to control the optimal mining truck to arrive at the dispatching position according to its corresponding optimal path.
[0009] Furthermore, this embodiment of the invention provides a fifth possible implementation of the first aspect, wherein the mine truck scheduling system further includes: a mine truck positioning module; The mine car positioning module is used to obtain the real-time position of each mine car in the mine based on the positioning system.
[0010] Furthermore, this embodiment of the invention provides a sixth possible implementation of the first aspect, wherein the mine car scheduling system further includes: a mine car action recording module; The mine car action recording module is used to record the loading data of the mine car when it arrives at the loading point in the mine for loading, and to record the unloading data of the mine car when it arrives at the unloading point in the mine for unloading.
[0011] Furthermore, this embodiment of the invention provides a seventh possible implementation of the first aspect, wherein the mining truck scheduling system further includes: a vehicle status monitoring module; The vehicle status monitoring module is used to monitor in real time whether each of the mining cars has an abnormal status; wherein, the abnormal status of the vehicles includes: vehicle overloading and vehicle tilting.
[0012] Furthermore, this embodiment of the invention provides an eighth possible implementation of the first aspect, wherein the mine truck dispatching system further includes: a vehicle alarm module; The vehicle alarm module is used to issue an audible and visual alarm when the mining truck experiences an abnormal condition.
[0013] Furthermore, this embodiment of the invention provides a ninth possible implementation of the first aspect, wherein the mine truck scheduling system further includes: a human-computer interaction module; The human-computer interaction module is used to display the digital map of the mine in real time, allowing users to manually modify the optimal path.
[0014] This invention provides a mine truck scheduling system, comprising: a digital map acquisition module for constructing a mine digital map based on mine point cloud data; an optimal path determination module for marking scheduling locations on the mine digital map and determining the optimal path for each mine truck to reach the scheduling location based on a cost function; wherein the cost function determines the cost value of the optimal path corresponding to each mine truck; and a mine truck dispatching module for determining the optimal mine truck based on the cost value of each optimal path and controlling the optimal mine truck to reach the scheduling location according to the corresponding optimal path; wherein the optimal path corresponding to the optimal mine truck has the lowest cost value. This invention accurately acquires the mine digital map through the digital map acquisition module, facilitating subsequent determination of the optimal path based on the mine digital map. The optimal path determination module determines the optimal path for each mine truck to reach the scheduling location through a cost function, accurately obtaining the optimal path corresponding to each mine truck with the lowest cost, avoiding resource waste. Finally, the mine truck dispatching module filters out the optimal path with the lowest cost among all optimal paths, determines the optimal mine truck corresponding to this path, and controls the optimal mine truck to reach the scheduling location according to the corresponding optimal path, improving the efficiency and accuracy of obtaining the optimal path and reducing resource consumption.
[0015] Other features and advantages of the embodiments of the present invention will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the techniques described above in the embodiments of the present invention.
[0016] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description
[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0018] Figure 1 This diagram illustrates the main modules of a mine car dispatching system provided in an embodiment of the present invention. Figure 2 This illustration shows the processing steps of a digital map acquisition module in a mine truck dispatching system provided by an embodiment of the present invention. Figure 1 A schematic diagram of the query and retrieval module in a power think tank knowledge base management system; Figure 3 This illustration shows the processing steps of the optimal path determination module in a mine car scheduling system provided by an embodiment of the present invention. Figure 1 A schematic diagram of the processing steps of the vector calculation module in a power think tank knowledge base management system; Figure 4 This diagram illustrates the complete modules of a mine car dispatching system provided in an embodiment of the present invention. Figure 1 A schematic diagram illustrating the processing steps of the problem vector acquisition unit in a power think tank knowledge base management system; Figure 5 This illustration shows the processing steps of a mine car dispatching module in a mine car dispatching system provided by an embodiment of the present invention. Figure 1 A schematic diagram of all modules of the power think tank knowledge base management system. Detailed Implementation
[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described below in conjunction with the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.
[0020] This embodiment provides a mine car dispatching system; for details, please refer to... Figure 1 The diagram shown illustrates the main modules of a mine car dispatching system. The system primarily includes: Digital map acquisition module 11: used to construct a digital map of the mine based on point cloud data of the mine; The digital map acquisition module 11 acquires point cloud data of the mine using an explosion-proof 3D laser scanner. It then preprocesses the mine point cloud data to construct a digital map of the mine. Specifically, the preprocessing includes: 1. Noise denoising and filtering to remove scattered points from the mine point cloud data; 2. Classification and segmentation to automatically identify and classify different elements in the mine, such as the ground, walls, roof, pipes, equipment, and tracks; and 3. Vector modeling to construct a 3D model of the mine based on the classified and segmented point cloud data, thus obtaining the digital map of the mine.
[0021] Optimal Path Determination Module 12: This module marks the scheduling locations on the mine digital map and determines the optimal path for each mine car to reach the scheduling location based on a cost function; wherein, the cost function determines the cost of the optimal path corresponding to each mine car. The optimal path determination module 12 is used to mark the nodes corresponding to the scheduling positions (usually loading points in the mine) in the mine digital map. Based on the cost function, the cost value of each edge (i.e. path) in the mine digital map can be determined. The cost value reflects the cost that the mining truck needs to pay to pass through the path. The smaller the cost value, the less consumption the mining truck consumes when passing through the path. Therefore, the process of determining the optimal path for each mining truck to reach the scheduling position through the cost function is the process of determining the overall path for each mining truck to reach the scheduling position while maintaining the lowest cost value.
[0022] Mining truck dispatch module 13: used to determine the optimal mining truck based on the cost of each optimal path, and control the optimal mining truck to arrive at the scheduling position according to the corresponding optimal path; among them, the optimal path corresponding to the optimal mining truck has the lowest cost. The optimal mining truck is determined based on the optimal path, which minimizes the cost. The optimal mining truck is then controlled to reach the scheduling position along the corresponding optimal path, reducing energy consumption and avoiding resource waste.
[0023] The mine truck scheduling system provided by this invention accurately acquires the mine's digital map through a digital map acquisition module, facilitating the subsequent determination of the optimal path based on the mine's digital map. The optimal path determination module determines the optimal path for each mine truck to reach the scheduling position through a cost function, accurately obtaining the optimal path corresponding to each mine truck when the cost is lowest, avoiding resource waste. Finally, the mine truck calling module filters out the optimal path corresponding to the lowest cost among all optimal paths, determines the optimal mine truck corresponding to this path, and controls the optimal mine truck to reach the scheduling position according to the corresponding optimal path, improving the efficiency and accuracy of obtaining the optimal path and reducing resource consumption.
[0024] In one embodiment, see Figure 2 The diagram illustrates the processing steps of a digital map acquisition module in a mine truck dispatching system. This embodiment provides a specific implementation method for constructing a mine digital map based on mine point cloud data: S201: The point cloud acquisition device acquires point cloud data of the mine, constructs a digital map of the mine based on the point cloud data, and marks the nodes of the digital map of the mine and the edges connecting each node; wherein, the nodes include the intersections, loading points and unloading points of the mine; the edges include the connecting paths of each node in the mine. Point cloud data of the mine is acquired using point cloud acquisition equipment (including explosion-proof 3D laser scanners). A digital map of the mine is constructed based on the point cloud data. Intersections, loading points, and unloading points in the mine are used as nodes in the digital map, and the ID and type (intersection, loading point, unloading point) of each node are marked on the digital map. The paths connecting the nodes in the mine are used as edges in the digital map, and the static attributes of each edge (such as length, slope, curve radius, basic traffic speed, whether it is a one-way road, etc.) are marked on the digital map.
[0025] In one embodiment, see Figure 3 The diagram illustrates the processing steps of an optimal path determination module in a mine truck scheduling system. This embodiment provides a specific implementation method for marking scheduling locations on a mine digital map and determining the optimal path for each mine truck to reach the scheduling location based on a cost function: S301, mark the nodes corresponding to the dispatch locations in the mine digital map, and use the marked nodes as the dispatch endpoints; Since the dispatching location of mining trucks is usually the loading point or unloading point in the mine, the node corresponding to the dispatching location is marked on the mine digital map, and the node is used as the dispatching endpoint for mining trucks.
[0026] S303, Set the cost function, take the path coefficients corresponding to each edge in the mine digital map as the input of the cost function, and determine the edge value corresponding to each edge in the mine digital map; where the path coefficients include the distance coefficient, slope coefficient and congestion coefficient corresponding to each path; Using the path coefficients corresponding to each edge in the mine digital map as input to the cost function, the edge cost value corresponding to each edge in the mine digital map is determined as follows:
[0027] in, Let be the edge value corresponding to the i-th edge in the digital map of the mine. These are the distance weight coefficients corresponding to the distance coefficients in the cost function. Let be the distance coefficient corresponding to the i-th edge in the digital map of the mine. This refers to the slope weight coefficient corresponding to the slope coefficient in the cost function. Let be the slope coefficient corresponding to the i-th edge in the digital map of the mine. The congestion weight coefficient corresponds to the congestion coefficient in the cost function. This represents the distance coefficient corresponding to the i-th edge in the digital map of the mine. In the digital map of the mine, the distance coefficient corresponding to each edge is proportional to the path length of each edge, the slope coefficient corresponding to each edge is proportional to the slope of each edge, and the congestion coefficient corresponding to each edge is proportional to the real-time congestion situation of each edge.
[0028] S305, based on the path optimization algorithm, determine the optimal path corresponding to each mining truck when it reaches the scheduling endpoint; where each optimal path is the mining truck travel path corresponding to the minimum sum of edge values. Based on the path optimization algorithm (A* algorithm), the optimal path for each minecart to reach the scheduling endpoint is determined. Specifically, the estimated cost value between each node in the mine's digital map and the scheduling endpoint is determined. This estimated cost value is based on the straight-line distance between each node and the scheduling endpoint. The edge cost value between the minecart's starting point and each connected node is determined. Substituting the estimated cost value and the edge cost value corresponding to the minecart's starting point into the A* algorithm evaluation function yields the following algorithm evaluation value:
[0029] in, Let b be the algorithm evaluation value of node b corresponding to the a-th minecart. Let b be the edge value between node b corresponding to the a-th minecart and the starting point. The estimated cost between node b corresponding to the a-th mining truck and the scheduling endpoint; Determine the node corresponding to the minimum algorithm evaluation value. If the current node is the scheduling endpoint, perform path backtracking based on the recorded parent node to determine the optimal path for the minecart. If the current node is not the scheduling endpoint, determine the edge value between each next node connected to the current node and the minecart's starting point, and determine the estimated edge value between each next node and the scheduling endpoint. Substitute the estimated edge value of the next node and the edge value between the next node and the minecart's starting point into the A* algorithm evaluation function to obtain the algorithm evaluation value corresponding to the next node:
[0030] in, Let b be the algorithm evaluation value corresponding to node b+c connected to node b, which corresponds to the a-th minecart. Let b+c be the edge value connecting node b corresponding to the a-th minecart and the starting point. The estimated cost between node b+c, which is connected to node b corresponding to the a-th mining truck, and the scheduling endpoint; Repeat the above steps until the obtained node is the scheduling endpoint, and determine the optimal path for each mining truck based on path backtracking.
[0031] In one embodiment, see Figure 4 The diagram shows a complete module of a mine truck scheduling system. The mine truck scheduling system provided in this embodiment also includes: a congestion coefficient determination module 14. The congestion coefficient determination module 14 is used to monitor the traffic status of each path in the mine in real time and update the congestion coefficient of each path in real time based on the traffic status. The congestion coefficient determination module 14 determines the number of mining trucks in each path based on explosion-proof high-definition network cameras installed in each path, determines the ratio of the number of mining trucks in the path to the path length based on the embedded AI analysis module, and updates the congestion coefficient corresponding to each path in real time based on the ratio result.
[0032] In one embodiment, see Figure 5 The diagram illustrates the processing steps of a mine car dispatching module in a mine car dispatching system. This embodiment provides a specific implementation method for determining the optimal mine car based on the cost of each optimal path and controlling the optimal mine car to arrive at the dispatching position according to the corresponding optimal path: S501, sort the optimal path values of each minecart from smallest to largest, and select the minecart corresponding to the optimal path with the smallest replacement value as the optimal minecart. The cost value of the optimal path corresponding to each minecart is determined based on the cost value of each component path in the optimal path corresponding to each minecart. The cost values of each optimal path are sorted from smallest to largest, and the optimal path corresponding to the lowest cost value is determined. The minecart corresponding to this optimal path is then determined as the optimal minecart.
[0033] S503 issues a scheduling command to control the optimal mining truck to reach the scheduling position according to its corresponding optimal path; The scheduling decision engine issues scheduling instructions to control the optimal mining truck to travel along its corresponding optimal path to reach the scheduling location, thus avoiding excessive energy consumption.
[0034] In one embodiment, such as Figure 4 As shown, the mine car dispatching system provided in this embodiment also includes: a mine car positioning module 15; The mine car positioning module 15 is used to obtain the real-time location of each mine car in the mine based on the positioning system; The mine car positioning module 15 determines the position of each mine car in the mine in real time through Ultra Wide Band (UWB) anchor points in the mine and UWB tags on the mine cars (usually small, robust, low-power transmitters that periodically send UWB pulse signals). Specifically, the UWB tags on the mine cars send UWB pulse signals at a high frequency (usually 1-10 times per second). When the UWB anchor points in the mine receive the UWB pulse signals sent by the mine cars, they determine the distance between the mine cars and the UWB anchor points based on the time difference of arrival algorithm, thereby determining the position of the mine cars in the mine.
[0035] In one embodiment, such as Figure 4 As shown, the mine car dispatching system provided in this embodiment also includes: a mine car action recording module 16; The mine car action recording module 16 is used to record the loading data of the mine car when it arrives at the loading point in the mine for loading, and to record the unloading data of the mine car when it arrives at the unloading point in the mine for unloading. The mine car action recording module 16 records the loading and unloading data of the mine cars based on Radio Frequency Identification (RFID) technology. Specifically, RFID readers are set up at the loading and unloading points in the mine, and a unique RFID tag is set on each mine car. When a mine car arrives at the loading point, the RFID reader at the loading point reads the RFID tag of the mine car to determine the mine car number. After the mine car is loaded at the loading point, the RFID reader records the loading point, loading time and loading weight of the mine car. When a mine car arrives at the unloading point, the RFID reader at the unloading point reads the RFID tag of the mine car to determine the mine car number. After the mine car is unloaded at the unloading point, the RFID reader records the unloading point, unloading time and unloading weight of the mine car.
[0036] In one embodiment, such as Figure 4 As shown, the mining truck dispatching system provided in this embodiment also includes: a vehicle status monitoring module 17; The vehicle status monitoring module 17 is used to monitor in real time whether each mining car has any abnormal vehicle status; among which, abnormal vehicle status includes: vehicle overloading and vehicle tilting; The vehicle status detection module monitors the load changes of each mining car in real time based on the weight sensors installed on each mining car. If the load of a mining car exceeds its corresponding preset maximum load, the abnormal vehicle status of the mining car is determined to be vehicle overload. The tilt angle of each mining car is monitored in real time based on the tilt angle sensors installed on each mining car. If the tilt angle of a mining car exceeds its corresponding preset maximum tilt angle, the abnormal vehicle status of the mining car is determined to be vehicle tilt.
[0037] In one embodiment, such as Figure 4As shown, the mining truck dispatching system provided in this embodiment also includes: a vehicle alarm module 18; The vehicle alarm module 18 is used to issue an audible and visual alarm when the mining car is in an abnormal state. The vehicle alarm module 18 receives abnormal vehicle status signals based on the on-board alarm controller installed on each mining car. If the mining car is overloaded or tilted, the on-board alarm controller will activate the strobe lights and explosion-proof buzzer installed on the mining car to generate an audible and visual alarm.
[0038] In one embodiment, such as Figure 4 As shown, the mine truck scheduling system provided in this embodiment also includes: a human-computer interaction module 19; Human-computer interaction module 19 is used to display the mine digital map in real time, allowing users to manually modify the optimal path; The human-computer interaction module 19 displays a real-time digital map of the mine based on the human-computer interaction interface, and displays the real-time location of each mine car. Different colors can be used to represent each mine car. Users can judge whether the optimal path corresponding to each mine car is correct based on the human-computer interaction interface. If the optimal path is incorrect, the user can manually plan and modify the optimal path of the mine car.
[0039] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.
[0040] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0041] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0042] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.
Claims
1. A mine car dispatching system characterized by, The method comprises the following steps: a digital map acquisition module: used for constructing a digital map of a mine based on point cloud data of the mine; an optimal path determination module: used for marking a dispatching position in the digital map of the mine, and determining an optimal path of each mine car to the dispatching position based on a cost function; wherein the cost function determines a cost value of the optimal path corresponding to each mine car; a mine car calling module: used for determining an optimal mine car based on the cost value of each optimal path, and controlling the optimal mine car to reach the dispatching position along the corresponding optimal path; wherein the optimal path corresponding to the optimal mine car has the lowest cost value.
2. The mine car dispatching system of claim 1 wherein, The construction of the digital map of the mine based on the point cloud data of the mine comprises: acquiring point cloud data of the mine based on a point cloud acquisition device, constructing a digital map of the mine based on the point cloud data, and marking nodes of the digital map of the mine and edges connecting the nodes; wherein the nodes include intersections, loading points and unloading points of the mine; and the edges include connection paths of the nodes in the mine.
3. The mine car dispatching system of claim 2 wherein, The marking of the dispatching position in the digital map of the mine and the determination of the optimal path of each mine car to the dispatching position based on the cost function comprise: marking a node corresponding to the dispatching position in the digital map of the mine, and taking the marked node as a dispatching terminal; setting the cost function, taking path coefficients of each edge in the digital map of the mine as inputs of the cost function, and determining edge cost values of each edge in the digital map of the mine; wherein the path coefficients include distance coefficients, slope coefficients and congestion coefficients of each path; determining the optimal path corresponding to each mine car when reaching the dispatching terminal based on a path optimization algorithm; wherein each optimal path is a mine car driving path corresponding to each mine car when the sum of edge cost values is the smallest.
4. The mine car dispatching system of claim 3 wherein, Further comprising: a congestion coefficient determination module; The congestion coefficient determination module is used for monitoring the traffic states of each path in the mine in real time, and updating the congestion coefficients corresponding to each path in real time based on the traffic states.
5. The mine car dispatching system of claim 1 wherein, The determination of the optimal mine car based on the cost values of each optimal path and the control of the optimal mine car to reach the dispatching position along the corresponding optimal path comprise: sorting the cost values of the optimal paths corresponding to each mine car from small to large, and selecting a mine car corresponding to an optimal path with the smallest cost value as an optimal mine car; issuing a dispatching instruction to control the optimal mine car to reach the dispatching position along the corresponding optimal path.
6. The mine car dispatching system of claim 1 wherein, Further comprising: a mine car positioning module; The mine car positioning module is used for acquiring positions of each mine car in the mine in real time based on a positioning system.
7. The mine car dispatching system of claim 1 wherein, Further comprising: a mine car action recording module; The mine car action recording module is used for recording loading data of the mine car when the mine car reaches a loading point in the mine to load, and recording unloading data of the mine car when the mine car reaches an unloading point in the mine to unload.
8. The mine car dispatching system of claim 1 wherein, Further comprising: a vehicle state monitoring module; The vehicle state monitoring module is used for monitoring whether each mine car has a vehicle abnormal state in real time; wherein the vehicle abnormal state includes vehicle overload and vehicle inclination.
9. The mine car dispatching system of claim 8 wherein, Further comprising: A vehicle alarm module; The vehicle alarm module is used to issue sound and light alarm when the mine car appears vehicle abnormal state.
10. The mine car dispatching system of claim 1 wherein, Further comprising: A man-machine interaction module; The man-machine interaction module is used to display the mine digital map in real time, and the user manually modifies the optimal path.