A method for scheduling engineering vehicles considering unloading

Abstract

This invention provides a method for scheduling engineering vehicles considering unloading, relating to the field of transportation technology. The method includes: collecting the capacity of each unloading point and the location and load status of each engineering vehicle; calculating the number of engineering vehicles that each unloading point can accommodate; determining the number of engineering vehicles queuing at each loading point and each unloading point based on the location of each engineering vehicle; for any engineering vehicle, if it is empty, calculating the loading assignment cost to each loading point and assigning it to the loading point with the lowest loading assignment cost; if it is heavily loaded, calculating the unloading assignment cost to each unloading point and assigning it to the unloading point with the lowest unloading assignment cost and a queue number less than the accommodating capacity. This method can avoid long queues for engineering vehicles, reduce the operation time of a single engineering vehicle, and help improve the coordination and overall operational efficiency of the entire loading-transportation-unloading process, thereby accelerating project progress.

Description

Technical Field

[0001] This invention relates to the field of transportation technology, and in particular to a method for scheduling engineering vehicles that takes into account unloading. Background Technology

[0002] In large-scale earthwork projects, such as mining, water conservancy construction, or roadbed construction, a combined operation mode of "excavator-truck-unloading point" is typically adopted. Traditional scheduling methods primarily focus on optimizing the loading process, severely neglecting the importance of the unloading process, and have the following significant drawbacks:

[0003] Lack of monitoring of queues at unloading points: Ignoring queue conditions at unloading points leads to severe backlog of engineering vehicles at unloading points, creating a new efficiency bottleneck.

[0004] Insufficient end-to-end coordination: Traditional scheduling only considers the optimization of the loading process and lacks a coordinated scheduling mechanism for the entire process of loading, transportation and unloading.

[0005] Uneven resource utilization: Due to differences in unloading point capacity and working efficiency, some unloading points are overcrowded while others are underutilized.

[0006] Low overall efficiency: Local optimization does not equal global optimization. The phenomenon of "no queue for loading, but long queue for unloading" leads to low overall operational efficiency and affects the progress of the project. Summary of the Invention

[0007] To address the aforementioned technical problems in the existing technology, the present invention aims to provide a scheduling method for engineering vehicles that takes unloading into account, so as to avoid long queues of engineering vehicles at unloading points, improve the coordination of the entire process of loading, transportation and unloading, improve overall operational efficiency and accelerate project progress.

[0008] Specifically, the technical solution is as follows:

[0009] Collect the location and load status of each engineering vehicle; collect the capacity of each unloading point. The load condition includes both unloaded and heavily loaded.

[0010] According to capacity Calculate the number of engineering vehicles that each unloading point can accommodate. The formula is as follows:

[0011] ;

[0012] In the formula, For the load capacity of engineering vehicles;

[0013] Based on the location of each engineering vehicle, determine the number of engineering vehicles queuing at each loading point. The number of engineering vehicles queuing at each unloading point ;

[0014] For any engineering vehicle, the assignment strategy includes:

[0015] A. If the engineering vehicles are empty, calculate the loading assignment cost to each loading point. The formula is as follows:

[0016] ;

[0017] ;

[0018] ;

[0019] In the formula, The travel time to the loading point. The estimated waiting time at the loading point. The distance from the engineering vehicle to the loading point. This refers to the unloaded driving speed of the engineering vehicle. The average time for loading materials onto each engineering vehicle, and These are the weighting coefficients;

[0020] The cost of assigning engineering vehicles to loading stations The smallest loading point;

[0021] B. If the engineering vehicle is heavily loaded, calculate the unloading assignment cost to each unloading point. The formula is as follows:

[0022] ;

[0023] ;

[0024] ;

[0025] In the formula, The travel time to the unloading point. The estimated waiting time at the unloading point. This refers to the distance from the engineering vehicle to the unloading point. The heavy-load driving speed of engineering vehicles. The average time for unloading each engineering vehicle, and These are the weighting coefficients;

[0026] Assigning engineering vehicles to unloading areas minimizes assignment costs and queue length. Less than the quantity The unloading point.

[0027] Furthermore, it also includes:

[0028] Collect the historical trajectories of all engineering vehicles;

[0029] For any engineering vehicle, if it is empty, determine all trajectories with the loading point as the destination; classify all trajectories according to the loading point; for each category, project each trajectory into a Cartesian coordinate system, calculate the trajectory length, and select the shortest trajectory length as the distance. ;

[0030] For any engineering vehicle, if it is heavily loaded, determine all trajectories with the unloading point as the destination; classify all trajectories according to the unloading point; for each category, project each trajectory into a Cartesian coordinate system, calculate the trajectory length, and select the shortest trajectory length as the distance. .

[0031] Furthermore, it also includes:

[0032] Collect the historical trajectories of all engineering vehicles;

[0033] Select all historical trajectories from loading point to unloading point;

[0034] The travel time of engineering vehicles on each track is collected, and each track is projected onto a Cartesian coordinate system to calculate the track length. The travel speed of engineering vehicles on each track is calculated based on the travel time and track length. The average travel speed is then calculated by selecting a speed with a preset ratio to obtain the unloaded travel speed. ;

[0035] Select all historical trajectories from the unloading point to the loading point;

[0036] The travel time of engineering vehicles on each track is collected, and each track is projected onto a Cartesian coordinate system to calculate the track length. The travel speed of engineering vehicles on each track is calculated based on the travel time and track length. The average travel speed is then calculated by selecting a speed that is centered according to a preset ratio to obtain the heavy-load travel speed. .

[0037] Preferably, , , , .

[0038] Compared with existing technologies, the technical solution provided by this invention takes into account the queuing situation of engineering vehicles at the unloading point, and determines the vehicle scheduling method for the loading and unloading processes by comprehensively considering driving practice and waiting time. This can avoid engineering vehicles queuing for a long time at the loading and unloading points, reduce the time spent from loading to unloading of a single engineering vehicle, and help improve the coordination and overall operational efficiency of the entire process of loading-transportation-unloading, thereby accelerating the progress of the project. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the entire process of loading, transporting, and unloading engineering vehicles in one embodiment of the present invention. Detailed Implementation

[0040] The technical solutions provided by the present invention will be further described in detail below with reference to the embodiments and accompanying drawings.

[0041] Example 1

[0042] Information collection process: The host computer determines the real-time location of each engineering vehicle through GPS or BeiDou positioning system, and obtains the load status of each engineering vehicle through wireless communication and on-board weight sensors. The remaining capacity at the unloading point is measured in real time based on GPS or BeiDou positioning system. Generally, the remaining capacity at the unloading point... After measuring the initial capacity on-site, subtract the volume already used (the volume of each vehicle that received the unloading truck and the volume of each engineering vehicle).

[0043] Calculate the number of engineering vehicles that each unloading point can accommodate. The formula is as follows:

[0044] ;

[0045] In the formula, This refers to the load capacity of engineering vehicles.

[0046] Preset parameters, including weighting coefficients , , , .

[0047] GPS Queue Analysis: Initialize GPS clustering algorithm parameters: eps=0.01, min_samples=1, to determine the number of vehicles queuing at each loading and unloading point. Analyze the real-time queuing situation at each work point using a clustering algorithm to calculate the estimated waiting time. and The formula is as follows:

[0048] ;

[0049] ;

[0050] In the formula, The number of engineering vehicles queuing at the loading point. The average time for loading materials onto each engineering vehicle, The number of engineering vehicles queuing at the unloading point. The average time taken to unload materials for each engineering vehicle.

[0051] Real-time status response and scheduling loop; the assignment strategy for engineering vehicle scheduling includes empty vehicle scheduling strategy and loaded vehicle scheduling strategy.

[0052] When an engineering vehicle is detected to be empty, the empty vehicle dispatching strategy is automatically triggered, and the loading assignment cost is calculated based on the travel time and waiting time. The formula is as follows:

[0053] ;

[0054] ;

[0055] In the formula, The travel time to the loading point. The estimated waiting time at the loading point. The distance from the engineering vehicle to the loading point. This refers to the unloaded speed of the engineering vehicle.

[0056] Select the loading assignment cost based on the calculation results. The smallest loading point is designated as the optimal loading point, and engineering vehicles proceed to the material loading area.

[0057] When an engineering vehicle is detected to be heavily loaded, the heavy vehicle dispatching strategy is automatically triggered, and the unloading assignment cost at each unloading point is calculated based on the travel time and waiting time. The formula is as follows:

[0058] ;

[0059] ;

[0060] In the formula, The travel time to the unloading point. The estimated waiting time at the unloading point. This refers to the distance from the engineering vehicle to the unloading point. This refers to the heavy-load driving speed of engineering vehicles.

[0061] Select the unloading assignment cost based on the calculation results. Minimum, and the number of engineering vehicles queuing Less than the quantity The optimal unloading point is selected, and the vehicle proceeds to the unloading area.

[0062] Automatically records each job cycle.

[0063] Furthermore, the confirmed plans for the distances from empty engineering vehicles to the loading point and from heavily loaded engineering vehicles to the unloading point are as follows:

[0064] Collect the historical trajectories of all engineering vehicles during all work cycles;

[0065] For any engineering vehicle, if it is empty, determine all trajectories with the loading point as the destination; classify all trajectories according to the loading point; for each category, project each trajectory into a Cartesian coordinate system, calculate the trajectory length, and select the shortest trajectory length as the distance. ;

[0066] For any engineering vehicle, if it is heavily loaded, determine all trajectories with the unloading point as the destination; classify all trajectories according to the unloading point; for each category, project each trajectory into a Cartesian coordinate system, calculate the trajectory length, and select the shortest trajectory length as the distance. .

[0067] Furthermore, unloaded driving speed and heavy-load driving speed The confirmation plan is as follows:

[0068] Collect the historical trajectories of all engineering vehicles;

[0069] Select all historical trajectories from loading point to unloading point;

[0070] The travel time of engineering vehicles on each track is collected, and each track is projected onto a Cartesian coordinate system to calculate the track length. The travel speed of engineering vehicles on each track is calculated based on the travel time and track length. The average travel speed is then calculated by selecting a speed with a preset ratio to obtain the unloaded travel speed. ;

[0071] Select all historical trajectories from the unloading point to the loading point;

[0072] The travel time of engineering vehicles on each track is collected, and each track is projected onto a Cartesian coordinate system to calculate the track length. The travel speed of engineering vehicles on each track is calculated based on the travel time and track length. The average travel speed is then calculated by selecting a speed that is centered according to a preset ratio to obtain the heavy-load travel speed. .

[0073] The preset ratio is generally set between 75% and 90% to avoid data affecting the accuracy of the scheduling plan in case of unexpected events. Furthermore, to further improve the accuracy of the scheduling plan, the K-meas clustering algorithm can be applied to determine the average driving speed.

[0074] The specific process of projecting each trajectory onto a Cartesian coordinate system and calculating the trajectory length includes:

[0075] In reality, the trajectory is composed of the positioning data of engineering vehicles at multiple time points, meaning it's a polygonal trajectory made up of discrete points. Its length calculation can be simplified to summing the lengths of multiple line segments: decompose the trajectory into multiple small line segments, each connecting adjacent points; calculate the length of each small line segment using the distance formula between two points, and then sum all the segment lengths to obtain the total length. This method is based on the Pythagorean theorem and is applicable to any polygonal trajectory; its accuracy depends on the precision of the GPS or BeiDou positioning system.

[0076] Example 2

[0077] like Figure 1 As shown, assume a mine has 3 excavators at 3 loading points (EX-01, EX-02, EX-03), 2 unloading points (DP-01, DP-02), and 15 engineering vehicles.

[0078] Phase one involves the loading and dispatching of engineering vehicles (trucks), receiving real-time GPS location data from all trucks to obtain:

[0079] EX-01 Queue Analysis: 3 trucks in queue; EX-02 Queue Analysis: 1 truck in queue; EX-03 Queue Analysis: 0 trucks in queue.

[0080] Dispatch Trigger: Truck T-08 completes unloading at DP-01, triggering the dispatch process for empty engineering vehicles.

[0081] Loading point cost calculation:

[0082] Travel time to EX-01: It is estimated to take 5 minutes. The duration is 3 x 3.5, which is 10.5 minutes. Let the weighting coefficients be... Weighting coefficient Then calculate the loading assignment cost. The formula is as follows:

[0083] ;

[0084] Travel time to EX-02: It takes 6 minutes, estimated waiting time. The time is 1 × 4, or 4 minutes. Let the weighting coefficients be... Weighting coefficient Then calculate the loading assignment cost. The formula is as follows:

[0085] ;

[0086] Travel time to EX-03: It takes 8 minutes, estimated waiting time. The time is 0 minutes. Set the weighting coefficient. Weighting coefficient Then calculate the loading assignment cost. The formula is as follows:

[0087] ;

[0088] Optimal decision at loading point: due to Selecting EX-03 as the target, the host computer issues the instruction to T-08: "Please proceed to EX-03 for loading."

[0089] Phase two involves the unloading scheduling of engineering vehicles, receiving real-time GPS location data from all trucks to obtain:

[0090] DP-01 Queue Analysis: 4 trucks are in a queue; DP-02 Queue Analysis: 1 truck is in a queue.

[0091] Dispatch Trigger: Truck T-08 completes loading at EX-03, triggering the unloading dispatch process.

[0092] Cost calculation for unloading point:

[0093] Travel time to DP-01: It is estimated to take 10 minutes. The time is 4 × 4, which is 16 minutes. Let the weighting coefficients be... Weighting coefficient Then calculate the unloading assignment cost. The formula is as follows:

[0094] ;

[0095] Travel time to DP-02: The estimated waiting time is 12 minutes. The time is 1 × 5, which is 5 minutes. Let the weighting coefficients be... Weighting coefficient Then calculate the unloading assignment cost. The formula is as follows:

[0096] ;

[0097] Optimal decision at the unloading point: due to The host computer selects DP-02 as the target and issues the instruction to T-08: "Please proceed to DP-02 to unload."

[0098] Dynamic closed-loop optimization: Continuously monitor the queuing situation at each point and adjust the two-stage scheduling strategy in real time.

[0099] As can be seen from the above embodiments and accompanying drawings, compared with the prior art, the technical solution provided by the present invention takes into account the queuing situation of engineering vehicles at the unloading point, and determines the vehicle scheduling method for the loading and unloading process by comprehensively considering driving practice and waiting time. This can avoid engineering vehicles queuing for a long time at the loading and unloading points, reduce the time spent from loading to unloading of a single engineering vehicle, and help improve the coordination and overall operation efficiency of the entire process of loading-transportation-unloading, thereby accelerating the progress of the project.

[0100] Furthermore, determining the shortest trajectory length as the distance, or determining the empty and heavy-load driving speeds based on historical driving speeds, or setting reasonable weighting coefficients, all contribute to improving the accuracy of engineering vehicle scheduling and have a positive impact on enhancing the coordination and overall operational efficiency of the entire loading-transportation-unloading process.

Claims

1. A method for scheduling engineering vehicles considering unloading, characterized in that, include: Collect the location and load status of each engineering vehicle; Collect the capacity of each unloading point The load condition includes both unloaded and heavily loaded. According to capacity Calculate the number of engineering vehicles that each unloading point can accommodate. The formula is as follows: ； In the formula, For the load capacity of engineering vehicles; Based on the location of each engineering vehicle, determine the number of engineering vehicles queuing at each loading point. The number of engineering vehicles queuing at each unloading point ; For any engineering vehicle, the assignment strategy includes: A. If the engineering vehicles are empty, calculate the loading assignment cost to each loading point. The formula is as follows: ； ； ； In the formula, The travel time to the loading point. The estimated waiting time at the loading point. The distance from the engineering vehicle to the loading point. This refers to the unloaded driving speed of the engineering vehicle. The average time for loading materials onto each engineering vehicle, and These are the weighting coefficients; The cost of assigning engineering vehicles to loading stations The smallest loading point; B. If the engineering vehicle is heavily loaded, calculate the unloading assignment cost to each unloading point. The formula is as follows: ； ； ； In the formula, The travel time to the unloading point. The estimated waiting time at the unloading point. This refers to the distance from the engineering vehicle to the unloading point. The heavy-load driving speed of engineering vehicles. The average time for unloading each engineering vehicle, and These are the weighting coefficients; Assigning engineering vehicles to unloading areas minimizes assignment costs and queue length. Less than the quantity The unloading point.

2. The engineering vehicle scheduling method considering unloading as described in claim 1, characterized in that, Also includes: Collect the historical trajectories of all engineering vehicles; For any engineering vehicle, if it is empty, determine all its trajectories to each loading point; project each trajectory onto a Cartesian coordinate system, calculate the trajectory length, and select the shortest trajectory length as the distance. ; For any engineering vehicle, if it is heavily loaded, determine all its trajectories to each unloading point; project each trajectory onto a Cartesian coordinate system, calculate the trajectory length, and select the shortest trajectory length as the distance. .

3. The engineering vehicle scheduling method considering unloading as described in claim 1, characterized in that, Also includes: Collect the historical trajectories of all engineering vehicles; Select all historical trajectories from loading point to unloading point; The travel time of engineering vehicles on each track is collected, and each track is projected onto a Cartesian coordinate system to calculate the track length; the travel speed of engineering vehicles on each track is calculated based on the travel time and track length. The driving speed is obtained by selecting the center value of the preset ratio and calculating the average value. ; Select all historical trajectories from the unloading point to the loading point; The travel time of engineering vehicles on each track is collected, and each track is projected onto a Cartesian coordinate system to calculate the track length; the travel speed of engineering vehicles on each track is calculated based on the travel time and track length. The driving speed is obtained by selecting the center value of the preset ratio and calculating the average value. .

4. The engineering vehicle scheduling method considering unloading as described in claim 1, characterized in that, ， ， ， 。

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