Dispatching method and device of mine vehicle, mine vehicle and medium

Abstract

The present disclosure relates to a dispatching method and device of a mine vehicle, the mine vehicle and a medium, and relates to the technical field of vehicle control. The method comprises: performing global dispatching planning on a plurality of first mine vehicles according to a first dispatching task of each first mine vehicle, to determine a first dispatching scheme; in the process of dispatching the plurality of first mine vehicles according to the first dispatching scheme, in response to the occurrence of a sudden event affecting the dispatching of a second mine vehicle in the plurality of first mine vehicles, performing local dispatching planning on the second mine vehicle to determine a second dispatching scheme; dispatching the second mine vehicle according to the second dispatching scheme, and continuing to dispatch other mine vehicles in the plurality of first mine vehicles except the second mine vehicle according to the first dispatching scheme.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle control technology, and in particular to a method, apparatus, mining vehicle, and computer-readable storage medium for scheduling mining vehicles. Background Technology

[0002] Open-pit mining has attracted much attention due to its high operating costs and operational hazards. Its core operational processes mainly include four major stages: blasting, loading, transportation, and unloading. Among these, the loading and transportation of materials is particularly critical, accounting for a large proportion of the total operating costs and requiring significant human and financial resources.

[0003] By developing intelligent scheduling algorithms based on real-time operational data of mining equipment, precise command of transport fleets can be achieved, which can improve equipment utilization and ore output, while optimizing transportation efficiency and reducing overall operating costs.

[0004] Therefore, intelligent scheduling has become a key direction for promoting the upgrading of open-pit mining technology and high-quality development.

[0005] In related technologies, a single scheduling model is relied upon to uniformly schedule all mining vehicles. Summary of the Invention

[0006] The inventors of this disclosure have discovered the following problem in the above-mentioned related technologies: the scheduling strategy for mining vehicles has low flexibility.

[0007] To address the aforementioned problems, the present disclosure provides the following solutions.

[0008] According to some embodiments of this disclosure, a method for scheduling mining vehicles is provided, comprising: performing a global scheduling plan on the plurality of first mining vehicles according to a first scheduling task of each of the first mining vehicles, to determine a first scheduling scheme; during the scheduling of the plurality of first mining vehicles according to the first scheduling scheme, in response to the occurrence of a sudden event affecting the scheduling of a second mining vehicle among the plurality of first mining vehicles, performing a local scheduling plan on the second mining vehicle to determine a second scheduling scheme; scheduling the second mining vehicle according to the second scheduling scheme, and continuing to schedule the other mining vehicles among the plurality of first mining vehicles other than the second mining vehicle according to the first scheduling scheme.

[0009] In some embodiments, the emergency includes the second mining vehicle having completed the first scheduling task and having no next scheduling task; and / or the emergency includes, in the case that the second mining vehicle has not completed the first scheduling task, at least one of the status information of the plurality of first mining vehicles and the resource information of the plurality of work areas changes.

[0010] In some embodiments, the status information of the plurality of first mining vehicles includes the fault status and load status of each of the plurality of first mining vehicles, and the resource information of the plurality of work areas includes the road network information, capacity information, and availability information of each work area.

[0011] In some embodiments, the plurality of operating areas include a loading area and an unloading area. The loading area includes a plurality of loading points, and the resource information of the loading area includes road network information, capacity information, and availability information for each loading point. The unloading area includes a plurality of unloading points, and the resource information of the unloading area includes road network information, capacity information, and availability information for each unloading point.

[0012] In some embodiments, the emergency includes the second mining vehicle having completed the first scheduling task and having no next scheduling task. The step of performing local scheduling planning on the second mining vehicle to determine a second scheduling scheme includes: assigning a second scheduling task to the second mining vehicle; determining a first candidate work area from the multiple work areas based on the second scheduling task and resource information of the multiple work areas; determining a first target work area from the first candidate work area based on the current position of the second mining vehicle after the emergency, the status information of the second mining vehicle, and the resource information of the first candidate work area, and determining a first target work path for the second mining vehicle to move from its current position to the first target work area, as the second scheduling scheme.

[0013] In some embodiments, the first candidate work area includes multiple candidate areas. Determining the first target work area from the first candidate work area and determining the first target work path for the second mining vehicle to move from the current location to the first target work area includes: constructing an objective function with the optimization objectives of maximizing scheduling efficiency, minimizing transportation costs, and minimizing vehicle queuing time; determining the path capacity of each path between the current location and the location of each candidate area in the multiple candidate areas based on the resource information of the multiple candidate areas; setting constraints based on the path capacity and the load status of the second mining vehicle, and solving the objective function to determine the first target work area and the first target work path.

[0014] In some embodiments, the emergency includes a situation where, if the second mining vehicle fails to complete the first scheduling task, at least one of the status information of the plurality of first mining vehicles and the resource information of the plurality of work areas changes. The step of performing local scheduling planning on the second mining vehicle to determine a second scheduling scheme includes: determining a second candidate work area from the plurality of work areas based on the first scheduling task and the current resource information of the plurality of work areas; determining a second target work area from the second candidate work area based on the current position of the second mining vehicle after the emergency, the status information of the second mining vehicle, and the current resource information of the second candidate work area; and determining a second target work path for the second mining vehicle to move from its current position to the second target work area, as the second scheduling scheme.

[0015] In some embodiments, the global scheduling plan is configured to be executed periodically over multiple scheduling cycles.

[0016] In some embodiments, the scheduling method further includes: monitoring the frequency of occurrence of the sudden event within the current scheduling period; and adaptively adjusting the duration of the next scheduling period based on the monitored frequency of occurrence.

[0017] According to some other embodiments of this disclosure, a dispatching device for mining vehicles is provided, comprising: a global dispatching planning module configured to perform global dispatching planning on the plurality of first mining vehicles according to a first dispatching task of each of the first mining vehicles, to determine a first dispatching scheme; a local dispatching planning module configured to, during the dispatching of the plurality of first mining vehicles according to the first dispatching scheme, in response to the occurrence of a sudden event affecting the dispatching of a second mining vehicle among the plurality of first mining vehicles, perform local dispatching planning on the second mining vehicle to determine a second dispatching scheme; and a dispatching module configured to dispatch the second mining vehicle according to the second dispatching scheme, and continue to dispatch the other mining vehicles among the plurality of first mining vehicles excluding the second mining vehicle according to the first dispatching scheme.

[0018] According to further embodiments of this disclosure, a scheduling device for mining vehicles is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the scheduling method of any of the above embodiments based on instructions stored in the memory device.

[0019] According to further embodiments of this disclosure, a mining vehicle is provided, including the dispatching device in any of the above embodiments.

[0020] According to further embodiments of the present disclosure, a computer-readable storage medium is provided that stores computer instructions thereon, which, when executed by a processor, implement the scheduling method of any of the above embodiments.

[0021] According to further embodiments of this disclosure, a computer program product is also provided, including instructions that, when executed by a processor, cause the processor to perform the scheduling method according to any of the foregoing embodiments.

[0022] In the above embodiments, by combining global scheduling and local rescheduling for emergencies, the flexibility of the scheduling strategy and its adaptability to dynamic environments can be effectively improved. Attached Figure Description

[0023] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0024] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0025] Figure 1 A flowchart illustrating a method for scheduling mining vehicles according to some embodiments of the present disclosure is provided.

[0026] Figure 2 A schematic diagram illustrating the flow of the operating status of a mining vehicle according to some embodiments of the present disclosure;

[0027] Figure 3 A schematic diagram illustrating the operational logic of a scheduling method according to some embodiments of the present disclosure;

[0028] Figure 4 A block diagram of a dispatching device for mining vehicles according to some embodiments of the present disclosure is shown;

[0029] Figure 5 A block diagram of a dispatching apparatus for mining vehicles according to other embodiments of the present disclosure is shown;

[0030] Figure 6 A block diagram of a dispatching device for mining vehicles according to some embodiments of the present disclosure is shown. Detailed Implementation

[0031] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0032] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0033] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0034] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0035] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0036] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0037] As mentioned earlier, related technologies rely on a single scheduling model to uniformly schedule all mining vehicles. In this approach, the vehicle scheduling strategy is simplistic. In the complex dynamic environment of a mine, this single path optimization method may fail to meet the demands of handling high-real-time emergencies due to computational latency, resulting in low flexibility and adaptability of the scheduling strategy.

[0038] In view of this, the present disclosure provides a method for scheduling mining vehicles, which can respond promptly to emergencies affecting vehicle scheduling and trigger partial rescheduling of at least some vehicles in response to emergencies. Thus, by combining global scheduling and partial rescheduling for emergencies, the flexibility of the scheduling strategy and its adaptability to dynamic environments can be effectively improved.

[0039] Figure 1 A flowchart illustrating a method for scheduling mining vehicles according to some embodiments of the present disclosure is shown.

[0040] like Figure 1 As shown, the scheduling method includes: step 110, performing global scheduling planning to determine a first scheduling scheme; step 120, in response to the occurrence of a sudden event, performing local scheduling planning to determine a second scheduling scheme; and step 130, performing scheduling according to the first scheduling scheme and the second scheduling scheme.

[0041] In step 110, a global scheduling plan is performed on the multiple first mining vehicles according to their respective first scheduling tasks, so as to determine the first scheduling scheme.

[0042] In some embodiments, the first scheduling task includes one of a loading task and an unloading task.

[0043] In some embodiments, multiple first mining vehicles are used as decision objects, and a pathfinding algorithm (such as the A-Star algorithm) is used to plan the optimal path for each of the multiple first mining vehicles to execute the first scheduling task as the first scheduling scheme.

[0044] In some embodiments, a first scheduling scheme for scheduling each first mining vehicle is determined based on the first scheduling task of each of the plurality of first mining vehicles, the status information of the plurality of first mining vehicles, and the resource information of the plurality of work areas.

[0045] In some embodiments, the status information of the plurality of first mining vehicles includes the fault status and load status of each of the plurality of first mining vehicles. For example, the fault status includes faulty and fault-free, and the load status includes empty and fully loaded.

[0046] In some embodiments, the resource information for multiple work areas includes road network information, capacity information, and availability information for each work area.

[0047] For example, the road network information for each work area includes the road topology and road surface condition (e.g., whether the road surface is wet or smooth). The capacity information for each work area includes the capacity of the work area to hold goods (e.g., ore) (e.g., it can be described as a percentage, such as a work area with a capacity of 30%, which means it has 30% of the capacity).

[0048] In some embodiments, an objective function is constructed with the optimization objectives of maximizing scheduling efficiency, minimizing transportation costs, and minimizing vehicle queuing time. Based on the first scheduling task of each first mining vehicle and resource information of multiple work areas, at least one candidate work area is determined from the multiple work areas. Based on the resource information of at least one candidate work area, the path capacity of each path between the current position of each first mining vehicle and the position of at least one candidate work area is determined. Based on the path capacity and the load status of each first mining vehicle, constraints are set, and the objective function is solved to determine the target work area of ​​each first mining vehicle and the optimal work path for each first mining vehicle to move from its current position to the target work area.

[0049] In some embodiments, at least one candidate work area is determined from a plurality of work areas based on information about the availability of a first scheduling task for each first mining vehicle and the availability of each work area corresponding to the first scheduling task.

[0050] In some embodiments, scheduling efficiency can be expressed as the amount of work (e.g., loading and unloading tasks) completed by multiple first mining vehicles per unit time. Transportation costs include labor costs, vehicle depreciation costs, empty-run costs, etc., and are related to the distance of the vehicle's operating path, the vehicle's load capacity, and the time taken to execute the scheduling task. Vehicle queuing time refers to the total time a vehicle waits in the operating area (e.g., loading or unloading point), which can be expressed as the sum of the waiting times of multiple first mining vehicles at each node.

[0051] For example, appropriate weights can be assigned to scheduling efficiency, transportation cost, and vehicle queuing time according to actual needs to construct an objective function. For example, the objective function F = w1 × scheduling efficiency + w2 × transportation cost + w3 × vehicle queuing time, where w1, w2, and w3 are weighting factors.

[0052] In this way, by taking the maximization of scheduling efficiency, the minimization of transportation costs, and the shortest vehicle queuing time as the main optimization objectives, it is possible to effectively balance system operating efficiency, economy, and service response capabilities while reducing the complexity of solving scheduling strategies. This enables more robust and efficient resource collaborative scheduling in dynamic environments, enhancing the feasibility and robustness of scheduling strategies in dynamic scenarios.

[0053] In some embodiments, the path capacity of each path is determined based on road network information of at least one candidate work area. The path capacity of each path characterizes the number of vehicles that can pass through the path per unit time, i.e., traffic flow. The greater the traffic flow that a path can handle, the stronger its path capacity.

[0054] In some embodiments, constraints are set based on the path capacity of each path, the load status of each first mining vehicle, and the capacity information of at least one candidate work area, and the objective function is solved.

[0055] Here, by constructing an objective function, the global scheduling planning problem of multiple first mining vehicles is transformed into a multi-objective optimization problem. By solving the multi-objective optimization problem, a global scheduling scheme can be accurately determined for multiple first mining vehicles.

[0056] Those skilled in the art know how to solve a multi-objective optimization problem after it has been constructed, and will not be described in detail here.

[0057] In step 120, during the scheduling of multiple first mining vehicles according to the first scheduling scheme, in response to the occurrence of a sudden event affecting the scheduling of second mining vehicles among the multiple first mining vehicles, a local scheduling plan is executed for the second mining vehicles to determine the second scheduling scheme.

[0058] In some embodiments, an emergency includes a second mining vehicle having completed its first scheduling task and having no subsequent scheduling task. This allows for the timely rescheduling of idle mining vehicles that have completed their scheduling tasks and have no next scheduled task, reducing resource idleness and improving the operational efficiency and utilization rate of mining vehicles.

[0059] In some embodiments, an emergency includes a change in at least one of the status information of multiple first mining vehicles and the resource information of multiple work areas when the second mining vehicle fails to complete the first scheduling task.

[0060] Thus, in the event of sudden changes in vehicle status and / or resource conditions in the work area, the initial scheduling plan based on global scheduling may become inapplicable. Continuing to execute the original initial scheduling plan could lead to adverse effects such as task conflicts, decreased efficiency, or even work interruptions. Therefore, in such situations, timely rescheduling of affected mining vehicles can effectively improve the adaptability of the scheduling strategy to dynamic environments.

[0061] For example, if at least one of the multiple mining vehicles malfunctions, it can be confirmed that the status information of the multiple mining vehicles has changed. Similarly, if the road network information (e.g., road topology) or road surface condition changes in at least one of the multiple work areas, it can be confirmed that the resource information of the multiple work areas has changed.

[0062] In some embodiments, the multiple work areas include a loading area and an unloading area.

[0063] The loading area includes multiple loading points. The resource information of the loading area includes the road network information, capacity information, and availability information for each loading point.

[0064] The unloading zone includes multiple unloading points. The resource information of the unloading zone includes road network information, capacity information, and availability information for each unloading point.

[0065] This allows for timely responses to sudden changes in resource status at each loading point in the loading area and / or each unloading point in the unloading area, triggering local rescheduling with finer granularity, thereby further enhancing the scheduling strategy's adaptability to dynamic environments.

[0066] In some embodiments, the number of second mining vehicles can be one or more. Using the second mining vehicles as the decision-making objects, a pathfinding algorithm (such as the A-Star algorithm) is employed to plan a second scheduling scheme for them. For example, different second scheduling schemes can be planned based on different unforeseen events, which will be further explained later.

[0067] In step 130, the second mining vehicle is dispatched according to the second dispatching scheme, and the other mining vehicles among the multiple first mining vehicles, excluding the second mining vehicle, are dispatched according to the first dispatching scheme.

[0068] For example, if there are 5 mining vehicles in a series of 1 mining vehicles, and the scheduling of 2 of them is affected by an emergency, then these 2 vehicles can be scheduled according to the re-planned second scheduling scheme, while the other 3 vehicles that are not affected will continue to be scheduled according to the original overall scheduling scheme.

[0069] In the above embodiments, based on the global scheduling planning of multiple first mining vehicles to determine the first scheduling scheme, in response to the occurrence of a sudden event, the local scheduling planning of the second mining vehicles affected by the sudden event can be carried out to determine the second scheduling scheme, and the second mining vehicles can be scheduled according to the re-planned second scheduling scheme, while other mining vehicles not affected by the sudden event will continue to be scheduled according to the original first scheduling scheme.

[0070] This approach combines global and local scheduling, enabling timely response to and handling of unforeseen events affecting vehicle dispatching while coordinating the overall dispatching plan. This effectively enhances the flexibility of dispatching strategies and their adaptability to dynamic environments.

[0071] In some embodiments, the global scheduling plan for multiple first mining vehicles is configured to be executed periodically in multiple scheduling cycles. For example, each scheduling cycle has the same duration. The scheduling system re-executes the global scheduling plan before the start of each scheduling cycle to generate a scheduling scheme for that cycle.

[0072] For example, during the current scheduling cycle, scheduling is carried out according to the first scheduling scheme determined by the global scheduling plan. During this process, if an emergency occurs, the local scheduling plan is triggered to redetermine the scheduling scheme for the mining vehicles affected by the emergency. Subsequently, before the start of the next scheduling cycle, the global scheduling plan is re-executed. If an emergency occurs during the next scheduling cycle, the local scheduling plan will also be triggered to redetermine the scheduling scheme for the mining vehicles affected by the emergency.

[0073] Figure 2 A schematic diagram illustrating the flow of the operating status of a mining vehicle according to some embodiments of the present disclosure.

[0074] like Figure 2 As shown, the operating status of mining vehicles can include driving status, loading status, unloading status, and waiting status.

[0075] Assuming the first scheduling task is a loading task, within the current scheduling cycle, taking a specific mining vehicle as an example, during the scheduling process according to the first scheduling plan, the vehicle's operational status is monitored in real time (i.e., the vehicle's operational status is determined). If the vehicle's operational status is detected as "moving" (i.e., in motion), and the vehicle is not affected by any unforeseen events, it continues to move along the operational path in the first scheduling plan until it reaches the target operational area (e.g., the loading point) to execute the loading process and complete the loading task. Afterwards, before the start of the next scheduling cycle, the vehicle is re-selected as the decision-making object for global scheduling planning.

[0076] If the vehicle's operational status is detected as loading (i.e., loading in progress) or waiting (i.e., queuing), then after the vehicle completes its loading task, if there is no next scheduling task, a partial rescheduling can be triggered. A new scheduling plan will be determined for the vehicle, and it will be scheduled according to the newly determined plan within the current cycle. If a next scheduling task exists, then before the start of the next scheduling cycle, the vehicle will be treated as the decision-making object again to execute the global scheduling plan to continue executing the next scheduling task. For example, the next scheduling task could be an unloading task.

[0077] If the vehicle's operational status is detected as unloading (i.e., unloading in progress), it indicates that the vehicle's load status will change to empty, meaning the vehicle's status information has changed. In this case, based on the first scheduling task being a loading task, a new scheduling plan for executing the loading task is determined for the vehicle, and scheduling is carried out according to the newly determined plan within the current cycle. Subsequently, before the start of the next scheduling cycle, the vehicle is again treated as the decision-making object for global scheduling planning.

[0078] In the above embodiments, global scheduling can be updated periodically to optimize overall scheduling efficiency and resource coordination, while local scheduling mechanisms triggered by sudden events can be retained within each scheduling cycle to achieve rapid response and local adjustment to disturbances. This ensures both the global optimality of the scheduling scheme and enhances the system's adaptability and robustness in dynamic and complex environments.

[0079] In some embodiments, the frequency of occurrence of emergencies within the current scheduling period is monitored, and the duration of the next scheduling period is adaptively adjusted based on the monitored frequency. For example, the duration of the first scheduling period among multiple scheduling periods can be preset based on historical experience, and the duration of the next scheduling period after the first scheduling period can be adaptively adjusted based on the frequency of occurrence of emergencies within the first scheduling period, and so on.

[0080] For example, the frequency of an emergency is inversely correlated with the length of the next scheduling cycle. For instance, the higher the frequency of an emergency, the shorter the length of the next scheduling cycle.

[0081] In the above embodiments, the frequency of sudden events can reflect the degree of disturbance in the system. If the frequency of sudden events is lower, it indicates that the degree of disturbance in the system is smaller, that is, the system is more stable. In this case, the scheduling cycle can be adaptively extended to save computational overhead. If the frequency of sudden events is higher, it indicates that the degree of disturbance in the system is larger, that is, the system is less stable. In this case, the scheduling cycle can be adaptively shortened to improve the robustness of the system.

[0082] In this way, by flexibly adjusting the length of the scheduling cycle, the computational overhead and the robustness of the scheduling system can be effectively balanced, thus achieving robust and flexible dynamic scheduling.

[0083] The implementation of step 120 will be further illustrated below with reference to some embodiments.

[0084] In some embodiments, when an emergency occurs, including when the second mining vehicle has completed the first scheduling task and there is no next scheduling task, step 120 can be implemented according to steps S1 to S3 as follows.

[0085] In step S1, a second scheduling task is assigned to the second mining vehicle.

[0086] For example, the second scheduled task may be the same as or different from the first scheduled task. For example, the second scheduled task may be a loading task or an unloading task.

[0087] In step S2, a first candidate job region is determined from the multiple job regions based on the second scheduling task and the resource information of multiple job regions.

[0088] For example, based on information about the availability of the second scheduling task and the corresponding job area, a first candidate job area can be determined from multiple job areas.

[0089] Taking the second scheduling task as a loading task as an example, based on the information on whether each loading point in the loading area of ​​multiple work areas is available, one or more available loading points are determined as the first candidate work area.

[0090] In step S3, based on the current location of the second mining vehicle after the emergency, the status information of the second mining vehicle, and the resource information of the first candidate work area, the first target work area is determined from the first candidate work area, and the first target work path for the second mining vehicle to move from its current location to the first target work area is determined as the second scheduling scheme.

[0091] In some embodiments, the number of first candidate work areas can be one or more. For example, if there is only one first candidate work area, the first candidate work area is the first target work area. In this case, a multi-objective optimization objective function can be constructed based on the current location of the second mining vehicle after the incident, the status information of the second mining vehicle, and the resource information of the first candidate work area to determine the first target work path (e.g., the optimal work path) for the second mining vehicle to move from its current location to the first target work area.

[0092] In the above embodiments, for idle mining vehicles that have completed their scheduling tasks and have not been assigned the next scheduling task, scheduling tasks can be promptly assigned and their target work areas and corresponding target work paths can be quickly determined, thereby improving the operating efficiency and utilization rate of mining vehicles.

[0093] In some embodiments, there are multiple first candidate job areas. For example, the first candidate job area may include multiple candidate areas. In this case, the first target job area and the first target job path can be determined according to the following steps U1 to U3.

[0094] In step U1, an objective function is constructed with the optimization objectives of maximizing scheduling efficiency, minimizing transportation costs, and minimizing vehicle queuing time.

[0095] In some embodiments, scheduling efficiency can be expressed as the amount of work completed by the second mining vehicle per unit time (such as the number of loading and unloading tasks). Transportation costs include labor costs, vehicle depreciation costs, empty-run costs, etc., and are related to the distance of the vehicle's operating path, the vehicle's load capacity, and the time taken to execute the scheduling task. Vehicle queuing time refers to the total time that vehicles wait in the operating area (e.g., loading or unloading point), which can be expressed as the sum of the waiting times of the second mining vehicle at each node.

[0096] For example, appropriate weights can be assigned to scheduling efficiency, transportation cost, and vehicle queuing time according to actual needs to construct an objective function. For example, the objective function F = w1 × scheduling efficiency + w2 × transportation cost + w3 × vehicle queuing time, where w1, w2, and w3 are weighting factors.

[0097] In this way, by taking the maximization of scheduling efficiency, the minimization of transportation costs, and the shortest vehicle queuing time as the main optimization objectives, it is possible to effectively balance system operating efficiency, economy, and service response capabilities while reducing the complexity of solving scheduling strategies. This enables more robust and efficient resource collaborative scheduling in dynamic environments and enhances the feasibility and robustness of local rescheduling strategies in dynamic scenarios.

[0098] In step U2, based on the resource information of multiple candidate regions, the path connectivity of each path between the current location and the location of each candidate region in the multiple candidate regions is determined.

[0099] In some embodiments, the path capacity of each path is determined based on the road network information of each of the multiple candidate areas. The path capacity of each path characterizes the number of vehicles that can pass through the path per unit time, i.e., the traffic flow. The greater the traffic flow that a path can handle, the stronger its path capacity.

[0100] In step U3, constraints are set based on the path capacity and the load status of the second mining vehicle, and the objective function is solved to determine the first target operating area and the first target operating path.

[0101] In some embodiments, constraints are set based on the path capacity of each path, the load status of the second mining vehicle, and the capacity information of each candidate region in multiple candidate regions. The objective function is then solved to determine the first target operating area and the first target operating path.

[0102] Here, by constructing an objective function, the local scheduling planning problem of the second mining vehicle is transformed into a multi-objective optimization problem. By solving the multi-objective optimization problem, the scheduling scheme for the second mining vehicle affected by the emergency can be accurately re-determined, thereby improving the system's response capability to the emergency.

[0103] In some embodiments, if an emergency occurs, including the failure of a second mining vehicle to complete a first scheduling task, and at least one of the status information of multiple first mining vehicles and the resource information of multiple work areas changes, step 120 can be implemented according to steps Y1 to Y2 as follows.

[0104] In step Y1, a second candidate job region is determined from the multiple job regions based on the first scheduling task and the current resource information of the multiple job regions. For example, the first scheduling task can be a loading task or an unloading task.

[0105] If the resource information in multiple work areas remains unchanged, the current resource information in those work areas is the original resource information; if the resource information in multiple work areas changes, the current resource information in those work areas is the changed resource information.

[0106] In step Y2, based on the current location of the second mining vehicle after the incident, the status information of the second mining vehicle, and the current resource information of the second candidate work area, a second target work area is determined from the second candidate work area, and a second target work path is determined for the second mining vehicle to move from its current location to the second target work area, which serves as the second scheduling scheme.

[0107] In some embodiments, the number of second candidate job areas can be one or more.

[0108] When there is only one second candidate work area, the second candidate work area becomes the second target work area. In this case, a multi-objective optimization objective function can be constructed based on the current location of the second mining vehicle after the emergency, the status information of the second mining vehicle, and the resource information of the second candidate work area to determine the second target work path (e.g., the optimal work path) for the second mining vehicle to move from its current location to the second target work area.

[0109] In some embodiments, there are multiple second candidate work areas. For example, the second candidate work area may include multiple candidate areas. In this case, the second target work area and the second target work path can be determined similarly according to the steps U1 to U3 described above, based on the current status information of the second mining vehicle after the incident and the current resource information of the multiple candidate areas. Further details will not be elaborated here.

[0110] In the above embodiments, if the status of the second mining vehicle and / or the resource situation of the work area suddenly change when the second mining vehicle fails to complete the first scheduling task, the affected second mining vehicle can be rescheduled in a timely manner according to the current status of the vehicle and / or the current resource situation of the work area after the sudden event, so as to ensure that the second mining vehicle can complete the first scheduling task, thereby improving the robustness of the scheduling strategy and its adaptability to dynamic environments.

[0111] The scheduling method proposed in this disclosure will be illustrated below with reference to some embodiments.

[0112] Figure 3 A schematic diagram illustrating the operational logic of a scheduling method according to some embodiments of the present disclosure is shown.

[0113] like Figure 3 As shown, Figure 3 Three scheduling cycles are schematically shown: rolling cycle window 1, rolling cycle window 2, and rolling cycle window 3.

[0114] Within each scheduling cycle (also known as a rolling cycle), the following two modes work together.

[0115] (1) Global scheduling mode (also known as periodic rescheduling mode):

[0116] Scheduling updates are performed according to a rolling cycle window. Before the start of each rolling cycle, a global scheduling (also known as multi-vehicle group scheduling) is conducted. For example, for a period of time before the start of a certain rolling cycle, all mining vehicles are considered as decision-making objects, and the target operation path of each mining vehicle to the target operation area is determined uniformly, generating a global scheduling plan (i.e., the first scheduling plan).

[0117] This periodic global scheduling model fully considers potential resource competition and path conflicts among multiple mining vehicles within each scheduling cycle when determining the scheduling scheme (e.g., multiple mining vehicles simultaneously heading to the same loading point causing queuing, or meeting on narrow roads leading to traffic congestion or even deadlock). By coordinating the task allocation and operation paths of multiple mining vehicles, this model can achieve collaborative operation planning for multiple mining vehicles, generating an efficient, feasible, and systematic overall scheduling scheme.

[0118] (2) Local scheduling mode (also known as event-triggered rescheduling mode):

[0119] During the periodic execution of global scheduling, if an emergency is detected, a local rescheduling (also known as single-vehicle scheduling) will be triggered. For example, taking the second mining vehicle affected by the emergency (e.g., the second mining vehicle includes a single mining vehicle) as the decision-making object, only the mining vehicles affected by the emergency will be locally rescheduled to quickly determine the target operating area and target operating path for them.

[0120] The incidents that trigger the local scheduling mode can include one or more of the following: task completion events and external abnormal events.

[0121] For example, a task completion event means that the second mining vehicle (e.g., the second mining vehicle includes a single mining vehicle) has completed the current first scheduling task and there is no next scheduling task.

[0122] External anomalies refer to sudden changes in the external environment that occur before the second mining vehicles have completed their first scheduling tasks (e.g., some vehicles suddenly malfunction, loading areas become unavailable, unloading areas run out of capacity or become unusable, lane adjustments cause changes in the road network topology, etc.), resulting in changes to the status information of multiple first mining vehicles and / or the resource information of multiple work areas. Such changes may render the original global scheduling plan inapplicable. If the original plan is continued, it may lead to adverse effects such as task conflicts, decreased efficiency, or even work interruption.

[0123] This event-triggered local scheduling mode can quickly respond to sudden changes and intervene in a timely manner to prevent chain reactions that may be caused by sudden events, based on global scheduling optimization, thereby effectively maintaining the stability of system operation and scheduling efficiency.

[0124] For example, see Figure 3 The global scheduling mode adopts a timed triggering mechanism based on a rolling cycle. Its corresponding scheduling model is global scheduling (also known as multi-vehicle group scheduling), and the corresponding scheduling timing is a period of time before the start of the rolling cycle. It aims to coordinate and optimize the operation plan of all mining vehicles.

[0125] The local scheduling mode adopts an event-based asynchronous triggering mechanism. Its corresponding scheduling model is local rescheduling (also known as single-vehicle scheduling), and the corresponding scheduling timing is the moment when the emergency occurs. It aims to quickly adjust the operation plan of vehicles affected by the emergency.

[0126] For example, before the start of rolling cycle window 1, the global scheduling mode is automatically triggered to collaboratively determine the work path for each mining truck from its current position to the target work area (e.g., the target loading point or the target unloading point), generating global scheduling scheme 1 (e.g., Figure 3 The multi-vehicle train scheduling generation cycle 1 scheduling scheme is shown in the figure.

[0127] At a certain point in time in the rolling cycle window 1 (e.g.) Figure 3 The event rescheduling point 1 shown detects the occurrence of a sudden event and triggers a local scheduling mode at that time point to locally reschedule some mining vehicles affected by the sudden event, generating a local scheduling scheme (e.g., Figure 3 The single-vehicle scheduling generation scheduling scheme is shown in the figure.

[0128] During the period between the end of rolling cycle window 1 and the start of rolling cycle window 2, the global scheduling mode is re-triggered to generate global scheduling scheme 2 (e.g., Figure 3 The multi-vehicle train scheduling generation cycle 2 scheduling scheme is shown in the figure.

[0129] At multiple time points in the rolling cycle window 1 (e.g.) Figure 3 Event rescheduling point 2 and event rescheduling point 3 both detected the occurrence of sudden events. At each time point, a local scheduling mode was triggered to locally reschedule some mining vehicles affected by the sudden events that occurred at that time point, generating corresponding local scheduling schemes (e.g., Figure 3 The single-vehicle scheduling generation scheduling scheme is shown in the figure.

[0130] During the period between the end of rolling cycle window 2 and the start of rolling cycle window 3, the global scheduling mode is re-triggered to generate global scheduling scheme 2 (e.g., Figure 3 The multi-vehicle train scheduling generation cycle 2 scheduling scheme is shown in the figure.

[0131] At a certain point in time within the rolling cycle window 3 (e.g.) Figure 3The event rescheduling point 4 shown in the diagram detects the occurrence of a sudden event and triggers a local scheduling mode at that time point to locally reschedule some mining vehicles affected by the sudden event, generating a corresponding local scheduling scheme (e.g., Figure 3 The single-vehicle scheduling generation scheduling scheme is shown in the figure.

[0132] It should be understood that Figure 3 The scheduling process for three rolling cycles is shown only schematically to illustrate the operational logic of the scheduling method proposed in this disclosure. Those skilled in the art can apply this logic to more rolling cycles to achieve a combination of global and local scheduling.

[0133] Figure 4 A block diagram of a dispatching device for mining vehicles according to some embodiments of the present disclosure is shown.

[0134] like Figure 4 As shown, the scheduling device 400 includes a global scheduling planning module 401, a local scheduling planning module 402, and a scheduling module 403.

[0135] The global scheduling planning module 401 is configured to perform global scheduling planning on the multiple first mining vehicles according to the first scheduling task of each of the multiple first mining vehicles, so as to determine the first scheduling scheme.

[0136] The local scheduling planning module 402 is configured to, in the process of scheduling multiple first mining vehicles according to the first scheduling scheme, respond to the occurrence of a sudden event affecting the scheduling of the second mining vehicle among the multiple first mining vehicles, perform local scheduling planning for the second mining vehicle to determine the second scheduling scheme.

[0137] The scheduling module 403 is configured to schedule the second mining vehicle according to the second scheduling scheme, and to continue to schedule the other mining vehicles among the multiple first mining vehicles except for the second mining vehicle according to the first scheduling scheme.

[0138] In some embodiments, an emergency includes a second mining vehicle having completed a first scheduling task and having no next scheduling task; and / or an emergency includes, in the case that the second mining vehicle has not completed the first scheduling task, at least one of the status information of multiple first mining vehicles and the resource information of multiple work areas changes.

[0139] In some embodiments, the status information of the plurality of first mining vehicles includes the fault status and load status of each of the plurality of first mining vehicles, and the resource information of the plurality of work areas includes the road network information, capacity information and availability information of each work area in the plurality of work areas.

[0140] In some embodiments, the multiple operating areas include a loading area and an unloading area. The loading area includes multiple loading points, and the resource information for the loading area includes road network information, capacity information, and availability information for each loading point. The unloading area includes multiple unloading points, and the resource information for the unloading area includes road network information, capacity information, and availability information for each unloading point.

[0141] In some embodiments, an emergency includes a second mining vehicle having completed a first scheduling task and having no next scheduling task. The local scheduling planning module 402 can be configured to assign a second scheduling task to the second mining vehicle; determine a first candidate working area from multiple working areas based on the second scheduling task and resource information of multiple working areas; determine a first target working area from the first candidate working area based on the current position of the second mining vehicle after the emergency, the status information of the second mining vehicle, and the resource information of the first candidate working area; and determine a first target working path for the second mining vehicle to move from its current position to the first target working area, as a second scheduling scheme.

[0142] In some embodiments, the first candidate work area includes multiple candidate areas. The local scheduling planning module 402 can be configured to construct an objective function with the optimization objectives of maximizing scheduling efficiency, minimizing transportation costs, and minimizing vehicle queuing time; determine the path capacity of each path between the current location and the location of each candidate area based on the resource information of the multiple candidate areas; set constraints based on the path capacity and the load status of the second mining vehicle, and solve the objective function to determine the first target work area and the first target work path.

[0143] In some embodiments, the emergency includes a change in at least one of the status information of multiple first mining vehicles and the resource information of multiple work areas when the second mining vehicle fails to complete the first scheduling task. The local scheduling planning module 402 can be configured to determine a second candidate work area from multiple work areas based on the first scheduling task and the current resource information of multiple work areas; determine a second target work area from the second candidate work area based on the current position of the second mining vehicle after the emergency, the status information of the second mining vehicle, and the current resource information of the second candidate work area; and determine a second target work path for the second mining vehicle to move from its current position to the second target work area, as a second scheduling scheme.

[0144] In some embodiments, the global scheduling planning module 401 is configured to periodically execute global scheduling planning in multiple scheduling cycles.

[0145] In some embodiments, the scheduling device 400 further includes a monitoring module and an adjustment module. Figure 4 (Not shown). The monitoring module is configured to monitor the frequency of occurrence of emergencies within the current scheduling period; the adjustment module is configured to adaptively adjust the duration of the next scheduling period based on the monitored frequency of occurrence.

[0146] Figure 5 A block diagram of a dispatching device for mining vehicles according to other embodiments of the present disclosure is shown.

[0147] like Figure 5 As shown, the scheduling device 500 of this embodiment includes a memory 501 and a processor 502 coupled to the memory 501. The processor 502 is configured to execute the scheduling method in any embodiment of this disclosure based on instructions stored in the memory 501.

[0148] The memory 501 may include, for example, system memory, fixed non-volatile storage media, etc. The system memory may store, for example, an operating system, application programs, a boot loader, a database, and other programs.

[0149] Figure 6 A block diagram of a dispatching device for mining vehicles according to some embodiments of the present disclosure is shown.

[0150] like Figure 6 As shown, the scheduling device 600 of this embodiment includes a memory 601 and a processor 602 coupled to the memory 601. The processor 602 is configured to execute the scheduling method in any of the foregoing embodiments based on instructions stored in the memory 601.

[0151] The memory 601 may include, for example, system memory, fixed non-volatile storage media, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs.

[0152] The scheduling device 600 may also include an input / output interface 603, a network interface 604, and a storage interface 605. These interfaces 603, 604, and 605, as well as the memory 601 and processor 602, can be connected, for example, via a bus 606. The input / output interface 603 provides a connection interface for input / output devices such as monitors, mice, keyboards, touchscreens, microphones, and speakers. The network interface 604 provides a connection interface for various networked devices. The storage interface 605 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0153] This disclosure also provides a mining vehicle, including a dispatching device (e.g., dispatching device 400 / 500 / 600) from any of the above embodiments.

[0154] This disclosure also provides a computer-readable storage medium including computer program instructions that, when executed by a processor, implement the scheduling method of any of the above embodiments.

[0155] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the scheduling method of any of the above embodiments.

[0156] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0157] The dispatching technology solution for mining vehicles according to this disclosure has now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solution disclosed herein based on the above description.

[0158] The methods and systems of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the specific order described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0159] While specific embodiments of this disclosure have been described in detail by way of example, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A method for dispatching mining vehicles, comprising: Based on the first scheduling task of each of the multiple first mining vehicles, a global scheduling plan is executed on the multiple first mining vehicles to determine the first scheduling scheme; During the scheduling of the plurality of first mining vehicles in accordance with the first scheduling scheme, in response to the occurrence of a sudden event affecting the scheduling of the second mining vehicle among the plurality of first mining vehicles, a local scheduling plan is executed for the second mining vehicle to determine the second scheduling scheme. The second mining vehicle is dispatched according to the second dispatching scheme, and the other mining vehicles among the plurality of first mining vehicles, excluding the second mining vehicle, are dispatched according to the first dispatching scheme.

2. The scheduling method according to claim 1, wherein: The emergency includes situations where the second mining vehicle has completed the first dispatch task and there is no next dispatch task; and / or The emergency includes, in the event that the second mining vehicle fails to complete the first scheduling task, at least one of the status information of the plurality of first mining vehicles and the resource information of the plurality of work areas changes.

3. The scheduling method according to claim 2, wherein, The status information of the plurality of first mining vehicles includes the fault status and load status of each of the plurality of first mining vehicles. The resource information of the multiple work areas includes the road network information, capacity information, and availability information for each work area.

4. The scheduling method according to claim 3, wherein, The multiple operating areas include a loading area and an unloading area. The loading area includes multiple loading points, and the resource information of the loading area includes road network information, capacity information, and availability information for each loading point. The unloading area includes multiple unloading points, and the resource information of the unloading area includes road network information, capacity information, and availability information for each unloading point.

5. The scheduling method according to any one of claims 1-4, wherein, The emergency includes situations where the second mining vehicle has completed the first dispatch task and there is no next dispatch task. The step of performing local scheduling planning on the second mining vehicle to determine the second scheduling scheme includes: Assign a second dispatching task to the second mining vehicle; Based on the second scheduling task and the resource information of the multiple job areas, a first candidate job area is determined from the multiple job areas; Based on the current location of the second mining vehicle after the occurrence of the emergency, the status information of the second mining vehicle, and the resource information of the first candidate work area, a first target work area is determined from the first candidate work area, and a first target work path is determined for the second mining vehicle to move from its current location to the first target work area, which serves as the second scheduling scheme.

6. The scheduling method according to any one of claims 5, wherein, The first candidate job region includes multiple candidate regions. The step of determining a first target work area from the first candidate work area and determining a first target work path for the second mining vehicle to move from its current position to the first target work area includes: The objective function is constructed with the optimization objectives of maximizing scheduling efficiency, minimizing transportation costs, and minimizing vehicle queuing time. Based on the resource information of the multiple candidate regions, determine the path connectivity of each path between the current location and the location of each candidate region in the multiple candidate regions; Based on the path capacity and the load status of the second mining vehicle, set constraints and solve the objective function to determine the first target operating area and the first target operating path.

7. The scheduling method according to any one of claims 1-4, wherein, The emergency includes, in the event that the second mining vehicle fails to complete the first scheduling task, at least one of the status information of the plurality of first mining vehicles and the resource information of the plurality of work areas changes. The step of performing local scheduling planning on the second mining vehicle to determine the second scheduling scheme includes: Based on the first scheduling task and the current resource information of the multiple job regions, a second candidate job region is determined from the multiple job regions; Based on the current location of the second mining vehicle after the occurrence of the emergency, the status information of the second mining vehicle, and the current resource information of the second candidate work area, a second target work area is determined from the second candidate work area, and a second target work path is determined for the second mining vehicle to move from its current location to the second target work area, which serves as the second scheduling scheme.

8. The scheduling method according to any one of claims 1-3, wherein, The global scheduling plan is configured to be executed periodically in multiple scheduling cycles.

9. The scheduling method according to claim 8 further includes: Monitor the frequency of occurrence of the aforementioned emergencies within the current scheduling cycle; Based on the monitored frequency of occurrence, the duration of the next scheduling cycle of the current scheduling cycle is adaptively adjusted.

10. A dispatching device for mining vehicles, comprising: The global scheduling planning module is configured to perform global scheduling planning on the multiple first mining vehicles based on the first scheduling task of each of the multiple first mining vehicles, so as to determine the first scheduling scheme; The local scheduling planning module is configured to, during the process of scheduling the plurality of first mining vehicles according to the first scheduling scheme, respond to the occurrence of a sudden event affecting the scheduling of the second mining vehicle among the plurality of first mining vehicles, perform local scheduling planning for the second mining vehicle to determine the second scheduling scheme. The scheduling module is configured to schedule the second mining vehicle according to the second scheduling scheme, and to continue scheduling the other mining vehicles among the plurality of first mining vehicles other than the second mining vehicle according to the first scheduling scheme.

11. A dispatching device for mining vehicles, comprising: Memory; and A processor coupled to the memory, the processor being configured to execute the scheduling method of any one of claims 1-10 based on instructions stored in the memory.

12. A mining vehicle, comprising: The scheduling device according to claim 10 or 11.

13. A computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the scheduling method according to any one of claims 1-10.

14. A computer program product comprising instructions that, when executed by a processor, cause the processor to perform the scheduling method according to any one of claims 1-10.

Images