A route scheduling method and system for multiple circular stacker-reclaimers based on cooperative game

Abstract

The present application relates to bulk storage yard scheduling technical field, disclose a kind of based on the route scheduling method and system of multiple circular stacker-reclaimer of collaborative game, the method in the bulk storage yard of multiple circular stacker-reclaimer collaborative operation, when high priority emergency task appears and is accompanied by multiple operation restrictions, traditional collaborative game scheduling method cannot effectively handle upstream process continuity constraints and material cross-contamination risk, leading to scheduling deadlock, affect emergency demand response speed problem.

Description

Technical Field

[0001] This invention relates to the field of bulk material yard scheduling technology, and more specifically, to a method and system for scheduling multiple circular stacker-reclaimers based on cooperative game theory. Background Technology

[0002] In large bulk material yards, especially those with multiple circular stacker-reclaimers operating collaboratively, traditional centralized control strategies often lead to slow command response and uneven resource allocation. To address these issues, a scheduling method based on cooperative game theory has been introduced. This method endows each stacker-reclaimer with a certain degree of autonomous decision-making ability; they can exchange information and "discuss" with other equipment based on their own tasks and the surrounding environment to jointly find the optimal action route and work sequence. However, even with this advanced system, complex real-world operating conditions still present significant challenges, especially when high-priority urgent tasks occur alongside various operational constraints.

[0003] In a typical operational scenario, when a circular stacker-reclaimer receives a high-priority emergency task instruction, its shortest path may need to pass through the area where other circular stacker-reclaimers are already operating, resulting in path intersections. Under conventional collaborative logic, other circular stacker-reclaimers would pause their operations, yielding the path until the emergency task stacker-reclaimer has passed before resuming work. However, actual on-site conditions make this simple "wait-and-go" model impractical. For example, the stacking operation being performed by other circular stacker-reclaimers might be connected upstream to a continuously conveying unloading system. Once started, this system cannot be easily stopped, otherwise it would cause blockage of the entire conveyor chain and even damage the unloading equipment at the dock, resulting in significant economic losses. Therefore, the stacking operations of other circular stacker-reclaimers must remain continuous and cannot be interrupted for an extended period to allow one stacker-reclaimer to pass.

[0004] Furthermore, the risk of cross-contamination between different materials in areas where paths intersect is a significant concern. For example, other circular stacker-reclaimers may be storing materials with high dust levels, while the material that the emergency stacker-reclaimer is about to retrieve is highly sensitive to impurities. If the bucket wheel mechanism used by the emergency stacker-reclaimer is covered with a large amount of dust while crossing the operating area of ​​other circular stacker-reclaimers, this dust will mix into the sensitive material when the emergency stacker-reclaimer begins retrieving material. This cross-contamination between different materials can directly affect the efficiency of subsequent processes and may even lead to serious accidents.

[0005] At this point, the existing collaborative game-theoretic scheduling method falls into a predicament. This method was designed to resolve path and time conflicts between equipment, with its objective function primarily focused on reducing waiting time and shortening travel distance. While it can handle physical avoidance between equipment, its decision model fails to include two crucial, non-geometric constraints: "upstream process continuity constraints" and "material cross-contamination risk." The system cannot quantify the significant economic losses caused by "pausing other circular stacker-reclaimers," nor can it assess the material contamination risk caused by "circular stacker-reclaimers forcibly passing through in emergency situations." Therefore, whether one circular stacker-reclaimer waits, other circular stacker-reclaimers wait, or they forcibly pass through, under the existing decision framework, one or more unacceptable consequences will occur. The system cannot provide a truly optimal solution, leading to a scheduling deadlock and directly impacting the response speed to emergency requests.

[0006] To address the aforementioned issues, existing technologies urgently need improvement. Summary of the Invention

[0007] This invention provides a method and system for route scheduling of multiple circular stacker-reclaimers based on collaborative game theory. It aims to solve the problem that in bulk material yards where multiple circular stacker-reclaimers operate collaboratively, when high-priority emergency tasks occur and are accompanied by various operational restrictions, existing collaborative game theory scheduling methods cannot effectively handle upstream process continuity constraints and the risk of material cross-contamination, leading to scheduling deadlock and affecting the response speed to emergency needs.

[0008] The technical solution of this application is as follows:

[0009] In a first aspect, this application discloses a route scheduling method for multiple circular stacker-reclaimers based on cooperative game theory, used in bulk material yards where multiple circular stacker-reclaimers operate collaboratively. The method executes route scheduling when any one of the circular stacker-reclaimers receives an emergency task instruction. The method includes:

[0010] Upon receiving an emergency task instruction, the machine plans an initial path from its current location to the target location based on the current position, operating status, and yard environmental constraints of its stacker-reclaimer.

[0011] The initial path is sent to other stacker-reclaimers in the yard, the predetermined path information returned by other stacker-reclaimers is received, and it is determined whether there is path intersection between the stacker-reclaimers;

[0012] If path intersections exist, obtain the interruption tolerance time of the upstream belt conveyor system corresponding to the other stacker-reclaimers that caused the path intersections;

[0013] Generate the three-dimensional spatial occupancy trajectory of the local stacker-reclaimer within a future preset time window, send the three-dimensional spatial occupancy trajectory to other stacker-reclaimers, and receive the three-dimensional spatial occupancy trajectories sent by other stacker-reclaimers;

[0014] Obtain the priority of the scheduling target corresponding to the current scheduling scenario. The priority of the scheduling target is any one of the following: priority of passage time, priority of avoiding upstream interruption, or priority of material purity.

[0015] Based on the priority of the scheduling target, the travel time, estimated interruption time and cross-contamination risk level of multiple candidate paths are calculated respectively. The travel time, estimated interruption time and cross-contamination risk level are weighted and summed to obtain the comprehensive score of each candidate path.

[0016] The candidate path with the best comprehensive score is selected as the scheduling proposal. The scheduling proposal is sent to other stacker-reclaimers for collaborative game negotiation for no more than the preset maximum number of negotiation rounds.

[0017] The final scheduling path is determined based on the feedback from multiple rounds of negotiations, and the stacker-reclaimer is controlled to perform operations according to the final scheduling path.

[0018] This technical solution effectively addresses the problem that existing collaborative game scheduling methods cannot simultaneously consider upstream process continuity constraints and material cross-contamination risks when handling emergency tasks. By introducing interruption tolerance time, three-dimensional spatial occupancy trajectory, and a multi-objective priority weighted scoring mechanism, this method can comprehensively evaluate the advantages and disadvantages of different scheduling schemes. Through collaborative game negotiation, it finds the optimal scheduling path under multiple constraints, thereby avoiding scheduling deadlock and improving the response efficiency of emergency tasks as well as the overall safety and economy of yard operations.

[0019] Furthermore, determine whether there are path intersections between the stacker-reclaimers, including:

[0020] Obtain the scheduled operation paths and corresponding operation sequences of other stacker-reclaimers within the current scheduling time window;

[0021] The initial path and each predetermined operation path are projected onto the same plane coordinate system to complete the spatial position normalization matching.

[0022] If two or more work paths occupy the same coordinate area within the same time period, it is determined that there is a path intersection.

[0023] This technical solution can accurately identify potential conflicts between multiple stacker-reclaimers in time and space, providing an accurate basis for subsequent path optimization and conflict resolution, and avoiding equipment collisions or operation interruptions caused by path intersections.

[0024] Based on the above, this application further proposes that the method for determining the interruption tolerance time includes:

[0025] Obtain the buffer capacity and real-time material input rate of the corresponding upstream belt conveyor system;

[0026] Based on the ratio of buffer capacity to real-time material input rate, the maximum interruptible duration of the upstream belt conveyor system is calculated, and the maximum interruptible duration is determined as the interruption tolerance time.

[0027] This technical solution quantifies the duration of interruptions that the upstream belt conveyor system can withstand, providing key constraint parameters for scheduling decisions. This effectively avoids blockages or shutdowns of the upstream conveyor system caused by stacker-reclaimer path conflicts during the scheduling process, ensuring the continuity and stability of the entire material conveying chain.

[0028] More specifically, in some implementation schemes, the methods for calculating the cross-contamination risk level include:

[0029] Obtain the first dust emission level of the materials currently being handled by other stacker-reclaimers with intersecting paths;

[0030] Obtain the purity sensitivity level of the material to be retrieved by the stacker-reclaimer of this machine;

[0031] Calculate the estimated transit time for this stacker-reclaimer to cross the operating areas of other stacker-reclaimers;

[0032] The risk level of cross-contamination is quantitatively determined based on the first dust emission level, the purity sensitivity level, and the expected passage time; the higher the first dust emission level, the higher the purity sensitivity level, and the longer the expected passage time, the higher the corresponding risk level of cross-contamination.

[0033] This technical solution enables a quantitative assessment of the risk of cross-contamination between different materials, allowing the scheduling system to fully consider material purity requirements when making decisions. This effectively avoids material contamination caused by path intersections, ensuring product quality and the smooth progress of subsequent processes.

[0034] Preferably, the candidate path includes at least one of a planar detour path and a three-dimensional avoidance path;

[0035] The planar bypass path is to bypass in the horizontal plane to avoid the operational conflict area of ​​other stacker-reclaimers;

[0036] The three-dimensional avoidance path involves adjusting the height of the material reclaimer in the vertical direction to cross the operational conflict area of ​​other stacker-reclaimers through the spatial height difference.

[0037] This technical solution provides stacker-reclaimers with diverse avoidance strategies, enabling them to not only detour horizontally but also perform three-dimensional avoidance in the vertical direction. This greatly increases the flexibility and efficiency of path planning and effectively solves the problem of multi-equipment conflicts in complex stockpile environments.

[0038] Based on the above, this application further proposes that the method also includes: adaptive matching of the weight coefficients corresponding to the weighted summation with the priority of the scheduling target;

[0039] When the scheduling objective is to prioritize passage time, the weight coefficient corresponding to passage time is the largest.

[0040] When the scheduling objective is to prioritize avoiding upstream interruptions, the weight coefficient corresponding to the estimated interruption time is the largest.

[0041] When the scheduling objective prioritizes material purity, the weight coefficient corresponding to the cross-contamination risk level is the highest.

[0042] The sum of all weighting coefficients is a fixed constant.

[0043] This technical solution enables the dynamic adjustment of the weights of various evaluation indicators based on actual scheduling needs, allowing the scheduling system to flexibly adapt to different work scenarios and priority requirements. This generates optimized paths that better meet the current scheduling objectives, improving the intelligence and adaptability of scheduling decisions.

[0044] Furthermore, the collaborative game negotiation process, not exceeding the preset maximum number of negotiation rounds, includes:

[0045] The scheduling proposal was sent to other stacker-reclaimers to initiate the first round of negotiations;

[0046] If a rejection feedback is received from another stacker-reclaimer, the conflict time period information carried in the rejection feedback is extracted, the path passage sequence of the scheduling proposal is adjusted according to the conflict time period information, and the adjusted scheduling proposal is generated.

[0047] The revised scheduling proposal was resent to other stacker-reclaimers for further consultation.

[0048] Repeat the adjustment and negotiation steps until the preset maximum number of negotiation rounds is reached or all other stacker-reclaimers agree, at which point the negotiation process is terminated.

[0049] This technical solution enables consensus to be reached among stacker-reclaimers through multiple rounds of collaborative negotiation, effectively resolving path and time conflicts among multiple devices, ensuring the feasibility and efficiency of the final scheduling path, and avoiding the negative impacts that may result from unilateral decision-making.

[0050] Based on the above, this application further proposes that the information on conflict time periods carried in the rejection feedback includes: the start and end times of other stacker-reclaimers occupying conflict path positions during the path passage time period of the scheduling proposal.

[0051] This technical solution can accurately obtain the specific reasons and conflict times of other stacker-reclaimers rejecting scheduling proposals, providing a clear basis for subsequent scheduling proposal adjustments, thereby improving negotiation efficiency and the optimization accuracy of scheduling schemes.

[0052] As a technical improvement, this application also proposes that the method further include a model adaptive iterative optimization step:

[0053] After completing the task corresponding to the final scheduling path, the actual working condition data of this scheduling operation is recorded in real time. The actual working condition data includes the actual travel time, the actual upstream belt interruption time, and the actual cross-contamination situation.

[0054] The actual travel time, the actual upstream conveyor belt interruption time, and the actual cross-contamination situation are compared with the estimated values ​​corresponding to the scheduling proposals, and the deviation values ​​of each indicator are calculated.

[0055] Based on the magnitude and direction of the deviation of each indicator, the weight coefficients corresponding to the weighted summation operation are adaptively corrected to compensate for the prediction error of the model.

[0056] The corrected weighting coefficients are stored in a fixed manner, the scheduling evaluation model parameters are updated, and the updated scheduling evaluation model is applied to the subsequent path scheduling of stacker-reclaimers to continuously optimize scheduling accuracy and adaptability to yard conditions.

[0057] This technical solution enables continuous adaptive optimization of the scheduling evaluation model based on feedback from actual operating data, thereby continuously improving the accuracy of scheduling predictions and adaptability to complex operating conditions in the yard. As a result, the scheduling system can be continuously improved over time and with changes in operating conditions, achieving more efficient and intelligent scheduling management.

[0058] Secondly, this application also discloses a route scheduling system for multiple circular stacker-reclaimers based on cooperative game theory, used to execute the aforementioned route scheduling method for multiple circular stacker-reclaimers based on cooperative game theory, applied to bulk material storage yards where multiple circular stacker-reclaimers operate collaboratively, the system comprising:

[0059] The task receiving and path planning module is used to receive emergency task instructions and plan the initial path from the current position to the target position based on the current position, operating status and yard environment constraints of the stacker-reclaimer.

[0060] The path conflict detection module, connected to the task receiving and path planning module, is used to send the initial path to other stacker-reclaimers, receive the predetermined path information from other stacker-reclaimers, and determine whether there is a path intersection.

[0061] The interrupt parameter acquisition module is connected to the path conflict detection module and is used to acquire the interruption tolerance time of the upstream belt conveyor system corresponding to other stacker-reclaimers when there is a path intersection.

[0062] The 3D trajectory interaction module, connected to the interrupt parameter acquisition module, is used to generate the 3D spatial occupancy trajectory of the local stacker-reclaimer within the future time window, and to complete the bidirectional transmission and synchronization of 3D trajectories of multiple devices.

[0063] The priority acquisition module, connected to the three-dimensional trajectory interaction module, is used to acquire the priority of the scheduling target corresponding to the current scheduling scenario, such as priority of passage time, priority of avoiding upstream interruption, or priority of material purity.

[0064] The multi-objective scoring and proposal generation module, connected to the priority acquisition module, is used to calculate the travel time, estimated interruption time, and cross-contamination risk level of each candidate path based on the priority of the scheduling objectives. A comprehensive score is obtained by weighted summation, and the optimal candidate path is selected to generate a scheduling proposal.

[0065] The collaborative game negotiation module, connected to the multi-objective scoring and proposal generation module, is used to push scheduling proposals to other stacker-reclaimers, perform collaborative negotiation for a preset maximum number of rounds, determine the final scheduling path based on the negotiation results, and control the local stacker-reclaimer to perform operations according to the final scheduling path.

[0066] This application provides a system that can effectively execute the above-mentioned scheduling method through this technical solution. Through modular design, it realizes functions such as task reception, path planning, conflict detection, interruption parameter acquisition, three-dimensional trajectory interaction, priority acquisition, multi-objective scoring and proposal generation, and collaborative game negotiation. It provides reliable hardware and software support for the collaborative operation of multiple circular stacker-reclaimers under complex working conditions, ensuring the smooth implementation and efficient operation of the scheduling method.

[0067] Beneficial effects

[0068] This application provides a method and system for route scheduling of multiple circular stacker-reclaimers based on collaborative game theory. It aims to solve the problem that in the existing technology, when high-priority emergency tasks occur in bulk material yards where multiple circular stacker-reclaimers are operating collaboratively and are accompanied by various operational restrictions, traditional collaborative game theory scheduling methods cannot effectively handle upstream process continuity constraints and material cross-contamination risks, leading to scheduling deadlock and affecting the response speed to emergency needs. Attached Figure Description

[0069] Figure 1 This is a flowchart illustrating a route scheduling method for multiple circular stacker-reclaimers based on collaborative game theory, provided in an embodiment of the present invention.

[0070] Figure 2 This is a flowchart of a method for determining whether there is path intersection between stacker-reclaimers according to an embodiment of the present invention;

[0071] Figure 3 This is a schematic diagram of a route scheduling system for multiple circular stacker-reclaimers based on collaborative game theory, provided in an embodiment of the present invention. Detailed Implementation

[0072] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0073] Reference Figure 1 , Figure 1 This is a flowchart illustrating a route scheduling method for multiple circular stacker-reclaimers based on collaborative game theory, provided by an embodiment of the present invention, for use in bulk material storage yards where multiple circular stacker-reclaimers operate collaboratively.

[0074] When any circular stacker-reclaimer receives an emergency task instruction, route scheduling is performed, the method including:

[0075] S11, Receive emergency task instruction, and plan an initial path from the current position to the target position based on the current position, operating status and yard environment constraints of the stacker-reclaimer;

[0076] S12, send the initial path to other stacker-reclaimers in the stockyard, receive the predetermined path information returned by the other stacker-reclaimers, and determine whether there is path intersection between the stacker-reclaimers;

[0077] S13, if the path intersection exists, then obtain the interruption tolerance time of the upstream belt conveyor system corresponding to the other stacker-reclaimer that caused the path intersection.

[0078] S14, generate the three-dimensional spatial occupancy trajectory of the local stacker-reclaimer within a future preset time window, send the three-dimensional spatial occupancy trajectory to the other stacker-reclaimers, and receive the three-dimensional spatial occupancy trajectory sent by the other stacker-reclaimers;

[0079] S15, obtain the scheduling target priority corresponding to the current scheduling scenario, wherein the scheduling target priority is any one of passing time priority, avoiding upstream interruption priority, or material purity priority;

[0080] S16. Based on the priority of the scheduling target, calculate the travel time, estimated interruption time and cross-contamination risk level of multiple candidate paths respectively, and perform a weighted summation of the travel time, the estimated interruption time and the cross-contamination risk level to obtain the comprehensive score of each candidate path.

[0081] S17, Select the candidate path with the best comprehensive score as the scheduling proposal, and send the scheduling proposal to the other stacker-reclaimers for collaborative game negotiation not exceeding the preset maximum number of negotiation rounds;

[0082] S18, determine the final scheduling path based on the feedback results of multiple rounds of negotiation, and control the local stacker-reclaimer to perform the operation according to the final scheduling path.

[0083] This application, by introducing a collaborative game mechanism and comprehensively considering travel time, upstream interruption risk, and material cross-contamination risk, can effectively solve the scheduling deadlock problem in existing technologies and significantly improve the response speed of emergency tasks and the overall benefits of scheduling decisions.

[0084] To better understand the scheduling method proposed in this application, some key terms and implementation environments are first explained. This method is applied to bulk material yards where multiple circular stacker-reclaimers operate collaboratively. A circular stacker-reclaimer is a large bulk material handling device whose operating range is typically a circular area, capable of stacking and reclaiming materials. Yard environmental constraints refer to limitations such as physical obstacles, work area divisions, and safety distance requirements within the yard. Emergency task instructions refer to high-priority tasks requiring immediate response, such as emergency material supply or emergency inventory clearance.

[0085] The initial path refers to the preliminary route planned by the stacker-reclaimer from its current position to the target position after receiving an emergency task, based on its own status and environmental constraints. Predetermined path information refers to the operating paths and timing arrangements of other stacker-reclaimers within the current or future preset time window. Path intersection refers to the overlap in space and time between the operating paths of multiple stacker-reclaimers, which may lead to conflicts. The upstream belt conveyor system refers to the continuous conveying equipment that transports materials to the stacker-reclaimer; its operation interruption may have serious consequences. Interruption tolerance time refers to the maximum interruption duration that the upstream belt conveyor system can withstand without causing serious impact. Three-dimensional spatial occupancy trajectory refers to the movement path and occupied area of ​​the stacker-reclaimer and its operating mechanisms in three-dimensional space over a future period. Scheduling target priority is the focus guiding scheduling decisions, which may include shortest travel time, avoiding upstream interruptions, or highest material purity. Candidate paths are multiple alternative travel schemes generated to resolve path conflicts. Collaborative game negotiation refers to the process by which multiple stacker-reclaimers reach an optimal scheduling scheme through information exchange and multiple rounds of negotiation.

[0086] The scheduling method of this application first involves receiving an emergency task instruction and planning an initial path from the current location to the target location based on the current position, operating status, and yard environmental constraints of the stacker-reclaimer. For example, the stacker-reclaimer can receive an emergency task instruction from a central dispatch system or a human operator through its onboard controller. After receiving the instruction, the stacker-reclaimer can utilize its internal path planning module, combined with its precise location information obtained through GPS or inertial navigation, the current operation type (such as stacking, reclaiming, or no-load), and environmental constraints such as preset restricted areas and safety distances within the yard, to generate the shortest or fastest path from the current location to the target location as the initial path. This path planning can employ algorithms such as A*, Dijkstra's algorithm, or RRT (Fast Random Tree) to ensure the effectiveness and safety of the path.

[0087] Subsequently, the initial path is sent to other stacker-reclaimers within the yard, and the system receives the predetermined path information returned by these other stacker-reclaimers to determine if there are any path intersections between them. For example, the local stacker-reclaimer can send its planned initial path data packet to all other stacker-reclaimers in the yard via a wireless communication network (such as Wi-Fi or 5G). Simultaneously, the local stacker-reclaimer will also receive the predetermined work path information sent back by other stacker-reclaimers in the same manner. This information typically includes the spatial coordinate sequence of the path and the corresponding timestamp. Path intersections can be determined by projecting all paths onto a two-dimensional plane coordinate system and checking for overlapping coordinate regions within the same time period.

[0088] If the path intersection exists, the interruption tolerance time of the upstream belt conveyor system corresponding to the other stacker-reclaimer that caused the path intersection is obtained. For example, when it is detected that the initial path of the current stacker-reclaimer intersects with the predetermined path of another stacker-reclaimer (e.g., stacker-reclaimer A), the scheduling system queries the control system of stacker-reclaimer A for relevant parameters of its upstream belt conveyor system. The control system of stacker-reclaimer A can calculate the maximum interruption duration that the system can withstand without causing overflow or blockage based on the buffer capacity and real-time material input rate of the upstream belt conveyor system it is connected to, and return this duration as the interruption tolerance time to the current stacker-reclaimer.

[0089] Next, the local stacker-reclaimer generates a three-dimensional spatial occupancy trajectory within a preset future time window and sends this trajectory to the other stacker-reclaimers, while simultaneously receiving their trajectories. For example, the local stacker-reclaimer can construct a time-varying envelope in three-dimensional space based on its initial path, the size and range of its operating mechanism (such as bucket wheels), and its projected travel speed, representing all possible spatial locations it may occupy in the future. This three-dimensional spatial occupancy trajectory data packet is sent to other stacker-reclaimers via a wireless network. Simultaneously, the local stacker-reclaimer also receives and stores similar three-dimensional spatial occupancy trajectory information from other stacker-reclaimers for more refined spatial conflict detection and avoidance planning.

[0090] Subsequently, the scheduling target priority corresponding to the current scheduling scenario is obtained. This priority can be any one of the following: priority of travel time, priority of avoiding upstream interruptions, or priority of material purity. For example, the scheduling target priority can be dynamically set by the central scheduling system based on the current production plan, material characteristics, or the nature of the urgent task. If the current task has extremely high time requirements, travel time priority is set; if the stacker-reclaimer involved has a critical continuous conveyor system connected upstream, avoiding upstream interruptions priority is set; if the processed material has extremely high purity requirements, material purity priority is set. This priority information is transmitted to all stacker-reclaimers participating in the negotiation.

[0091] Based on the scheduling target priority, the system calculates the travel time, estimated interruption time, and cross-contamination risk level for multiple candidate paths. The travel time, estimated interruption time, and cross-contamination risk level are then weighted and summed to obtain a comprehensive score for each candidate path. For example, to address potential path conflicts, the system generates multiple candidate paths, such as planar detour paths or three-dimensional avoidance paths. For each candidate path, the system calculates its estimated travel time. Simultaneously, based on whether the path conflicts with other stacker-reclaimers currently performing material handling operations and the interruption tolerance time of those stacker-reclaimers, the system estimates the potential upstream interruption time. Furthermore, if a candidate path traverses the operating area of ​​other stacker-reclaimers, the system quantifies and calculates the cross-contamination risk level based on the dust emission level of the materials involved, the purity sensitivity level of the materials to be retrieved, and the estimated transit time. Finally, based on the currently set scheduling target priority, different weighting coefficients are assigned to the travel time, estimated interruption time, and cross-contamination risk level, and a weighted sum is obtained to obtain a comprehensive score for each candidate path.

[0092] The candidate path with the best overall score is selected as the scheduling proposal and sent to the other stacker-reclaimers for collaborative game negotiation for no more than a preset maximum number of negotiation rounds. For example, after calculating the overall score of all candidate paths, the system selects the path with the highest overall score as the initial scheduling proposal. This proposal is sent to all other stacker-reclaimers involved in path conflicts via a wireless network. After receiving the proposal, these stacker-reclaimers evaluate it based on their own work plans and constraints. If a conflict exists or they are dissatisfied, they return a rejection feedback, possibly along with conflict information. After receiving the feedback, the local stacker-reclaimer adjusts the proposal based on the feedback information, such as modifying the path timing, and then resends it for negotiation. This process is repeated until all stacker-reclaimers agree to the proposal, or the preset maximum number of negotiation rounds is reached.

[0093] Finally, based on the feedback from multiple rounds of negotiation, the final scheduling path is determined, and the local stacker-reclaimer is controlled to execute the operation according to the final scheduling path. For example, if after multiple rounds of negotiation, all participating stacker-reclaimers agree to a certain scheduling proposal, then that proposal is determined as the final scheduling path. The local stacker-reclaimer's control system receives this final scheduling path and, based on the timestamps and spatial coordinates on the path, precisely controls the stacker-reclaimer's traveling and operating mechanisms, enabling it to execute emergency tasks according to the planned route and sequence.

[0094] The route scheduling method for multiple circular stacker-reclaimers based on collaborative game theory proposed in this application effectively solves many challenges faced by traditional scheduling methods when handling emergency tasks by introducing multi-objective comprehensive evaluation and collaborative game negotiation mechanism.

[0095] Furthermore, the collaborative game-theoretic negotiation mechanism employed in this application enables each stacker-reclaimer to autonomously evaluate scheduling proposals and conduct multiple rounds of feedback and adjustments, ultimately reaching an optimal scheduling scheme acceptable to all parties. This distributed decision-making approach, compared to traditional centralized control, significantly improves the system's robustness and adaptability, avoiding scheduling failures due to single equipment malfunctions or incomplete information. Through the combination of these technical means, the method in this application effectively avoids serious consequences such as upstream process interruptions and material contamination caused by improper scheduling, ensuring the efficient, safe, and high-quality completion of emergency tasks, and significantly improving the overall operational efficiency and economic benefits of bulk material storage yards.

[0096] For details, please refer to Figure 2 , Figure 2 This is a flowchart of a method for determining whether there is path intersection between stacker-reclaimers according to an embodiment of the present invention, including the following:

[0097] S121, Obtain the predetermined operation path and corresponding operation sequence of the other stacker-reclaimers within the current scheduling time window;

[0098] S122, Project the initial path and each of the predetermined operation paths onto the same plane coordinate system to complete the spatial position normalization matching;

[0099] S123, if two or more operation paths occupy the same coordinate area within the same time period, it is determined that the paths intersect.

[0100] First, the planned operation paths and corresponding operation sequences of the other stacker-reclaimers within the current scheduling time window are obtained. The planned operation path refers to the operation route planned by each stacker-reclaimer after receiving an emergency task instruction, without considering its own initial path. The operation sequence refers to the location information of each stacker-reclaimer at different points in time while executing its planned operation path; this is crucial for subsequent assessment of spatiotemporal conflicts. The current scheduling time window is a preset time range used to evaluate and plan path conflicts, ensuring effective conflict detection within a limited time.

[0101] Secondly, the initial path and each of the predetermined operation paths are projected onto the same plane coordinate system to complete spatial position normalization matching. Specifically, since stacker-reclaimers may operate in three-dimensional space, to simplify path conflict judgment, all relevant operation paths, including the initial path of the stacker-reclaimer itself and the predetermined operation paths of other stacker-reclaimers, need to be mapped onto a unified two-dimensional plane. For example, the yard ground can be used as a reference plane, and the horizontal projections of all paths can be compared. The purpose of spatial position normalization matching is to eliminate the inconsistency in coordinate systems that may be caused by different stacker-reclaimers or different path description methods, ensuring that all paths are compared under the same spatial reference, thereby improving the accuracy of conflict detection.

[0102] Finally, if two or more operation paths occupy the same coordinate area within the same time period, it is determined that the path intersection exists. Here, "same time period" refers to a continuous time interval within the scheduling time window where the operation sequence of two or more stacker-reclaimers indicates that they will simultaneously pass through or remain in the same spatial area. "Same coordinate area" refers to the area in the unified projected planar coordinate system where the paths of two or more stacker-reclaimers spatially overlap. By simultaneously considering both spatial location and time dimensions, potential spatiotemporal conflicts can be accurately identified, avoiding misjudgments based solely on spatial overlap. For example, even if two paths spatially overlap, if they pass through at different times, they do not constitute an actual path intersection.

[0103] This application's solution provides necessary time and space information for path conflict detection by acquiring the predetermined operating paths and sequences of other stacker-reclaimers. Through this technical solution, this application can accurately determine path intersections between multiple circular stacker-reclaimers. Compared to traditional methods that only consider spatial location, this solution introduces the concepts of operating sequence and scheduling time windows, and combines a unified planar coordinate system projection and spatial location normalization matching, making path conflict detection more comprehensive and accurate. This effectively avoids misjudgments caused by stacker-reclaimers operating in the same spatial area but at different time periods, thereby improving the reliability of path scheduling decisions, providing a solid foundation for subsequent collaborative negotiation, and ultimately contributing to improved safety and efficiency of yard operations.

[0104] Specifically, the methods for determining the interruption tolerance time in the above approach include:

[0105] Obtain the buffer capacity and real-time material input rate of the corresponding upstream belt conveyor system;

[0106] Based on the ratio of the buffer capacity to the real-time material input rate, the maximum interruptible duration of the upstream belt conveyor system is calculated, and the maximum interruptible duration is determined as the interruption tolerance time.

[0107] The interruption tolerance time refers to the maximum interruption duration that the upstream belt conveyor system can withstand without causing material overflow or production stoppage. Specifically, the buffer capacity refers to the total amount of material that the buffer bins (such as silos or hoppers) connected to the upstream belt conveyor system can store, reflecting the system's buffering capacity against fluctuations in material supply. The real-time material input rate refers to the speed at which the upstream belt conveyor system delivers material to the buffer bin at the current moment, reflecting the instantaneous flow rate of material supply. By obtaining these two key parameters, the delay limit that the upstream system can tolerate when facing path conflicts can be accurately quantified.

[0108] The proposed solution determines the interruption tolerance time by obtaining the buffer capacity of the upstream belt conveyor system and the real-time material input rate, and calculating their ratio. The principle behind this process is that the buffer provides a certain buffer space for upstream material transport. Through this technical solution, the interruption tolerance time of the upstream belt conveyor system can be accurately quantified.

[0109] The calculation method for the cross-contamination risk level in the above method includes the following steps:

[0110] Obtain the first dust emission level of the materials currently being handled by other stacker-reclaimers with intersecting paths;

[0111] Obtain the purity sensitivity level of the material to be retrieved by the stacker-reclaimer of this machine;

[0112] Calculate the estimated transit time for this stacker-reclaimer to cross the operating areas of other stacker-reclaimers;

[0113] The risk level of cross-contamination is quantitatively determined based on the first dust emission level, the purity sensitivity level, and the expected passage time; the higher the first dust emission level, the higher the purity sensitivity level, and the longer the expected passage time, the higher the corresponding risk level of cross-contamination.

[0114] Specifically, in cases of intersecting paths, it is first necessary to obtain the primary dust emission level of the materials currently being handled by other stacker-reclaimers with intersecting paths. This primary dust emission level can be assessed based on the material type, moisture content, particle size distribution, and the stacker-reclaimer's operating method (e.g., stack height, reclaiming speed, etc.) or obtained through actual measurement. For example, some fine particulate materials generate higher dust levels during operation, and their primary dust emission level will be set to a higher value.

[0115] Furthermore, it is necessary to obtain the purity sensitivity level of the material to be retrieved by the stacker-reclaimer. This purity sensitivity level reflects the susceptibility of the material processed by the stacker-reclaimer to external impurities or the mixing of different types of materials. For example, high-purity materials used for special purposes will have a higher purity sensitivity level, while ordinary materials with less stringent purity requirements will have a lower sensitivity level.

[0116] Based on this, the estimated transit time for the local stacker-reclaimer to traverse the operating areas of other stacker-reclaimers is calculated. This estimated transit time can be calculated using the planned path length and the estimated travel speed of the local stacker-reclaimer, or obtained through simulation. This time period represents the duration for which the local stacker-reclaimer is exposed to potentially cross-contamination environments.

[0117] Finally, the cross-contamination risk level is quantified based on the obtained primary dust emission level, purity sensitivity level, and estimated transit time. The quantification process can employ a pre-defined risk assessment model or formula; for example, a numerical risk level can be obtained by weighting these three parameters or by looking up a table. Specifically, a higher primary dust emission level means a greater amount of dust generated by other stacker-reclaimers; a higher purity sensitivity level means lower tolerance for contamination to the materials on this machine; and a longer estimated transit time means a longer exposure time to the contaminated environment for the materials on this machine. Therefore, a higher value for any of these three factors will result in a higher corresponding cross-contamination risk level.

[0118] This application's solution comprehensively and quantitatively assesses potential cross-contamination risks by considering the dust emission characteristics of materials handled by other stacker-reclaimers, the purity requirements of materials to be retrieved by the machine, and the interaction time between the two machines in the conflict zone. Through the above technical solution, this application provides a scientific and quantitative method for assessing cross-contamination risks. This enables the scheduling system to not only consider travel time and interruption risks in scenarios where multiple circular stacker-reclaimers operate collaboratively, but also to fully assess and avoid the risk of material cross-contamination. Especially when the scheduling target priority is set to material purity, this method ensures that the selected scheduling path minimizes the possibility of material contamination, thereby effectively guaranteeing material quality and improving the overall management level and economic efficiency of the stockpile operation.

[0119] In some embodiments described above in this application, a method for route scheduling of multiple circular stacker-reclaimers is proposed, which involves evaluating multiple candidate paths to determine the optimal scheduling scheme. However, in actual stockyard operation environments, there may be complex path intersections between multiple stacker-reclaimers. If the method for generating candidate paths fails to fully consider effective conflict avoidance strategies, the scheduling scheme may be inefficient in resolving conflicts or unable to effectively balance multiple scheduling objectives such as travel time, upstream interruption risk, and material purity.

[0120] In this regard, this application further proposes a method for constructing the aforementioned candidate paths, specifically:

[0121] The candidate path includes at least one of a planar detour path and a three-dimensional avoidance path;

[0122] The planar bypass path is to bypass in the horizontal plane to avoid the operational conflict areas of the other stacker-reclaimers;

[0123] The three-dimensional avoidance path involves adjusting the height of the material reclaimer in the vertical direction to cross the operational conflict area of ​​other stacker-reclaimers through the spatial height difference.

[0124] Specifically, the aforementioned candidate paths refer to alternative travel plans generated by the system for the local stacker-reclaimer during route scheduling, used to resolve potential conflicts with other stacker-reclaimers or optimize operational efficiency. These paths aim to provide diverse options, enabling flexible selection of the optimal conflict avoidance strategy based on different scheduling objective priorities during collaborative game negotiation. Among these, the planar detour path refers to the local stacker-reclaimer adjusting its travel route on a horizontal plane, bypassing or avoiding work areas where conflicts with other stacker-reclaimers may occur by changing its position in a two-dimensional plane. This method is suitable when there is detourable space in the horizontal direction for the conflict area, avoiding direct conflict by increasing the path length, with the aim of achieving spatial separation without changing the vertical height.

[0125] Furthermore, three-dimensional obstacle avoidance refers to the ability of a stacker-reclaimer to vertically traverse the operating areas of other stacker-reclaimers by adjusting the height of its reclaiming head. For example, when a stacker-reclaimer needs to pass through an area already occupied by another stacker-reclaimer, it can raise or lower its reclaiming head, utilizing the height difference to pass from above or below, thus avoiding collisions on the same horizontal plane. This method is particularly suitable for situations where horizontal space is limited but vertical obstacle avoidance margins exist, aiming to effectively avoid conflicts through the utilization of three-dimensional space.

[0126] This application's solution introduces two specific conflict avoidance strategies: planar bypass paths and three-dimensional obstacle avoidance paths. These strategies enable more effective resolution of path intersection problems when multiple stacker-reclaimers are operating collaboratively. Through the aforementioned technical solution, this application significantly improves the flexibility of path scheduling and conflict resolution capabilities for multiple circular stacker-reclaimers in complex stockyard environments.

[0127] Specifically, the introduction of planar detour paths and three-dimensional avoidance paths provides the scheduling system with diverse and feasible conflict avoidance options when facing path intersections. This not only helps reduce operation interruptions and waiting times caused by path conflicts, improving overall operational efficiency, but also effectively reduces the risk of material cross-contamination through precise spatial avoidance, especially when handling materials with high purity requirements. Furthermore, these specific avoidance strategies provide a richer path selection space for subsequent collaborative game theory negotiations, enabling the final determined scheduling path to better balance multiple scheduling objectives such as travel time, avoiding upstream interruptions, and material purity, thereby achieving smarter, more efficient, and safer stacking and reclaiming operations.

[0128] In the basic method, the comprehensive score of candidate paths is obtained by weighting and summing travel time, estimated interruption time, and cross-contamination risk level. However, if these weighting coefficients are fixed, they may not be able to adequately adapt to the varying emphasis on specific scheduling objectives in different scheduling scenarios. For example, in some emergency situations, travel time may be more critical; while in other scenarios, avoiding upstream interruptions or ensuring material purity may have higher priority. A fixed-weighting-coefficient approach cannot flexibly reflect these dynamically changing scheduling objectives, potentially leading to scheduling results that do not optimally meet actual operating conditions.

[0129] In response, this application further proposes an optimization scheme, which adaptively matches the weight coefficients corresponding to the weighted sum with the priority of the scheduling target, thereby ensuring that the scheduling evaluation model can dynamically adjust the importance of each evaluation index according to the current highest priority scheduling target, so as to generate a scheduling path that is more in line with actual needs.

[0130] The above methods also include:

[0131] The weighting coefficients corresponding to the weighted summation are adaptively matched with the priority of the scheduling target;

[0132] When the scheduling objective is to prioritize passage time, the weight coefficient corresponding to passage time is the largest.

[0133] When the scheduling objective is to prioritize avoiding upstream interruptions, the weight coefficient corresponding to the estimated interruption time is the largest.

[0134] When the scheduling objective prioritizes material purity, the weight coefficient corresponding to the cross-contamination risk level is the highest.

[0135] The sum of all weighting coefficients is a fixed constant.

[0136] Specifically, the adaptive matching of weighted summation coefficients with scheduling target priorities means that, when performing multi-target scoring, the weighting coefficients of the three indicators used to calculate the comprehensive score—travel time, estimated interruption time, and cross-contamination risk level—are dynamically adjusted based on the scheduling target priorities set in the current scheduling scenario. The aim is to enable the scheduling evaluation model to respond more flexibly and intelligently to different scheduling needs, ensuring that when a specific scheduling target is prioritized, its influence in the comprehensive score is significantly enhanced.

[0137] When the scheduling objective is set to prioritize travel time, it means that in the current scheduling scenario, completing the task quickly and reducing the movement time of the stacker-reclaimer are the primary objectives. In this case, the weight coefficient corresponding to travel time will be set to the maximum value to ensure that the travel time indicator has the greatest influence on the final path selection in the overall score.

[0138] Furthermore, when the scheduling objective is set to prioritize avoiding upstream interruptions, it indicates that the current scheduling needs to focus on preventing upstream belt conveyor system shutdowns or efficiency reductions due to stacker-reclaimer path conflicts. In this case, the weight coefficient corresponding to the estimated interruption time will be set to the maximum value, thereby prioritizing the avoidance of path schemes that may cause upstream system interruptions during path selection.

[0139] Furthermore, when the scheduling objective is set to prioritize material purity, it means that maintaining material purity and avoiding cross-contamination between different materials is the highest priority in the current operation. In this case, the weight coefficient corresponding to the cross-contamination risk level will be set to the maximum value to prompt the scheduling system to select the path that minimizes the risk of cross-contamination.

[0140] In practical applications, the sum of all weighting coefficients is set to a fixed constant, such as 1. This setting ensures that when one weighting coefficient is adjusted, the other weighting coefficients will also be adjusted accordingly, thus maintaining the total weight and ensuring the consistency and comparability of the comprehensive score calculation logic. For example, when the weighting coefficient for travel time increases, the weighting coefficients for estimated interruption time and cross-contamination risk level will decrease accordingly to keep the total constant.

[0141] This application's solution effectively addresses the problem of scheduling results not matching actual needs that may arise from fixed weight coefficients in the basic solution by introducing an adaptive matching mechanism between weight coefficients and scheduling target priorities. Through this technical solution, this application significantly improves the flexibility and intelligence of route scheduling for multiple circular stacker-reclaimers. Compared to solutions using fixed weight coefficients, this application's adaptive weight matching mechanism allows the scheduling system to dynamically adjust the focus of the scheduling strategy based on actual working conditions and management needs. This not only ensures that the system generates the optimal scheduling path under different scheduling objectives (such as pursuing efficiency, ensuring production continuity, or maintaining material quality), but also effectively avoids suboptimal scheduling results caused by improper weight settings. Therefore, the operating efficiency of the stacker-reclaimers, the overall operational stability of the stockpile, and the purity of the materials are all effectively guaranteed, thereby improving the overall operational efficiency and management level of the bulk material stockpile.

[0142] As a specific implementation method, if the current scheduling scenario is set to "prioritize avoiding upstream interruptions," for example, when the upstream belt conveyor system's buffer capacity is low and it is highly susceptible to interruption due to stacker-reclaimer path conflicts, the system will set the weight coefficient corresponding to the estimated interruption time to the maximum value (e.g., 0.7), while the weight coefficients for passage time and cross-contamination risk level will be reduced accordingly. In this way, in the comprehensive scoring, the path scheme that can effectively avoid upstream interruptions will receive higher priority, thereby reducing the risk of production interruption.

[0143] For example, when the scheduling objective is set to "material purity priority," such as when handling high-value materials or materials with extremely high purity requirements, the system will set the weight coefficient corresponding to the cross-contamination risk level to the maximum value (e.g., 0.7), while the weight coefficients for travel time and estimated interruption time will be reduced accordingly. In this way, the scheduling system will prioritize paths that can minimize the risk of material cross-contamination, thereby ensuring material quality.

[0144] Through the aforementioned adaptive matching mechanism, the scheduling system can flexibly adjust the evaluation focus according to actual needs, ensuring that the generated scheduling path can optimally meet the most critical scheduling objectives at present.

[0145] In some of the embodiments described above in this application, a collaborative game negotiation is proposed to determine the final scheduling path. However, in its implementation, if the initial scheduling proposal conflicts with the scheduled operations of other stacker-reclaimers in the yard and no clear conflict resolution mechanism is provided, the negotiation process may become deadlocked or inefficient, and a consensus scheduling scheme cannot be reached quickly and effectively.

[0146] In response, this application further proposes a collaborative game negotiation process that does not exceed a preset maximum number of negotiation rounds, which includes:

[0147] The scheduling proposal was sent to other stacker-reclaimers to initiate the first round of negotiations;

[0148] If a rejection feedback is received from another stacker-reclaimer, the conflict time period information carried in the rejection feedback is extracted, the path passage sequence of the scheduling proposal is adjusted according to the conflict time period information, and the adjusted scheduling proposal is generated.

[0149] The revised scheduling proposal was resent to other stacker-reclaimers for further consultation.

[0150] Repeat the adjustment and negotiation steps until the preset maximum number of negotiation rounds is reached or all other stacker-reclaimers agree, at which point the negotiation process is terminated.

[0151] Specifically, the aforementioned scheduling proposal refers to the candidate path with the best overall score selected by the local stacker-reclaimer based on the scheduling target priority and after calculating the comprehensive score of each candidate path. During the first round of negotiation, this scheduling proposal is sent to all other relevant stacker-reclaimers within the yard to solicit their agreement or rejection of the proposal.

[0152] In this context, rejection feedback refers to a negative response sent by other stacker-reclaimers to their own stacker-reclaimer when they receive a scheduling proposal and find that the proposal conflicts with their own pre-defined work path or plan. This rejection feedback carries conflict time period information, specifically the start and end times of when other stacker-reclaimers occupy the conflicting path position within the time period specified in the scheduling proposal.

[0153] In practical applications, adjusting the path passage time of the scheduling proposal based on conflict time period information can be understood as the local stacker-reclaimer replanning its original path passage time based on the conflict time periods reported by other stacker-reclaimers. This can be done by delaying, advancing, or fine-tuning the path passage speed to avoid spatial conflicts with other stacker-reclaimers within a specific time period, thereby generating a modified and more feasible adjusted scheduling proposal.

[0154] Furthermore, the repeated adjustment and negotiation steps refer to the process where, after receiving rejection feedback and adjusting the proposal, the local stacker-reclaimer will resend the new adjusted scheduling proposal to other stacker-reclaimers for a new round of negotiation. This process will continue until the preset maximum number of negotiation rounds is met, or all relevant other stacker-reclaimers agree to the current scheduling proposal. At this point, the negotiation process will be terminated, and the scheduling path will be determined based on the final negotiation result.

[0155] This application's solution effectively resolves potential conflicts during path scheduling of multiple stacker-reclaimers by introducing an iterative collaborative game negotiation mechanism. Through this technical solution, the application significantly improves the path scheduling efficiency and success rate when multiple circular stacker-reclaimers are operating collaboratively. This iterative negotiation mechanism enables the system to flexibly handle complex dynamic conflicts, avoiding scheduling failures or prolonged waiting times caused by initial proposal conflicts. By using precise conflict time period information to guide path timing adjustments, unnecessary path replanning is reduced, saving computational resources, and ensuring the rationality and feasibility of the final scheduling path, thereby improving the overall operational smoothness and resource utilization of the stockpile.

[0156] In some of the embodiments described above in this application, a cooperative game negotiation process is proposed, which resolves path conflicts between stacker-reclaimers through multiple rounds of negotiation. However, when receiving rejection feedback from other stacker-reclaimers, if the feedback information is not specific enough, it may lead to blind or inefficient path adjustments, thereby prolonging the negotiation time and affecting scheduling efficiency.

[0157] In response, this application further proposes that the conflict time period information carried in the rejection feedback includes: the start and end times of the other stacker-reclaimer occupying the conflict path position during the path passage time period of the scheduling proposal.

[0158] Specifically, the conflict time period information carried in the aforementioned rejection feedback refers to the fact that when the local stacker-reclaimer sends a scheduling proposal to other stacker-reclaimers, if the other stacker-reclaimers reject the proposal due to path conflicts, their feedback will clearly indicate the specific time period and spatial location causing the conflict. The "start and end times of occupying the conflicting path location" can be understood as follows: within the time period covered by the path involved in the scheduling proposal, the operation or movement of other stacker-reclaimers will overlap with the proposed path of the local stacker-reclaimer at a specific spatial location, and the start and end times of this overlap are precisely marked. For example, other stacker-reclaimers might report, "At the X and Y coordinates of the proposed path, from time T1 to time T2, my machine will occupy this area." The purpose is to provide the local stacker-reclaimer with precise conflict location information for targeted path adjustments.

[0159] This application's solution, by explicitly specifying the conflict time period information in the rejection feedback, enables the local stacker-reclaimer to accurately understand the time period and spatial location of other stacker-reclaimers that conflict with its own scheduling proposal. Through this technical solution, because the rejection feedback contains precise conflict time period and location information, the local stacker-reclaimer can quickly locate the conflict point and make accurate path or timing adjustments upon receiving the rejection feedback. This avoids blind trial and error and unnecessary global path replanning, thereby effectively reducing the number of negotiation rounds, accelerating conflict resolution, and improving the overall scheduling efficiency of multiple circular stacker-reclaimers working collaboratively. Simultaneously, it also reduces the risk of misjudgment due to unclear information, ensuring the rationality and feasibility of the scheduling scheme.

[0160] In some embodiments described above, a path scheduling scheme based on a comprehensive score calculated from predicted values ​​and negotiated through collaborative game theory is proposed. However, in practical applications, due to the complexity and dynamism of yard conditions, the initially set scheduling evaluation model may have prediction errors, leading to a deviation between the scheduling proposal and the actual operational results, affecting scheduling accuracy and adaptability to actual operating conditions. If the above problems are not addressed, the scheduling system may be unable to continuously provide the optimal scheduling scheme, and may even accumulate errors during long-term operation, reducing overall operational efficiency and safety.

[0161] In response, this application further proposes a model adaptive iterative optimization step:

[0162] After completing the task corresponding to the final scheduling path, the actual working condition data of this scheduling operation is recorded in real time. The actual working condition data includes the actual travel time, the actual upstream belt interruption time, and the actual cross-contamination situation.

[0163] The actual travel time, the actual upstream conveyor belt interruption time, and the actual cross-contamination situation are compared with the estimated values ​​corresponding to the scheduling proposal, and the deviation values ​​of each indicator are calculated.

[0164] Based on the magnitude and direction of the deviation of each indicator, the weight coefficients corresponding to the weighted summation operation are adaptively corrected to compensate for the model prediction error.

[0165] The corrected weighting coefficients are stored in a fixed manner, the scheduling evaluation model parameters are updated, and the updated scheduling evaluation model is applied to the subsequent path scheduling of stacker-reclaimers to continuously optimize scheduling accuracy and adaptability to yard conditions.

[0166] Specifically, the adaptive iterative optimization step of the model aims to introduce a feedback mechanism, enabling the scheduling evaluation model to self-adjust and optimize based on actual operational results. Real-time recording of the actual operating data for this scheduling operation refers to the system automatically collecting and storing key data such as the actual travel time, upstream conveyor belt interruption time, and actual cross-contamination situation after the stacker-reclaimer completes the operation according to the final scheduling path. This data serves as an objective basis for evaluating the performance of the scheduling model.

[0167] Furthermore, the actual travel time, the actual upstream conveyor belt interruption time, and the actual cross-contamination situation are compared with the estimated values ​​corresponding to the scheduling proposal, and the deviation values ​​of each indicator are calculated. This step, by quantifying the difference between the actual results and the model predictions, provides a specific direction and extent for model correction. For example, if the actual travel time is significantly longer than the estimated value, it indicates that the model's prediction of the travel time may be overly optimistic. Based on this, according to the magnitude and direction of the deviation values ​​of each indicator, the weight coefficients corresponding to the weighted summation operation are adaptively corrected to compensate for the model's prediction error. This means that if the prediction error of a certain indicator is large and has a specific directionality (e.g., always underestimating or overestimating), the weight coefficients related to that indicator will be adjusted to make the model more accurate in future predictions. Finally, the corrected weight coefficients are fixed and stored, the scheduling evaluation model parameters are updated, and the updated scheduling evaluation model is applied to the subsequent path scheduling of the stacker-reclaimer. This ensures that the model's learning results are preserved and applied, thereby achieving continuous optimization of scheduling accuracy and adaptability to yard conditions.

[0168] The proposed solution effectively addresses the potential bias in model predictions within the basic scheduling scheme by establishing a closed-loop feedback mechanism.

[0169] Specifically, after a stacker-reclaimer completes a scheduling operation, its actual operating data, including actual travel time, actual upstream conveyor belt downtime, and actual cross-contamination, is collected in real time. This actual data is then used to accurately compare with the corresponding estimated values ​​in the scheduling proposal, thereby calculating the deviation values ​​of each indicator. It is precisely because of this comparison between actual and estimated values ​​that the system can accurately identify the deficiencies or errors in the scheduling evaluation model.

[0170] Furthermore, based on the magnitude and direction of these deviations, the system can intelligently and adaptively adjust the weight coefficients of each indicator in the weighted summation operation. For example, if the model continuously underestimates the actual travel time, the weight coefficient corresponding to the travel time may be appropriately increased, or its calculation logic may be fine-tuned to reflect its true impact in actual operating conditions. This weight adjustment based on actual feedback can effectively compensate for the model's prediction errors in complex dynamic yard environments, enabling the scheduling evaluation model to more accurately reflect the actual operating characteristics of the current yard. Thus, the corrected weight coefficients are permanently stored and used to update the parameters of the scheduling evaluation model. This means that each scheduling operation becomes an opportunity for model learning and evolution. The updated scheduling evaluation model will be applied to subsequent stacker-reclaimer path scheduling tasks, forming a continuous iterative optimization process. In this way, the scheduling system can continuously adapt to changes in yard operating conditions, improve the accuracy of its predictions and the reliability of its decisions, and ensure that it consistently provides efficient and practical scheduling solutions during long-term operation.

[0171] Through the above technical solution, this application effectively solves the problems of insufficient scheduling accuracy and poor adaptability to operating conditions caused by model prediction errors in the basic scheduling scheme. Specifically, by collecting actual operating condition data in real time and comparing it with the predicted value, the system can accurately identify and quantify the model prediction error. Based on these errors, the weight coefficients of the weighted summation operation are adaptively corrected, enabling the scheduling evaluation model to continuously learn and evolve, thereby significantly improving the accuracy and reliability of scheduling proposals. This iterative optimization mechanism ensures that the scheduling system can better adapt to the dynamic changes in the yard environment, reduce the deviation between actual operations and plans, and ultimately achieve continuous optimization of scheduling accuracy and yard operating condition adaptability, improving overall operational efficiency and safety.

[0172] refer to Figure 3 , Figure 3 This is a schematic diagram of a route scheduling system for multiple circular stacker-reclaimers based on cooperative game theory, provided in an embodiment of the present invention. The system is used to execute the aforementioned route scheduling method for multiple circular stacker-reclaimers based on cooperative game theory, and is applied to bulk material storage yards where multiple circular stacker-reclaimers operate collaboratively. The system includes:

[0173] The task receiving and path planning module is used to receive emergency task instructions and plan an initial path from the current position to the target position based on the current position, operating status and yard environment constraints of the stacker-reclaimer.

[0174] The path conflict detection module, connected to the task receiving and path planning module, is used to send the initial path to other stacker-reclaimers, receive the predetermined path information of the other stacker-reclaimers, and determine whether there is a path intersection.

[0175] The interruption parameter acquisition module, connected to the path conflict detection module, is used to acquire the interruption tolerance time of the upstream belt conveyor system corresponding to the other stacker-reclaimer when the path intersection exists.

[0176] The three-dimensional trajectory interaction module, connected to the interrupt parameter acquisition module, is used to generate the three-dimensional spatial occupancy trajectory of the local stacker-reclaimer within a future time window, and to complete the bidirectional transmission and synchronization of the three-dimensional trajectories of multiple devices.

[0177] The priority acquisition module, connected to the three-dimensional trajectory interaction module, is used to acquire the priority of the scheduling target corresponding to the current scheduling scenario, such as priority of passage time, priority of avoiding upstream interruption, or priority of material purity.

[0178] The multi-objective scoring and proposal generation module, connected to the priority acquisition module, is used to calculate the travel time, estimated interruption time, and cross-contamination risk level of each candidate path according to the scheduling objective priority, obtain a comprehensive score by weighted summation, and select the optimal candidate path to generate a scheduling proposal.

[0179] The collaborative game negotiation module, connected to the multi-objective scoring and proposal generation module, is used to push the scheduling proposal to the other stacker-reclaimers, perform collaborative negotiation for a preset maximum number of rounds, determine the final scheduling path based on the negotiation results, and control the local stacker-reclaimer to perform the operation according to the final scheduling path.

[0180] The scheduling system proposed in this application aims to address the problems of slow response, uneven resource allocation, and difficulty in effectively handling upstream process continuity constraints and material cross-contamination risks associated with traditional centralized control strategies when multiple circular stacker-reclaimers operate collaboratively in large bulk material yards under emergency tasks and complex conditions. These issues are compounded by the modular design that organically integrates functions such as task reception and path planning, path conflict detection, interruption parameter acquisition, 3D trajectory interaction, priority acquisition, multi-objective scoring and proposal generation, and collaborative game negotiation, forming a distributed and intelligent scheduling decision-making framework. Through close collaboration and information exchange between modules, the system comprehensively considers multiple factors such as travel time, upstream interruption risk, and material cross-contamination risk, and performs weighted evaluation based on preset scheduling target priorities. Finally, through multiple rounds of collaborative game negotiation, it plans the optimal path for emergency tasks that balances efficiency, safety, and material quality, thereby significantly improving the overall operating efficiency of the bulk material yard and its ability to cope with complex conditions.

[0181] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A route scheduling method for multiple circular stacker-reclaimers based on cooperative game theory, characterized in that, For bulk material storage yards where multiple circular stacker-reclaimers operate collaboratively, route scheduling is performed when any one of the circular stacker-reclaimers receives an emergency task instruction. The method includes: Upon receiving an emergency task instruction, the machine plans an initial path from its current location to the target location based on the current position, operating status, and yard environmental constraints of its stacker-reclaimer. The initial path is sent to other stacker-reclaimers in the stockyard, the predetermined path information returned by the other stacker-reclaimers is received, and it is determined whether there is path intersection between the stacker-reclaimers; If the path intersection exists, obtain the interruption tolerance time of the upstream belt conveyor system corresponding to the other stacker-reclaimer that caused the path intersection; Generate the three-dimensional spatial occupancy trajectory of the local stacker-reclaimer within a future preset time window, send the three-dimensional spatial occupancy trajectory to the other stacker-reclaimers, and receive the three-dimensional spatial occupancy trajectory sent by the other stacker-reclaimers; Obtain the priority of the scheduling target corresponding to the current scheduling scenario. The priority of the scheduling target is any one of passing time priority, avoiding upstream interruption priority, or material purity priority. Based on the priority of the scheduling target, the travel time, estimated interruption time and cross-contamination risk level of multiple candidate paths are calculated respectively, and the travel time, estimated interruption time and cross-contamination risk level are weighted and summed to obtain the comprehensive score of each candidate path; The candidate path with the best comprehensive score is selected as the scheduling proposal, and the scheduling proposal is sent to the other stacker-reclaimers for collaborative game negotiation without exceeding the preset maximum number of negotiation rounds; The final scheduling path is determined based on the feedback results of multiple rounds of negotiation, and the local stacker-reclaimer is controlled to perform operations according to the final scheduling path.

2. The route scheduling method for multiple circular stacker-reclaimers based on collaborative game theory according to claim 1, characterized in that, The determination of whether there is path intersection between the stacker-reclaimers includes: Obtain the predetermined operation paths and corresponding operation sequences of the other stacker-reclaimers within the current scheduling time window; The initial path and each of the predetermined operation paths are projected onto the same plane coordinate system to complete the spatial position normalization matching. If two or more work paths occupy the same coordinate area within the same time period, it is determined that the paths intersect.

3. The route scheduling method for multiple circular stacker-reclaimers based on collaborative game theory according to claim 1, characterized in that, The method for determining the interruption tolerance time includes: Obtain the buffer capacity and real-time material input rate of the corresponding upstream belt conveyor system; Based on the ratio of the buffer capacity to the real-time material input rate, the maximum interruptible duration of the upstream belt conveyor system is calculated, and the maximum interruptible duration is determined as the interruption tolerance time.

4. The route scheduling method for multiple circular stacker-reclaimers based on collaborative game theory according to claim 1, characterized in that, The method for calculating the cross-contamination risk level includes: Obtain the first dust emission level of the materials currently being handled by other stacker-reclaimers that have the same path intersection; Obtain the purity sensitivity level of the material to be retrieved by the stacker-reclaimer. Calculate the estimated transit time for the stacker-reclaimer to traverse the operating areas of the other stacker-reclaimers; The cross-contamination risk level is quantitatively determined based on the first dust emission level, the purity sensitivity level, and the estimated passage time; wherein, the higher the first dust emission level, the higher the purity sensitivity level, and the longer the estimated passage time, the higher the corresponding cross-contamination risk level.

5. The route scheduling method for multiple circular stacker-reclaimers based on collaborative game theory according to claim 1, characterized in that, The candidate path includes at least one of a planar detour path and a three-dimensional avoidance path; The planar detour path is to detour in the horizontal plane to avoid the operational conflict areas of the other stacker-reclaimers; the three-dimensional avoidance path is to adjust the height of the reclaiming head in the vertical direction to cross the operational conflict areas of the other stacker-reclaimers through the spatial height difference.

6. The route scheduling method for multiple circular stacker-reclaimers based on collaborative game theory according to claim 1, characterized in that, The method further includes: adaptively matching the weight coefficients corresponding to the weighted summation with the priority of the scheduling target; When the scheduling objective is to prioritize passage time, the weight coefficient corresponding to the passage time is the largest. When the scheduling objective is to avoid upstream interruption, the weight coefficient corresponding to the estimated interruption time is the largest. When the scheduling objective prioritizes material purity, the weight coefficient corresponding to the cross-contamination risk level is maximized. The sum of all weighting coefficients is a fixed constant.

7. The route scheduling method for multiple circular stacker-reclaimers based on collaborative game theory according to claim 1, characterized in that, The collaborative game negotiation process, which does not exceed a preset maximum number of negotiation rounds, includes: The scheduling proposal is sent to the other stacker-reclaimers to initiate the first round of negotiation; If a rejection feedback is received from the other stacker-reclaimer, the conflict time period information carried by the rejection feedback is extracted, the path passage timing of the scheduling proposal is adjusted according to the conflict time period information, and an adjusted scheduling proposal is generated. The adjusted scheduling proposal will be sent again to the other stacker-reclaimers for negotiation. Repeat the adjustment and negotiation steps until the preset maximum number of negotiation rounds is reached or all other stacker-reclaimers agree, at which point the negotiation process is terminated.

8. The route scheduling method for multiple circular stacker-reclaimers based on collaborative game theory according to claim 7, characterized in that, The conflict time period information carried by the rejection feedback includes: the start and end times of the other stacker-reclaimer occupying the conflict path position within the path passage time period of the scheduling proposal.

9. The route scheduling method for multiple circular stacker-reclaimers based on collaborative game theory according to claim 1, characterized in that, The method also includes a model adaptive iterative optimization step: After completing the task corresponding to the final scheduling path, the actual working condition data of this scheduling operation is recorded in real time. The actual working condition data includes the actual travel time, the actual upstream belt interruption time, and the actual cross-contamination situation. The actual travel time, the actual upstream conveyor belt interruption time, and the actual cross-contamination situation are compared with the estimated values ​​corresponding to the scheduling proposal, and the deviation values ​​of each indicator are calculated. Based on the magnitude and direction of the deviation of each indicator, the weight coefficients corresponding to the weighted summation operation are adaptively corrected to compensate for the model prediction error. The corrected weighting coefficients are stored in a fixed manner, the scheduling evaluation model parameters are updated, and the updated scheduling evaluation model is applied to the subsequent path scheduling of stacker-reclaimers to continuously optimize scheduling accuracy and adaptability to yard conditions.

10. A route scheduling system for multiple circular stacker-reclaimers based on cooperative game theory, characterized in that, The system is used to execute the route scheduling method for multiple circular stacker-reclaimers based on cooperative game theory as described in any one of claims 1-9, and is applied to a bulk material storage yard where multiple circular stacker-reclaimers operate collaboratively. The system comprises: The task receiving and path planning module is used to receive emergency task instructions and plan an initial path from the current position to the target position based on the current position, operating status and yard environment constraints of the stacker-reclaimer. The path conflict detection module, connected to the task receiving and path planning module, is used to send the initial path to other stacker-reclaimers, receive the predetermined path information of the other stacker-reclaimers, and determine whether there is a path intersection. The interruption parameter acquisition module is connected to the path conflict detection module and is used to acquire the interruption tolerance time of the upstream belt conveyor system corresponding to other stacker-reclaimers when there is a path intersection. The three-dimensional trajectory interaction module, connected to the interrupt parameter acquisition module, is used to generate the three-dimensional spatial occupancy trajectory of the local stacker-reclaimer within a future time window, and to complete the bidirectional transmission and synchronization of the three-dimensional trajectories of multiple devices. The priority acquisition module, connected to the three-dimensional trajectory interaction module, is used to acquire the priority of the scheduling target corresponding to the current scheduling scenario, such as priority of passage time, priority of avoiding upstream interruption, or priority of material purity. The multi-objective scoring and proposal generation module, connected to the priority acquisition module, is used to calculate the travel time, estimated interruption time, and cross-contamination risk level of each candidate path according to the priority of the scheduling target, obtain a comprehensive score by weighted summation, and select the optimal candidate path to generate a scheduling proposal. The collaborative game negotiation module, connected to the multi-objective scoring and proposal generation module, is used to push scheduling proposals to the other stacker-reclaimers, perform collaborative negotiation for a preset maximum number of rounds, determine the final scheduling path based on the negotiation results, and control the local stacker-reclaimer to perform operations according to the final scheduling path.

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