CN103116824A - Scheduling method and scheduling system for outdoor mining vehicle - Google Patents
Scheduling method and scheduling system for outdoor mining vehicle Download PDFInfo
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Abstract
The invention discloses an outdoor mining vehicle scheduling method and a scheduling system. The scheduling method includes the following steps: establishing an outdoor mining map according to GPS (global positioning system) data or manually establishing an outdoor mining map, and storing road information in a system database; determining ore percentage required by crushing, production volume per hour and forklift ore percentage composition of a present shift, storing the parameters to the system, and calculating a best mining vehicle number meeting the present shift according to the vehicle-forklift matching algorithm; monitoring mining production in real time according to real-time data transmitted from vehicular terminals, calculating destination information of a mining vehicle scheduled task at the present shift according to a real-time scheduling strategy and a shortest path algorithm when a mining vehicle arrives at crush points or forklift points, sending the destination information to the mining vehicular terminals, and sending the scheduling information to the forklift terminals. The scheduling system comprises a scheduling server, a wireless mesh network and an intelligent client side. By the scheduling method and the scheduling system for outdoor mining vehicle, the outdoor mining production efficiency is improved, energy consumption of equipment is reduced, and mining production is more reasonable and normalized.
Description
Technical field
The present invention relates to the surface mine production field, particularly a kind of surface mine vehicle dispatching method and system.
Background technology
Surface mining is the main mining type of China's mine resources, most of mines are all strip mining transformations, and the transportation of ore is the core work that surface mining is produced, and is also the Main Weak Links of Production of Strip Mine simultaneously, is the key factor of restriction mine capacity and benefit.For the surface mine that uses Automobile Transportation, along with stope progresses into deeply recessedly, mining conditions worsens increasingly, and haul distance increases, and the haul-cycle time increases, and makes that originally just to account for the very high hauling operation cost of operating cost further soaring.Practice at home and abroad shows, as long as can make output improve 3% ~ 5%, just suffices to show that adopting analyses of computer-controlled truck dispatching system is economical rationality, and in fact the amplitude of this raising is often up to 6% ~ 32%.
The surface mining production schedule is mainly by to felling and transporting equipment, especially the scheduling of mine car is completed.Whether vehicle scheduling is reasonable, and whether route or travel by vehicle correctly will directly affect production efficiency and the economic benefit of surface mining.Abroad, vehicle intelligent scheduling system has been applied in surface mining, this system is by calculating vehicle operating shortest path and rational car shovel blend proportion, reduce significantly the stroke of mine car and shortened non-working time of forklift, mine car, reached the purpose that improves surface mining production efficiency and save production cost.Adopt traditional intercommunication scheduling mode and run on-the-spot manual dispatching mode and China is also main at present, because surface mine has the characteristics such as the wide and travel condition of vehicle variation of working area scope is fast, be difficult to grasp in real time the actual job situation of each forklift and mine car, very easily cause mine car to catch up with the phenomenon of heap, thereby cause the vehicle non-working time long, steal oil, steal the unfavorable condition such as ore deposit, Here it is causes that China's surface mining production efficiency is low, production cost is high, one of the reason of serious waste of resources present situation.Therefore, in order to improve productivity effect, reduce to produce consuming, must develop the vehicle intelligent scheduling system that adapts to surface mine production characteristics, could fundamentally solve the problems referred to above in production management process, guarantee to realize the productive target of the efficient high yield in mine.
Although many companies both domestic and external and research institution have carried out a large amount of research and development for surface mine scheduling, with regard to present circumstances, that is that all right is ripe for domestic existing automatic dispatching system product.External existing vehicle dispatch system lacks again ore quality collocation technology, because China's part surface mine ore quality fluctuation is large, can not directly quote.Separately have, its data transmission network adopts data radio that very large drawback is arranged, and directly affects the effect of vehicle dispatch system.
Summary of the invention
The objective of the invention is for a kind of vehicle dispatching method and system that produces for surface mine is provided, be used for solving that the vehicle scheduling that manual dispatching causes is unordered, the problem of serious waste of resources.This system adopts the Wireless Mesh network technology, sets up network communicating system, solves reliability and the real time problems of surface mine inter-vehicular communication; Rationally utilize mine resources, realize energy savings, improve the mine benefit.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of surface mine vehicle dispatching method, the method comprises the following steps:
Step 1: by gps data or manual creation mine map and deposit its road information in system database;
In step 1, described mine map is based on the MapX plug-in unit and can completes by manual or gps data, and described road information comprises: crossing numbering, crossing title, crossing longitude, crossing latitude; The yardman is the real time modifying road information after road net more becomes, thereby better mine car is dispatched and sent;
Step 2: determine that current order of classes or grades at school fragmentation requires ore number percent, hourly output, and forklift place's ore degree and with its input system calculate according to car shovel proportioning information best mine car vehicle fleet size and the forklift quantity that satisfies current order of classes or grades at school; The real time data information of producing vehicle according to the mine shows in system and processes, its displaying contents has the mine vehicle real-time position information, traffic direction, running status, link information, command information, and the operator can assign the part instruction by the control room server, the accurate reception and registration of wireless station's assist command and request is separately arranged, thereby make the yardman can grasp the real-time mine condition of production;
In step 2, described car shovel proportioning information refers to: distance, mine car average overall travel speed, the average loading time of broken and each forklift, on average unload the time; The vehicle fleet size of calculating according to these information and the optimized vehicle of forklift quantity shovel proportioning; But in actual production, the quantity of vehicle is selectable, its reason is: above-mentioned vehicle fleet size of calculating and forklift quantity are to complete the optimized vehicle shovel proportioning of current order of classes or grades at school task, and in actual production, still there is free time in forklift, and increasing dispatches buses can reach the purpose that increases output.
Step 3: the real time data that sends mission bit stream according to car-mounted terminal is carried out real-time monitoring to the production in mine, calculates mine car when time scheduler task information and is sent to terminal according to Real-Time Scheduling Police and shortest path first when mine car satisfies the scheduling trigger condition;
In step 3, described scheduling trigger condition comprises: mine car arrival break-up point is unloaded, mine car arrives forklift place's entrucking, mine car arrival waste discharge point is unloaded, mine car sends road congestion information; The mission bit stream of described transmission comprises two parts: the one, to the routing information, the one of mine car terminal transmission, to the mine car information of forklift terminal transmission; Thereby puffer can be completed when time scheduler task accurately according to routing information, improve individual's production efficiency, make the forklift driver can grasp in advance the entrucking task that will complete;
Step 4: in the production scheduling of mine, deposit the vehicle real time data in database.
In the production scheduling of mine, deposit the vehicle real time data in database, thereby can carry out statistical query, historical playback and conduct to the foundation of tracing of mine accident responsibility to the mine condition of production after completing production.
The present invention also aims to the surface mine vehicle dispatching method based on gps data and Wireless Mesh network, a kind of surface mine vehicle dispatch system is provided.
In order to solve the problems of the technologies described above, the present invention adopts following technical proposals:
A kind of surface mine vehicle dispatch system, it comprises control room server, wireless Mesh netword and mine car intelligent terminal, the control room server forms by master server with from server, the mine car intelligent terminal is comprised of the gps receiver that is connected with mainboard respectively, wireless network card, fuel consume sensor, touch-screen, ultrasonic sensor, the forklift intelligent terminal is comprised of the gps receiver that is connected with mainboard respectively, wireless network card, fuel consume sensor, touch-screen, and the mine car intelligent terminal is connected with the control room server with the base station of forklift intelligent terminal by Wireless Mesh network;
Described control room server comprises: communication module is used for the real-time mine vehicle data message of control room collection of server and sends data message to vehicle termination;
Computing module is for the treatment of road condition information calculating mine car path;
Message processing module is for the treatment of cartographic information demonstration and institute's inclusion information database storage of mine vehicle real time data;
Data management module is used for the information such as management mine personnel, vehicle, road;
The query statistic module is for the production information of enquiring vehicle real-time information, historical information and calculating vehicle;
The waste discharge module is used for the management of mine waste discharge;
Redundant module is used for occuring in process of production the recovery of system under emergency case;
Described redundant module comprises:
The two server module is divided into principal and subordinate's server, is used for automatically more becoming master server from server when master server breaks down, and can automatically more become previous status again again after server recovers, thereby not affect the normal production in mine;
Recover module, be used for the recovery of client when generation short time emergency case;
The redundant module of described control room server also comprises: the two server module, be divided into principal and subordinate's server, be used for automatically more becoming master server from server when master server breaks down, can automatically more become previous status again again after server recovers, thereby not affect the normal production in mine; Recover module, be used for the recovery of client when generation short time emergency case;
Described mine car SmartClient comprises:
Login and publish module, be used for the employee and login and publish dispatching system;
Communication module, be used for that gps data is accepted and with the communicating by letter of control room server;
Navigation module is used for the demonstration in path and the navigation of vehicle;
Detection module is used for the detection of the unloading of mine car, oil consumption etc.;
The application module is used for sending request and accepting reply to dispatch server;
Described forklift SmartClient, it is logined except the module that has the mine car SmartClient and publishes module, communication module, detection module, application module, also comprises reminding module, is used for the prompting of current mine car entrucking kind.
The course of work of described a kind of surface mine vehicle dispatch system is: at first, puffer and forklift driver are by logining the personal information of publishing module input oneself, send by communication module and login the information of publishing to the control room server, server is confirmed to feed back to client by server com-munication module, so far logins successfully; The communication module of mine car SmartClient with the GPS locator data and the detected car status information of detection module that receive, being mainly unloads detects data and oil level detection data, through being sent to the control room server after the communication module packing, when the needs application, add request for data in the packet that sends; The forklift intelligent terminal is identical with the equal modules function of mine car intelligent terminal; Then, the communication module of control room server receives the real time data from client, is diverted to message processing module and computing module after resolution data.Information in computing module judgement data, when mine car satisfied the scheduling trigger condition, the information that calculates was mainly the routing information of mine car terminal and the data message of forklift terminal, joins in feedback data packet; At first message processing module carries out information analysis, with the vehicle position information that obtains, status informations etc. are shown in the server main window, then the information that receives is submitted to data management module, data management module is responsible for depositing data in database, when the needs data query, the query statistic module obtains to meet the data message of querying condition through message processing module; When the needs waste discharge, after waste discharge module assigned tasks, mission bit stream is joined in feedback data packet; When including redundant information in the information that message processing module receives, after redundant module is resolved redundant information with the data handover to the two server module with recover module, after these two resume module, feedback information is joined in feedback data packet; At last, feedback data packet obtained above is sent to two clients by communication module, the mine car client is resolved feedback data packet, with the information that obtains, be mainly navigation information, handover is used for the navigation of vehicle to navigation module, the forklift client is resolved feedback data packet, with the information that obtains, be mainly current mine car entrucking kind, handover is to pointing out the forklift driver.
Beneficial effect of the present invention is mainly manifested in:
1, before production task begins to the ore degree of current disintegrating machine requirement, per hour the ore degree at disintegrating machine output, forklift place shovel point place is set, the quantity of computation requirement mine car guarantees in the situation that the completing smoothly of the least possible production task of energy consumption.By the mine car Real-Time Scheduling Police, progressively make dispatching system to intelligent development;
2, mine car is when carrying out production scheduling and waste discharge scheduler task, the path of walking is all to calculate the shortest path of gained by the control room server, do not exist mine car to run on the situation of non-shortest path when scheduling, thereby reduced the energy consumption of mine car, improved the production efficiency of mine car and the benefit in mine;
All be provided with feedback mechanism when 3, mine car and forklift client and dispatch server carry out communication, guaranteed the smooth transmission of server command in process of production or client-requested, guarantee the integral implementation of mine production task, thereby improved the production efficiency in mine;
4, dispatch server is when calculating the mine car path, can be in real time calculate according to more becoming of road net the shortest path that arrives this scheduler task destination, for example when certain section road due to natural cause or car accident not smooth, server can recomputate the requesting client of new road and transmission after receiving the application of client road congestion.Solved like this carrying out smoothly that the mine produces under the road emergency case.
Description of drawings
Fig. 1 is the process flow diagram of the vehicle dispatching method of surface mine production of the present invention;
Fig. 2 is system construction drawing of the present invention;
Fig. 3 is the dispatch server structural representation of a kind of embodiment of the present invention;
Fig. 4 is the mine car intelligent terminal structural representation of a kind of embodiment of the present invention;
Fig. 5 is the forklift intelligent terminal structural representation of a kind of embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail:
Embodiments of the invention: a kind of surface mine vehicle dispatching method as shown in Figure 1, comprises the following steps:
Step 1: by gps data or manual creation mine map and deposit its road information in system database;
Step 2: determine current order of classes or grades at school production information and with its input system, calculate according to car shovel proportioning information best mine car vehicle fleet size and the forklift quantity that satisfies current order of classes or grades at school;
Step 3: send real time data according to car-mounted terminal real-time monitoring is carried out in the production in mine.Calculate mine car when time scheduler task information and be sent to terminal according to Real-Time Scheduling Police and shortest path first when mine car satisfies the scheduling trigger condition;
Step 4: in the production scheduling of mine, deposit the vehicle real time data in database.
In step 1, by the GPS on mine car terminal design, can obtain vehicle real-time geographic position data more accurately, the monumented point in the map of mine comprises break-up point, and the waste discharge point need to be by manual interpolation but do not needed to deposit in the effect of only playing demonstration in database.
in step 2, the current order of classes or grades at school production information of input system comprises that fragmentation requires the ore degree, hourly output, forklift place ore degree, shovel proportioning by current order of classes or grades at school production information in conjunction with car, the distance that comprises information fragmentation and each forklift, the mine car average overall travel speed, average loading time, on average unload the time, the optimized vehicle shovel proportioning of the vehicle fleet size of calculating and forklift quantity, but in actual production, a number of vehicle is selectable, its reason is: above-mentioned vehicle fleet size of calculating and forklift quantity are to complete the optimized vehicle shovel proportioning of current order of classes or grades at school task, and in actual production, still there is free time in forklift, increasing dispatches buses can reach the purpose that increases output.
In step 3, can carry out real-time monitoring to the production run in mine by server, the content that can monitor mainly contains the real-time position information of mine vehicle, traffic direction, running status, link information, command information, the operator can assign the part instruction by the control room server, and the accurate reception and registration of wireless station's assist command and request is separately arranged, thereby makes the yardman can grasp the real-time mine condition of production.
In step 4, in the production scheduling of mine, deposit the vehicle real time data in database, thereby can carry out statistical query, historical playback and to the foundation of tracing of mine accident responsibility to the mine condition of production after completing production.
Specific implementation based on the surface mine vehicle dispatching method of gps data and Wireless Mesh network is exactly the surface mine vehicle dispatch system that will construct, the structural drawing that has provided a kind of specific embodiment of surface mine vehicle dispatch system shown in Figure 2.This system is comprised of control room server, wireless Mesh netword and SmartClient.The control room server forms by master server with from server.The mine car intelligent terminal is comprised of gps receiver 1, wireless network card 2, fuel consume sensor 3, touch-screen 4, ultrasonic sensor 5 and mainboard 6, be connected with mainboard 6 respectively by USB interface, RJ45 interface, RS232 interface, VGA interface, GPIO interface respectively, the forklift intelligent terminal is comprised of gps receiver 8, wireless network card 7, fuel consume sensor 9, touch-screen 10 and mainboard 11, and its connected mode is identical with the mine car intelligent terminal.The mine car intelligent terminal is connected with the control room server with the base station of forklift intelligent terminal by Wireless Mesh network.
A kind of surface mine vehicle dispatch system of realizing said method, it comprises:
I, control room server, as shown in Figure 3, it comprises:
Query statistic module 13 is for the production information of enquiring vehicle real-time information, historical information and calculating vehicle;
In above-mentioned system, described redundant module 16 also comprises:
Two server module 19 is divided into principal and subordinate's server, is used for automatically more becoming master server from server when master server breaks down, and can automatically more become previous status again again after server recovers, thereby not affect the normal production in mine;
Recover module 20, be used for the recovery of client when generation short time emergency case.
II, mine car SmartClient, as shown in Figure 4, it comprises:
Login and publish module 22, be used for the employee and login and publish dispatching system;
Communication module 21, be used for that gps data is accepted and with the communicating by letter of control room server;
Navigation module 23 is used for the demonstration in path and the navigation of vehicle;
Detection module 25 is used for the detection of the unloading of mine car, oil consumption etc.;
Application module 24 is used for sending request and accepting reply to dispatch server.
The mine car SmartClient is connected with control room server 26 by Wireless Mesh network.
III, forklift SmartClient, as shown in Figure 5, it is logined except the module that has the mine car SmartClient and publishes module 28, communication module 27, detection module 29, application module 30, also comprises reminding module 31, is used for the prompting of current mine car entrucking kind.The forklift SmartClient is connected with control room server 32 by Wireless Mesh network.
The workflow of a kind of embodiment of the present invention is as follows:
Step 1: by gps data or manual creation mine map and deposit its road information in system database;
Step 2: determine current order of classes or grades at school production information and with its input system, calculate according to car shovel proportioning information best mine car vehicle fleet size and the forklift quantity that satisfies current order of classes or grades at school;
Step 3: send real time data according to car-mounted terminal real-time monitoring is carried out in the production in mine.Calculate mine car when time scheduler task information and be sent to terminal according to Real-Time Scheduling Police and shortest path first when mine car satisfies the scheduling trigger condition;
Step 4: in the production scheduling of mine, deposit the vehicle real time data in database.
The example explanation: it is intelligent terminal that vehicle-mounted industrial computer is installed in the mine car of surface mine, forklift.The vehicle data information that the message processing module collection of control room server is sent from intelligent terminal, comprise car number, employee's coding, feedback information, vehicle request, fuel consumption information and gps data, vehicle in producing simultaneously marks in electronic chart, traffic direction at the diverse location simultaneous display vehicle of display interface, running status, link information, command information etc. also deposit it in database for query statistic module inquiry and statistics in the future.In all mines, the transmission of information is all to complete by the communication module of server or client.When mine car moves to forklift, fragmentation or waste discharge point, detect or unload to detect to dispatch server by distance and send the data message that is loaded with the request roadway sign, after dispatch server detects this signal, computing module is by calculating the next scheduler task routing information of mine car, and send it to the forklift intelligent terminal, send simultaneously corresponding information and be used for the demonstration of forklift terminal to the forklift intelligent terminal.Data management module is used for the management of mine vehicle, personnel and road information, and the information of vehicle comprises car number, IP, vehicle model, remark information; Employee information comprises employee's name, employee's coding, mine car kind, teams and groups' numbering, remark information; Road information comprises crossing numbering, crossing title, crossing longitude, crossing latitude.Can be by the waste discharge in waste discharge module management mine when the mine needs waste discharge, waste discharge can be carried out the waste discharge in mine by forklift application or dispatch server order.The redundant module of control room server comprises: two server module and recovery module.The two server module is divided into master server with server and from server, when master server breaks down, automatically more becomes master server from server, can automatically more become previous status again again after server recovers, thereby not affect the normal production in mine; Recovering module is the recovery of client when server generation short time emergency case.
Claims (7)
1. surface mine vehicle dispatching method is characterized in that following steps:
Step 1: by gps data or manual creation mine map and deposit its road information in system database;
Step 2: determine current order of classes or grades at school production information and with its input system, calculate according to car shovel proportioning information best mine car vehicle fleet size and the forklift quantity that satisfies current order of classes or grades at school; The real time data information of producing vehicle according to the mine shows in system and processes, its displaying contents has the mine vehicle real-time position information, traffic direction, running status, link information, command information, and the operator can assign the part instruction by the control room server, the accurate reception and registration of wireless station's assist command and request is separately arranged, thereby make the yardman can grasp the real-time mine condition of production;
Step 3: the real time data that sends mission bit stream according to car-mounted terminal is carried out real-time monitoring to the production in mine, calculates mine car when time scheduler task information and is sent to terminal according to Real-Time Scheduling Police and shortest path first when mine car satisfies the scheduling trigger condition;
Step 4: in the production scheduling of mine, deposit the vehicle real time data in database.
2. a kind of surface mine vehicle dispatching method according to claim 1 is characterized in that:
Being based on the MapX plug-in unit at the mine map described in step 1 can complete by manual or gps data, and affiliated road information comprises: crossing numbering, crossing title, crossing longitude, crossing latitude.
3. a kind of surface mine vehicle dispatching method according to claim 1 is characterized in that: refer in the shovel of the car described in step 2 proportioning information: distance, mine car average overall travel speed, the average loading time of broken and each forklift, on average unload the time.
4. a kind of surface mine vehicle dispatching method according to claim 1 is characterized in that: comprise in the scheduling trigger condition described in step 3: mine car arrives that break-up point is unloaded, mine car arrives forklift place's entrucking, mine car arrives that the waste discharge point is unloaded, mine car sends road congestion information.
5. a kind of surface mine vehicle dispatching method according to claim 1, it is characterized in that: the mission bit stream in the transmission described in step 3 comprises: the routing information that sends to the mine car terminal, the mine car information that sends to the forklift terminal.
6. surface mine vehicle dispatch system of realizing the described a kind of surface mine vehicle dispatching method of claim 1 ~ 5 is characterized in that:
It comprises control room server, wireless Mesh netword and mine car intelligent terminal, the control room server forms by master server with from server, the mine car intelligent terminal is comprised of the gps receiver that is connected with mainboard respectively, wireless network card, fuel consume sensor, touch-screen, ultrasonic sensor, the forklift intelligent terminal is comprised of the gps receiver that is connected with mainboard respectively, wireless network card, fuel consume sensor, touch-screen, and the mine car intelligent terminal is connected with the control room server with the base station of forklift intelligent terminal by Wireless Mesh network;
Described control room server comprises: communication module is used for the real-time mine vehicle data message of control room collection of server and sends data message to vehicle termination;
Computing module is for the treatment of road condition information calculating mine car path;
Message processing module is for the treatment of cartographic information demonstration and institute's inclusion information database storage of mine vehicle real time data;
Data management module is used for the information such as management mine personnel, vehicle, road;
The query statistic module is for the production information of enquiring vehicle real-time information, historical information and calculating vehicle;
The waste discharge module is used for the management of mine waste discharge;
Redundant module is used for occuring in process of production the recovery of system under emergency case;
Described redundant module comprises:
The two server module is divided into principal and subordinate's server, is used for automatically more becoming master server from server when master server breaks down, and can automatically more become previous status again again after server recovers, thereby not affect the normal production in mine;
Recover module, be used for the recovery of client when generation short time emergency case;
Described mine car SmartClient comprises:
Login and publish module, be used for the employee and login and publish dispatching system;
Communication module, be used for that gps data is accepted and with the communicating by letter of control room server;
Navigation module is used for the demonstration in path and the navigation of vehicle;
Detection module is used for the detection of the unloading of mine car, oil consumption etc.;
The application module is used for sending request and accepting reply to dispatch server;
Described forklift SmartClient, it is logined except the module that has the mine car SmartClient and publishes module, communication module, detection module, application module, also comprises reminding module, is used for the prompting of current mine car entrucking kind.
7. a kind of surface mine vehicle dispatch system according to claim 6, it is characterized in that: the redundant module of described control room server also comprises: the two server module, be divided into principal and subordinate's server, be used for when master server breaks down, automatically more become master server from server, can automatically more become previous status again again after server recovers, thereby not affect the normal production in mine; Recover module, be used for the recovery of client when generation short time emergency case.
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