CN115239203B - Resource priority distribution method and device for unmanned mine car - Google Patents
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Abstract
The invention relates to the technical field of electric digital data processing, in particular to a resource priority allocation method and a resource priority allocation device for an unmanned mine car, wherein the method comprises the following steps: acquiring the position of the current mineral to be transferred, predicting the time of each mine car reaching the position of the mineral to be transferred at the current moment as the transfer time of the mine car, and determining the distribution priority of the mine car at the current moment according to the transfer time; acquiring the mine car with the shortest transfer time at each moment in the future, and estimating the number of times of meeting of the mine car at the current moment according to the planned route of each mine car and the average value of the number of the mine cars on the planned route of the mine car; calculating the distribution accuracy of the mine car at the current moment according to the number of times of meeting, the average value and the transfer time; and distributing the mine cars at the current moment according to the distribution accuracy, and distributing the mine cars at the next moment according to the same method until the required number of the mine cars is met. The invention can obtain an accurate mine car allocation scheme and improve the utilization efficiency of mine car resources.
Description
Technical Field
The invention relates to the technical field of electric digital data processing, in particular to a resource priority allocation method and device for an unmanned mine car.
Background
Along with the development of unmanned science and technology, unmanned mine cars are gradually applied to mines. The unmanned mine car can finish the actions of peak stop, automatic dumping, track running, autonomous obstacle avoidance and the like on a mine site by adopting an intelligent robot and a vehicle drive-by-wire technology. In order to improve the utilization efficiency of mine car resources in practical application, tasks executed by the mine cars need to be distributed according to actual needs.
In the allocation of the mine cars, the conventional method mainly performs allocation directly according to the positions of the mine cars, the running routes of the allocated mine cars are not considered, and the running routes of the allocated mine cars may be too overlapped, so that too many car meeting events or too small car distances exist in the running process, and further the mine cars are blocked in the running process, thereby reducing the working efficiency of the mine cars. Or the allocation is carried out according to the time length of the mine car reaching the task point, and the considered factors are single.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a resource priority allocation method for an unmanned mine car, which adopts the following technical scheme:
acquiring the quantity of mine cars required by minerals to be transferred at the current moment and the positions of the minerals to be transferred, estimating the time of each mine car reaching the positions of the minerals to be transferred at the current moment, recording the time as the transfer time of the mine cars, arranging the transfer time in a descending order, and determining the distribution priority of the mine cars at the current moment according to the arrangement order;
re-acquiring the mine car corresponding to the shortest transfer time at each moment in the future, recording the planned route of the mine car corresponding to the shortest transfer time for transferring minerals at the corresponding moment as a first route, and acquiring the planned route of each mine car for transferring minerals at the current moment;
estimating the number of times of crossing of the mine cars at the current moment in the mineral transferring process according to the planned route corresponding to the mine cars at the current moment and the first route of the mine cars at each subsequent moment, and obtaining the average value of the number of the mine cars on the planned route of the mine cars at the current moment; calculating the distribution accuracy of the mine cars at the current moment according to the corresponding meeting times of the mine cars at the current moment, the mean value of the number of the mine cars and the transfer time;
and distributing the mine cars with the highest accuracy in the distribution priority at the current moment, and distributing the mine cars at the next moment according to the same method until the distribution quantity of the mine cars meets the quantity of the mine cars required by the minerals to be transferred.
Preferably, the transit time is in particular:
the transferring time of the mine car transferring minerals at the current moment is the sum of the time for the mine car transferring minerals to complete the transferring task and the time required from the position where the mine car is located after completing the transferring task to the place where the new task to be transferred is released at the current moment; the idle transfer time of the mine car at the current moment is the time required for the mine car to reach the place of the task to be transferred newly issued at the current moment.
Preferably, the method for acquiring the number of meeting times specifically comprises the following steps:
and estimating the position of each mine car at each future moment according to the planned route corresponding to the mine car at the current moment and the first route of the mine car at each subsequent moment, and acquiring the meeting times of the mine car at the current moment in the mineral transfer process according to the position of the mine car.
Preferably, the method for obtaining the average value of the number of mine cars on the planned route of the mine car at the current moment specifically comprises the following steps:
setting the length of a surrounding route, acquiring the time interval of the mine cars at the current moment in the future at each moment, and acquiring the number of the mine cars in the range of the length of the surrounding route of the mine cars in each time interval; and calculating the average value of the number of the mine cars corresponding to all the moments to obtain the average value of the number of the mine cars on the planning route of the mine cars at the current moment.
Preferably, the method for acquiring the allocation accuracy of the mine car at the current moment specifically comprises the following steps:
wherein,
is shown as
The accuracy of the distribution of the vehicle cars,
is shown as
At the first moment
The transit time of a car of the vehicle,
denotes the first
The number of times a vehicle-to-vehicle meeting occurs during the transfer of goods,
a time interval representing the time of an adjacent time instant,
is shown as
A set period of time after the time of day,
representing the number of mine cars in the k-th time interval over the length of the route around the mine car, and e is a natural constant.
Preferably, the step of allocating the tramcar with the maximum registration accuracy in the allocation priorities at the current time specifically comprises the following steps: and allocating the mine car with the highest registration accuracy in the mine cars of the first 40% of the allocation priority at the current time.
The invention also provides a resource priority allocation device for the unmanned mine car, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the computer program is executed by the processor to realize the steps of the resource priority allocation method for the unmanned mine car.
The embodiment of the invention at least has the following beneficial effects:
according to the mine car distribution method, the distribution priority of the mine cars for distribution is determined according to the time required by the mine cars at different positions for transferring minerals, and the problem of the utilization rate of time is fully considered, so that the finally distributed mine cars can finish the transfer task more quickly; then, the influence of the mine cars sent at each subsequent moment on the route of the mine car sent at the current moment is considered, the number of times of meeting possibly occurring at a certain moment is estimated, meeting events possibly occurring on the running route of the mine car distributed at the current moment when a task is executed are fully considered, the problem of road congestion caused by meeting of the distributed mine cars is avoided, and the working efficiency of the mine car is improved; furthermore, the distribution accuracy is calculated according to the time and the meeting times required by the mine cars for transferring minerals and the average value of the number of the mine cars on the road route, the mine cars are finally distributed according to the distribution accuracy, the accuracy of the mine cars in the predetermined distribution priority is evaluated and distributed in three aspects, and the consideration is comprehensive, so that the optimal mine car distribution scheme is determined, and the utilization efficiency of mine car resources is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions and advantages of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method of the present invention for preferentially allocating resources to an unmanned mining vehicle.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description will be given of the preferred embodiments, structures, features and effects of the resource allocation method and device for unmanned mining vehicle according to the present invention with reference to the accompanying drawings. In the following description, the different references to "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
The following describes a specific scheme of the resource priority allocation method and device for the unmanned mine car provided by the invention in detail by combining with the accompanying drawings.
The specific scenes aimed by the invention are as follows: in the allocation of unmanned mine cars, the distance of all mine cars to be allocated from the location of the mineral to be transferred directly affects the allocation sequence of the mine cars. Meanwhile, the distribution accuracy is influenced by the running route of the distributed unmanned tramcar, so that the distribution method can obtain the time required by the tramcar to transfer minerals through the tramcars at different positions, determine the distribution priority of the tramcars at each moment, and estimate the distribution accuracy according to the distributed tramcar route so as to obtain the most accurate tramcar distribution scheme.
Example 1:
referring to FIG. 1, a flow chart of a method for preferentially allocating resources of an unmanned mining vehicle according to an embodiment of the invention is shown, the method comprising the steps of:
the method comprises the steps of firstly, obtaining the quantity of mine cars needed by minerals to be transported at the current moment and the positions of the minerals to be transported, estimating the time when each mine car reaches the positions of the minerals to be transported at the current moment, recording the time as the transportation time of the mine cars, arranging the transportation time in a descending order, and determining the distribution priority of the mine cars at the current moment according to the arrangement order.
Firstly, a mineral transfer task at the current moment is obtained, specifically, the minerals to be transferred are designed and planned by professionals in a mine field, and the total amount of the minerals to be transferred is estimated. After the position of the mineral to be transported is determined, the related technical personnel issue a mineral transportation task through a main control platform for mineral transportation.
It should be noted that the location of each mine car needs to be determined first before the time at which each mine car reaches the location of the mineral to be transferred is obtained. Generally, all mine cars are equipped with GPS systems, so that GPS position information of the mine cars can be directly acquired through the system, and then the position information of the mine cars is matched into a map. In practice, however, the complexity of the driving environment often results in inaccurate position information for the mine car itself.
Therefore, in the actual allocation of mine car resources, in order to ensure the accuracy of the allocation, the accurate matching of the mine car position information in the map needs to be considered firstly. The position information is acquired by the GPS system of the mine car, so that the GPS signal of the running mine car is possibly weak, and the position information of the mine car is matched with a map to cause deviation, so that the position of the mine car in the map needs to be corrected.
Specifically, for the running mine car, the position information of the mine car at the ith moment is acquired according to the GPS positioning system
Predicting the location information of the mine car at the ith moment according to Kalman filtering
Then at time i the regression deviation of the car is
If the value of the regression deviation is larger, the probability that the position of the mine car at the ith moment is deviated is higher, and the position of the mine car at the ith moment needs to be corrected. The prediction of motion information of an object by using kalman filtering is a well-known technique, and will not be described herein.
In this embodiment, the correction of the position of the mine car is based primarily on an analysis of the steering characteristics of the car during travel. Specifically, the mine car is provided with a gyroscope, and the gyroscope is used for acquiring the turning moment of the mine car in the running process of the mine car. If the regression deviation of the mine car at the ith moment is obtained according to the method and the deviation of the position of the mine car is judged to be possible, whether the mine car is steered or not needs to be searched at a moment near the ith moment, and the position correction operation is carried out according to the steering characteristics of the mine car.
Knowing that the gyroscope detects that the mine car is nearest to the ith time
Steering is carried out all the time, and the mine car is obtained according to the running track of the mine carFirst, the
GPS position information of time is
Obtaining the mine car on the map
The position information of the time is
When the mine car is in the first
The difference in position of the time is
. Due to the fact that
Since the position of the mine car is deviated when the mine car is turned at a time, the deviation of the position of the mine car at the current i-th time is approximately expressed by the position difference corresponding to the time, and the position of the mine car at the i-th time is corrected, that is, the position information of the mine car at the i-th time is
And finishing the correction operation of the position of the mine car.
The positions of all mine cars at each moment are judged by the method, and the mine cars are improved in time when the positions of the mine cars deviate, so that the mine car position information obtained in the invention is more accurate, and the subsequent mine car allocation work is facilitated.
It will be noted, then, that for the allocation of unmanned tramcars, the location of all tramcars at different times and the time required to transfer the load, as well as the route of travel of the allocated tramcars, are primarily considered. It is generally required that the allocated mine cars travel the shorter the distance they travel, i.e. the shorter the time they take to reach the location of the mineral to be transferred at different times, on the basis of the completion of the mineral transfer task. Therefore, the allocation priority of the mine car is determined according to the time of the mine car running to the position of the mineral to be transferred, and then the optimal allocation scheme is determined according to the allocation accuracy.
The method comprises the steps of obtaining the amount of minerals to be transported at a certain position of a mine field at the current moment, transporting the minerals to a destination in a time period as short as possible, and considering that the running path of a mine car is as short as possible so as to achieve the purpose of saving resources. When the mineral transferring tasks issued by the platform are obtained at the current moment, some mine cars may be executing the previous mineral transferring tasks; some mine cars may have completed a previous mineral transfer task, being en route to a mine car waiting point; some mine cars may wait for assignment at a mine car waiting point. Generally, a mine car that is performing a prior mineral transfer task needs to complete its own task and then participate in the assignment of the task at the current time. For the mine car which is executing the previous mineral transfer task, the destination of the task may be closer to the current task, so that all the mine cars in all states are allocated when the mine car allocation is carried out, and the time required for the mine car executing the previous mineral transfer task to complete the task is taken into account.
Meanwhile, it should be noted that the same carrying capacity of mine cars in the same mine field, the same time required for loading minerals by the mine cars, and the same running speed when the mine cars transfer minerals are required. To a batch of mineral of treating the transportation, in order to transport it in time, need distribute a plurality of mine cars and transport, consider that a plurality of mine cars can cause the condition that blocks up on the transfer route simultaneously, set for in this embodiment, a plurality of mine cars send out in proper order, send a mine car constantly. Since the time required for each mine car to load the mineral is
The time interval for the allocated tramcar to reach the position of the mineral to be transferred is
I.e. in this embodiment the time intervals of adjacent time instants are set to
。
And acquiring the length of the running route of the mine car according to the positions of all the mine cars and the positions of the minerals to be transferred, and acquiring the time of each mine car reaching the positions of the minerals to be transferred according to the length of the running route corresponding to the mine car and the running speed to record the transfer time of the mine car. The transferring time of the mine car transferring the minerals at the current moment is the sum of the time of the mine car transferring the minerals to complete the transferring task and the time required from the position where the mine car is located after completing the transferring task to the place where the task to be transferred is newly issued at the current moment; the idle transfer time of the mine car at the current moment is the time required for the mine car to reach the place of the task to be transferred newly issued at the current moment.
Specifically, when the state of the mine car at the current moment is that the mineral transfer task is being executed, the time required by the mine car to complete the task being executed and the time required by the mine car from the task destination to the place of the task to be transferred newly issued at the current moment after the task are completed are obtained, and the two time are added to obtain the transfer time of the mine car. When the state of the mine car is idle at the current moment, the mine car can be located at the waiting point of the mine car, or the mine car can be returning to the waiting point of the mine car on the way, so that the time required from the position of the mine car to the newly issued place of the task to be transferred at the current moment can be directly acquired, namely the transfer time of the mine car.
And finally, arranging the mine cars in a sequence from small to large according to the length of the transfer time at the current moment, taking the mine cars as the distribution priorities of the mine cars according to the arrangement sequence, and distributing the mine cars according to the distribution priorities. That is, the mine car corresponding to the shortest transit time is arranged at the first position, and the first mine car is assigned with the task. The shorter the transfer time of a mine car, the more efficiently the corresponding mine car can reach the location of the mineral to be transferred. In actual allocation, allocation is performed according to allocation priorities, and the most accurate allocation can be obtained more quickly.
And step two, re-acquiring the mine car corresponding to the shortest transfer time at each moment in the future, recording the planned route of the mine car corresponding to the shortest transfer time for transferring minerals at the corresponding moment as a first route, and acquiring the planned route of each mine car for transferring minerals at the current moment.
First, the time at which all mine cars arrive at the location of the mineral to be transported at different times is expressed as:
wherein,
indicating the transit time of the 1 st car at time 1,
indicates the 1 st time
The transit time of the vehicle mine car,
indicating the transit time of the 1 st car at time t,
indicates the t-th time
Transit time of the car. Since the time required for each mine car to load the mineral is
Of the current transfer taskEvery other destination
To a mine car.
And further acquiring the minimum value of the transfer time of all mine cars at each moment, and recording the minimum value as:
wherein,
represents the minimum value of the transit times of all the tramcars at the moment 1,
represents the minimum value of the transit times of all the tramcars at the moment 2,
represents the minimum value of the transit times of all the tramcars at the time t. And distributing and sequencing the mine cars to be distributed at the same moment according to the length of the transfer time, arranging the mine cars to be distributed according to the sequence of the transfer time from small to large, distributing according to the arrangement sequence, and sequencing the mine cars again according to the transfer time at each moment. Due to the time interval of adjacent time instants being
Then after a time interval has elapsed after the current time of day at which the car was allocated, the status of some of all cars is refreshed, there may be some new empty cars, and the transfer time for that car is shorter. The shorter the transfer time of a mine car is, the higher the efficiency of the corresponding mine car to reach the position where the mineral to be transferred is. Therefore, in actual distribution, each time is distributed according to the distribution priority corresponding to the time, and the most accurate distribution can be obtained more quickly.
Then, it should be noted that, in the process of transferring minerals by actual mine cars, when a certain number of mine cars travel on the same route, there may be too many car-meeting events due to the overlapping of the routes of a plurality of mine cars, and further congestion or jam events may occur, and besides the transfer time, the travel route of the mine cars when performing the transfer task needs to be considered.
Because the transfer task is issued at the current moment, the decision is only needed to be made at the current moment, namely, the optimal effect and the highest efficiency of the allocation of the mine car at the current moment are only needed to be obtained. According to the embodiment, firstly, the tramcars are pre-distributed according to the distribution priority at the current moment, and then the accuracy of the distribution work at the current moment is analyzed. This requires consideration of whether the mine cars delivered at each time in the future will have an effect on the currently delivered mine cars, and further requires a priori estimation of the mine car allocation strategy at each time in the future.
In this embodiment, only the mine car with the shortest transfer time is considered when estimating the mine car allocation strategy at each time in the future, because the shorter the transfer time of the mine car, the shorter the time required for the mine car to perform the transfer task, and since the speed of each mine car is constant and the same, the more efficiently the mine car with the shorter transfer time reaches the location of the mineral to be transferred. Therefore, the mine car with the shortest running time at the first future time is obtained according to the distribution priority corresponding to the first future time, wherein the first future time refers to the next time at the current time. And further obtaining the mine car with the shortest transit time at the corresponding moment according to the distribution priority corresponding to each moment in the future.
Finally, according to the method, when the mine cars are pre-distributed at the current moment, only the mine car distribution strategy at the current moment needs to be distributed according to the distribution priority, and only the mine car with the shortest transfer time is selected for distribution according to the mine car distribution strategy at each future moment after the current moment.
Because the speed of each mine car is constant and the same, and the position of each mine car at the current moment and the position of the mineral to be transferred are known, the position of each mine car at the current moment is taken as a starting point, the position of the mineral to be transferred is taken as an end point, and route planning is carried out, so that the planned route of each mine car on the map when the mineral is transferred at the current moment can be obtained. After the position of the tramcar corresponding to the shortest transfer time at each moment in the future is estimated, route planning is carried out on the tramcar according to the same method, and the planned route of the tramcar corresponding to the shortest transfer time on the map when the tramcar transfers minerals at the corresponding moment is marked as a first route. The known starting point and the known end point are known technologies for planning the route, and are not described in detail herein, and due to different actual geographic conditions of the mine field, the planned route corresponding to the mine car may be different, and the implementer may select a suitable method to obtain the planned route according to the actual conditions.
Estimating the number of times of crossing of the mine car at the current moment in the mineral transferring process according to the planned route corresponding to the mine car at the current moment and the first route of the mine car at each subsequent moment, and obtaining the average value of the number of the mine cars on the planned route of the mine car at the current moment; and calculating the distribution accuracy of the mine cars at the current moment according to the corresponding meeting times of the mine cars at the current moment, the mean value of the number of the mine cars and the transfer time.
Firstly, it should be noted that, when a mine car is allocated at the current time, the situation of the planned route corresponding to the mine car to be allocated at the current time needs to be analyzed according to the position of the mine car, and a car meeting event which may occur with other mine cars on the planned route of each mine car to be allocated at the current time is obtained. Since there may be mine cars assigned at some future time or at some time in the planned route of the mine cars to be assigned at the present time, the distribution of the mine cars in the planned route of the mine cars to be assigned at the present time is analyzed to reflect the accuracy with which the mine cars are assigned.
And estimating the corresponding position of each mine car on the route of the map at each future moment according to the planned route corresponding to the mine car at the current moment, the first route of each mine car at each subsequent moment and the speed of each mine car, and acquiring the meeting times of the mine cars at the current moment in the process of transferring minerals according to the estimated positions of the mine cars.
Then, assume that the current time is the first
At this moment, the mine car with the shortest transit time at the current moment, that is, the mine car with the first assigned priority, is obtained first, and the description will be given by taking this mine car as an example. In order to accurately judge the influence of the mine car allocation after the current time on the planned route of the first allocated mine car at the current time, the influence of the first route of the allocated mine car after the current time on whether the planned route of the allocated mine car at the current time is overlapped needs to be considered.
The running time of each mine car from the position of the mineral to be transported at the current moment to the destination terminal point of the transport task at the current moment is obtained as
It can be approximated that the travel path of each mine car during the transfer includes the necessary travel path, and the transfer time of each mine car also includes the time required to travel the necessary travel path, i.e. the time required to travel the necessary travel path
. In the present embodiment, it is considered to be after the current time
The travel path of the mine cars allocated during the time period has an effect on the allocation of mine cars at the current time. So as to firstly to the current time later
Allocating the mine car with the shortest transit time corresponding to each moment in the time period, acquiring the corresponding first route, and estimating the mine car after the current moment
And analyzing the mine car distribution condition at the current moment according to the position of the mine car at each moment in the time period.
Setting the length of a surrounding route, acquiring the time interval of the mine cars at the current moment in the future at each moment, and acquiring the number of the mine cars in the range of the length of the surrounding route of the mine cars in each time interval; and calculating the average value of the number of the mine cars corresponding to all the moments to obtain the average value of the number of the mine cars on the planning route of the mine cars at the current moment.
Specifically, the peripheral route length is set to be the same in the present embodiment
In practice, because the planned route of each mine car is different in length, the set length of the peripheral route is different, and an implementer can set the length of the peripheral route according to the actual conditions such as the length of the planned route of the mine car. For the planned route of the mine car which is first allocated at the current moment, acquiring each mine car
Has a peripheral path length within a time interval of
The number of mine cars in the range of (1), and then all
The time interval of (2) is the average of the number of mine cars.
And finally, calculating the distribution accuracy of the mine cars at the current moment according to the number of meeting times corresponding to the mine cars at the current moment, the average value of the number of the mine cars and the transfer time. The mine cars are pre-distributed at the current moment according to the method, and if the number of times of car meeting events possibly occurring in the mine cars at all the future moments is estimated to be large on the planned route of the first distributed mine car at the current moment, the planned route of the mine car is overlapped with the routes of the large number of mine cars, and further the condition that road congestion or road blockage occurs on the planned route of the first distributed mine car at the current moment is caused, the accuracy degree of distribution of the mine cars is not high. Therefore, the number of times of meeting events that may occur for the allocated tramcars is used as an influence index of the allocation accuracy of the tramcars, and the relationship between the number of times of meeting events for the allocated tramcars and the allocation accuracy of the tramcars is in a negative correlation, and although the relationship between the number of times of meeting events for the allocated tramcars and the allocation accuracy of the tramcars is in a negative correlation, the relationship is not a linear relationship. Where the tramcars that make the route overlap may include tramcars assigned at some time or times in the future.
If there are a greater number of cars in a short route traveled by the car at each time interval on the planned route for the first car assigned at the present time, this may indicate a congestion or jam event on that route, reducing the efficiency of mineral transfer by the car, indicating that the car is assigned less accurately. And further calculating the average value of the number of the mine cars of each section on the whole planning route so as to reflect the distribution condition of the mine cars distributed on the planning route, taking the average value of the number of the mine cars as an influence index of the distribution accuracy of the mine cars, and enabling the relationship between the average value of the number of the mine cars and the distribution accuracy of the mine cars to be in a negative correlation relationship. Although the average number of mine cars is inversely related to the accuracy of the distribution of mine cars, it is not a linear relationship.
The transfer time corresponding to the mine car which is first distributed at the current moment is the shortest of all mine cars to be distributed at the current moment, and the strategy of distribution at the current moment is carried out according to the arrangement sequence of the transfer time from small to large. The shorter the transfer time of a car, the shorter the time it takes for that car to perform the transfer task, and the more efficiently it is that car with the shorter transfer time reaches the location of the mineral to be transferred, since the speed of each car is constant and the same. Therefore, the transfer time of the mine cars is used as an influence index of the distribution accuracy of the mine cars, and the relationship between the transfer time of the mine cars and the distribution accuracy of the mine cars is in a negative correlation relationship. Although the relationship between the transfer time of a mine car and the accuracy of the distribution of the mine car is a negative correlation, the relationship is not linear.
Calculating the distribution accuracy of the mine cars according to the functional relationship, and expressing the distribution accuracy as follows by using a formula:
wherein,
is shown as
The accuracy of the distribution of the vehicle mine cars,
is shown as
At the first moment
The transit time of the vehicle mine car,
is shown as
The number of times a vehicle-to-vehicle meeting occurs during the transfer of goods,
a time interval representing the time of an adjacent time instant,
denotes the first
A set period of time after the time of day,
representing the number of mine cars in the k-th time interval over the length of the route around the car, e being a natural constant.
At the same time, since it is considered in the present embodiment to be at presentAfter the moment of time
The travel route of the allocated mine car within the time period has an effect on the allocation of mine cars at the present time. So that the current time is first followed
The mine car with the shortest transit time corresponding to each moment in the time period is distributed, and the mine cars are distributed
And indicating a set time period after the current time, and analyzing the mine car condition in the set time period.
The distribution accuracy of the mine cars to be distributed at the current moment is calculated according to the method, the distribution priority of the mine cars to be distributed is determined according to the transfer time of the mine cars, the problems of car crossing and blockage in the running process of the mine cars are considered, and the accuracy of the distributed mine cars is analyzed by estimating the positions of the distributed mine cars, so that excessive car crossing of the distributed mine cars in the running process is avoided, and the situation that the same route has a dense road section is avoided.
And step four, distributing the mine cars with the maximum registration accuracy in the distribution priority at the current moment, and distributing the mine cars at the next moment according to the same method until the number of the distributed mine cars meets the number of the mine cars required by the minerals to be transferred, so that the distribution of the mine cars is completed.
Specifically, in this embodiment, the current time is used for description, pre-allocation is performed according to the allocation priority of the mine cars at the current time, and then the allocation accuracy is analyzed to calculate the allocation accuracy of the mine cars. In practice not all mine cars will have the necessity of allocation, so the mine cars to be allocated at the current time are ranked according to the length of time of transfer, the first 40% of the mine cars after ranking are selected, the allocation accuracy for these mine cars is then calculated, the mine car with the greatest allocation accuracy is selected, and the transfer task is allocated at the current time.
It should be noted that, when the range of the number of mine cars to be considered is selected according to the transfer time or the allocation priority, the implementer can set the range according to the actual situation, and the implementer has different attention degrees on the transfer time, and the selected range is different. As only one mine car is selected to distribute the transfer tasks at the current moment, the transfer time is considered, the distribution accuracy degree is also considered, and the mine car with the maximum accuracy degree is selected to distribute the transfer tasks at the current moment, so that the distributed mine cars can be the optimal mine car distribution scheme, and the utilization efficiency of mine car resources is improved.
The optimal allocation plan at the current moment is determined according to the method, and as one mine car is sent out at each moment, after the allocation of the mine cars at the current moment is determined, the allocation of the mine cars at each subsequent moment is performed according to the same method until the allocation of the mine cars is completed when the number of the allocated mine cars meets the number of mine cars required by the minerals to be transferred. Wherein, the total amount of the minerals to be transferred at the current moment is M, the loading capacity of each mine car capable of loading the minerals is Q, and the quantity of the mine cars required for transferring the batch of minerals is M
。
Example 2:
the present embodiment provides a resource priority allocation apparatus for an unmanned mining vehicle, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of a resource priority allocation method for an unmanned mining vehicle. Since the resource priority allocation method for the unmanned mine car has been described in detail in example 1, it will not be described in detail herein.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not cause the essential features of the corresponding technical solutions to depart from the scope of the technical solutions of the embodiments of the present application, and are intended to be included within the scope of the present application.
Claims (6)
1. A resource priority allocation method for unmanned mine cars is characterized by comprising the following steps:
acquiring the quantity of mine cars required by minerals to be transferred at the current moment and the positions of the minerals to be transferred, estimating the time of each mine car reaching the positions of the minerals to be transferred at the current moment, recording the time as the transfer time of the mine cars, arranging the transfer time in a descending order, and determining the distribution priority of the mine cars at the current moment according to the arrangement order;
re-acquiring the mine car corresponding to the shortest transfer time at each moment in the future, recording the planned route of the mine car corresponding to the shortest transfer time for transferring minerals at the corresponding moment as a first route, and acquiring the planned route of each mine car for transferring minerals at the current moment;
estimating the number of times of crossing of the mine cars at the current moment in the mineral transferring process according to the planned route corresponding to the mine cars at the current moment and the first route of the mine cars at each subsequent moment, and obtaining the average value of the number of the mine cars on the planned route of the mine cars at the current moment; calculating the distribution accuracy of the mine cars at the current moment according to the corresponding meeting times of the mine cars at the current moment, the mean value of the number of the mine cars and the transfer time;
the method for acquiring the distribution accuracy of the mine car at the current moment specifically comprises the following steps:
wherein, ET u Indicating the dispensing accuracy, T, of the u-th car t1_u Indicating the transit time, n, of the u-th car at time t1 u Representing the number of times of meeting of the u-th mine car during the transfer of goods, Δ T representing the time interval between adjacent times, Δ T representing a set time period after the T1-th time, m k Representing the number of mine cars in the k-th time interval within the range of the length of the route around the mine car, e being a natural constant,
and distributing the mine cars with the maximum registration accuracy in the distribution priority at the current moment, and distributing the mine cars at the next moment according to the same method until the quantity of the distributed mine cars meets the quantity of the mine cars required by the minerals to be transferred.
2. The method for preferentially allocating resources of unmanned mining vehicles according to claim 1, wherein the transit time is specifically:
the transferring time of the mine car transferring minerals at the current moment is the sum of the time for completing the transferring task of the mine car transferring minerals and the time required from the position where the mine car is located after completing the transferring task to the newly issued place of the task to be transferred at the current moment;
the transfer time of the empty mine car at the current moment is the time required for the mine car to reach the place of the task to be transferred newly issued at the current moment.
3. The resource priority allocation method for the unmanned mine car as claimed in claim 1, wherein the method for acquiring the number of times of car crossing is specifically as follows:
and predicting the position of each mine car at each future moment according to the planned route corresponding to the mine car at the current moment and the first route of the mine car at each subsequent moment, and acquiring the meeting times of the mine car at the current moment in the mineral transferring process according to the position of the mine car.
4. The method for preferentially allocating the resources of the unmanned mine car according to claim 1, wherein the method for obtaining the average value of the number of the mine cars on the planned route of the mine car at the current moment specifically comprises:
setting the length of a surrounding route, acquiring the time interval of the mine cars at the current moment in the future at each moment, and acquiring the number of the mine cars in the range of the length of the surrounding route of the mine cars in each time interval; and calculating the average value of the number of the mine cars corresponding to all the moments to obtain the average value of the number of the mine cars on the planning route of the mine cars at the current moment.
5. The method for preferentially allocating the resources of the unmanned mining vehicle as claimed in claim 1, wherein the step of allocating the mining vehicle with the highest accuracy in the allocation priority of the current time at the current time is as follows: and allocating the mine car with the highest registration accuracy in the mine cars of the first 40% of the allocation priority at the current time.
6. An apparatus for preferentially allocating resources of an unmanned mining vehicle, comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the computer program, when executed by the processor, implements the steps of a method for preferentially allocating resources of an unmanned mining vehicle as claimed in any one of claims 1 to 5.
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| CN108594821A (en) * | 2018-05-08 | 2018-09-28 | 陕西同力重工股份有限公司 | Unmanned mine car positioning and autonomous tracing in intelligent vehicle |
| CN113758495A (en) * | 2021-09-10 | 2021-12-07 | 上海伯镭智能科技有限公司 | Road finding method based on mine unmanned driving |
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| CN114565133A (en) * | 2022-01-20 | 2022-05-31 | 江苏徐工工程机械研究院有限公司 | Strip mine vehicle scheduling method and device |
| WO2022168621A1 (en) * | 2021-02-02 | 2022-08-11 | 日立建機株式会社 | Mine management system |
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| CN108594821A (en) * | 2018-05-08 | 2018-09-28 | 陕西同力重工股份有限公司 | Unmanned mine car positioning and autonomous tracing in intelligent vehicle |
| WO2022027805A1 (en) * | 2020-08-04 | 2022-02-10 | 长沙矿冶研究院有限责任公司 | Deep-sea mining vehicle trajectory control system and method, and deep-sea mining vehicle |
| WO2022168621A1 (en) * | 2021-02-02 | 2022-08-11 | 日立建機株式会社 | Mine management system |
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