img

QQ群聊

img

官方微信

高级检索

黄金科学技术 ›› 2023, Vol. 31 ›› Issue (4): 680-688.doi: 10.11872/j.issn.1005-2518.2023.04.165

• 采选技术与矿山管理 • 上一篇    下一篇

地下矿卡智能调度与生产管理系统设计及应用

刘鑫1(),王李管1,2,彭朝晖2,邹昀2,鲁芳3()   

  1. 1.中南大学资源与安全工程学院,湖南 长沙 410083
    2.长沙迪迈数码科技股份有限公司,湖南 长沙 410083
    3.湖南女子学院商学院,湖南 长沙 410004
  • 收稿日期:2022-11-02 修回日期:2023-04-25 出版日期:2023-08-30 发布日期:2023-09-20
  • 通讯作者: 鲁芳 E-mail:528286132@qq.com;345312045@qq.com
  • 作者简介:刘鑫(1995-),男,陕西安康人,硕士研究生,从事数字矿山研究工作。528286132@qq.com
  • 基金资助:
    国家重点研发计划课题“金属矿山生产及作业装备智能管控与实时调度平台”(2019YFC0605304);2023年湖南省社会科学成果评审委员会一般课题“湖南省矿产资源资产负债表实证研究”(XSP2023JJC041)

Design and Application of Intelligent Dispatching and Production Management System for Underground Mining Trucks

Xin LIU1(),Liguan WANG1,2,Zhaohui PENG2,Yun ZOU2,Fang LU3()   

  1. 1.School of Resources and Safety Engineering, Central South University, Changsha 410083, Hunan, China
    2.Changsha Digital Mine Co. , Ltd. , Changsha 410083, Hunan, China
    3.Deportment of Business, Hunan Women’s University, Changsha 410004, Hunan, China
  • Received:2022-11-02 Revised:2023-04-25 Online:2023-08-30 Published:2023-09-20
  • Contact: Fang LU E-mail:528286132@qq.com;345312045@qq.com

摘要:

现有关于无人矿卡调度与管理的研究较少,难以满足不断提高的矿卡无人化程度带来的新需求。基于对甘肃某地下矿无人矿卡的集群智能调度策略、调度业务流转和数据集成系统等现状分析,提出构建服务于无人矿卡调度的智能决策和过程管控集成系统平台,针对无人矿卡调度模式转换以及2种交通控制难题,提出了对应的智能调度策略,设计了总体架构和调度台、实时监控、调度可视化和生产管理等功能模块。系统成功应用于矿山管理,有效提高了无人矿卡集群调度效率和数据利用率,实现了调度决策智能化、数据管理集成化和调度管理模块化,充实了相关领域的研究工作,可为同类型矿山智能化转型提供参考。

关键词: 地下矿, 无人矿卡, 智能矿山, 智能调度, 调度算法, 集成系统

Abstract:

As a typical process industry,the mining of underground metal mines depends on the smooth operation of the ore transportation link,and the unmanned mine truck bears an indispensable and important responsibility in the ore transportation link,so the intelligent scheduling and management of the unmanned mine truck is the key to ensure the smooth production of the mine.There are few studies on the scheduling and management of unmanned mine trucks,and it is difficult to meet the new requirements brought by the increasing degree of unmanned mine trucks.Based on the analysis of the current situation of cluster intelligent scheduling strategy,scheduling business flow,and data integration system for unmanned mining trucks in a certain underground mine in Gansu province,an integrated system platform for intelligent decision-making,automatic scheduling,and process control serving unmanned mining trucks scheduling was proposed.In response to the transformation of unmanned mining trucks scheduling mode and two traffic control challenges,corresponding intelligent scheduling strategies were designed,and the overall architecture was designed.Some functional modules were designed,including scheduling console,real-time monitoring,scheduling visualization,and production management.The system platform has been successfully applied to the mine through the intelligent transformation of the mine truck,the construction of the intelligent dispatching system,and the development of the system.The application results show that the existing traffic control problems have been solved and the dispatching efficiency has been improved by 7.18% with the help of the intelligent dispatching system with the core of vehicle end scheduling algorithm,single-lane collision avoidance algorithm and merging truck algorithm.It provides a centralized and unified management and use platform for data,breaks the information island,and greatly improves the data utilization rate.Through vocational work split and process drive,the scheduling modular management is realized.The successful application of the platform has innovated the dispatching mode,supplemented the research in relevant fields,provides an important reference for the intelligent transformation of underground mines,and also provides reference experience for the development of cluster dispatching management system platform across equipment categories and production areas.

Key words: underground mine, unmanned mining truck, intelligent mine, intelligent dispatching, scheduling algorithm, integrated system

中图分类号: 

  • TD57

图1

单车道结构"

图2

会车算法流程图"

图3

岔道口结构注:红色实线区域为主巷道汇车检测区域,红色虚线区域为支巷道汇车检测区域"

图4

汇车算法流程图"

图5

矿卡智能调度与生产管理系统总体架构"

表1

标准化数据"

数据类别表项目和数量
结构化数据(143项)矿山基础数据(23项)
设备基础数据(17项)
矿卡调度数据(34项)
位置数据(8项)
……
非结构化数据(5项)车辆状态(1项)
定位数据(2项)
路网数据(1项)
生产动作数据(1项)

图6

无人矿卡行驶轨迹追踪"

图7

调度信息展示和人工调度"

图8

班次出矿量统计"

Bao Jiusheng, Liu Qin, Ge Shirong,et al,2020.Research status and development trend of intelligent technologies for mine transportation equipment [J].Journal of Intelligent Mine,1(1):78-88.
Bi L, Wang Z, Wu Z,et al,2022.A new reform of mining production and management modes under industry 4.0:Cloud mining mode[J].Applied Sciences,12(6):1-14.
Department of Raw Materials Industry,2020.Interpretation of “Guideliness for the Construction of Intelligent Factory(Mine) in Nonferrous Metals Industry(Trial)”[J].Energy Saving of Nonferrous Metallurgy,36(3):1-4.
Gu Desheng,2013.Three themes for the future of mining industry[J].China Economy and Informatization,(16):18-19.
Hu Jian,2022.The design method for intelligent production management technology of MES manufacturing execution system[J].Digital Technology and Application,40(9):154-156.
Hua Zuxu,2021.Research on path tracking control for autonomous driving vehicles[J].Equipment Manufacturing Technology,(6):100-103.
Jiao Chengyao, Wang Yongqiang, Zhang Xingfu,et al,2022.Research on intelligent fully mechanized coal mining equipment system and its reliability[J].Coal Engineering,54(2):166-171.
Li Haoran, Zhang Li, Lu Xin,et al,2022.Update method of open-pit mine digital map based on vehicle-cloud collaboration[J].Control and Information Technology,(5):44-52.
Li Honggang, Wang Yunpeng, Liao Yaping,et al,2019.Perception and control method of driverless mining vehicle[J].Journal of Beijing University of Aeronautics and Astronautics,45(11):2335-2344.
Li Wenhong, Zheng Jianzhi,2021.Research on automatic scheduling strategy for downhole dispatching transportation[J].Control Theory and Applications,38(6):757-765.
Liu Wei, Xia Yujie, Jia Jun,et al,2023.MES production scheduling model based on master-slave chain and edge computing[J].Journal of Zhengzhou University(Natural Science Edition),55(3):14-21.
Meng Dejiang, Tian Bin, Cai Feng,et al,2021.Road slope real-time detection for unmanned truck in surface mine[J].Acta Geodaetica et Cartographica Sinica,50(11):1628-1638.
Patil S D, Mitra A, Tuggali Katarikonda K,et al,2021.Predictive asset availability optimization for underground trucks and loaders in the mining industry[J].Opsearch,58(3):751-772.
Rao Yunqing, Li Peigen, Li Shuxia,et al,2002.A review of the development of manufacturing execution systems(MES)[J].Mechanical Science and Technology for Aerospace Engineering,(6):1011-1016.
Tas M O, Yavuz H S, Yazici A,2020.High-definition map update framework for intelligent autonomous transfer vehicles[J].Journal of Experimental and Theoretical Artificial Intelligence,33(5):847-865.
Tian Chen, Ding Zhen, Li Zhenjiang,et al,2022.The overall design for unmanned transportation system in the mining area[J].Journal of Mine Automation,48(9):109-115.
Wang H, Liu L, Fei Y,et al,2016.A collaborative manufacturing execution system oriented to discrete manufacturing enterprises[J].Concurrent Engineering,24(4):330-343.
Wang Liguan, Chen Xin,2016.Advancing technologies for digital mine[J].The Chinese Journal of Nonferrous Metals,26(8):1693-1710.
Yuan X, Chen Y, Liu B,et al,2020.Advanced planning and scheduling system based on multi-resource closed-loop management[C]//IEEE Proceedings of International Conference on Industrial Engineering and Engineering Management.Singapore:IEEE.
Zhang L, Hu T, Min Y,et al,2020.A taxi order dispatch model based on combinatorial optimization [C]//IEEE Proceedings of the 23rd ACM SIGKDD International Conference on Knowledge Discovery and Data Mining.Halifax:IEEE.
Wang J X, Lim M K, Zhan Y Z,et al,2020.An intelligent logistics service system for enhancing dispatching operations in an IoT environment [J].Transportation Research Part E:Logistics and Transportation Review,135:101886.
Zhang Lun,2021.Linear control of mine-used self-unloading trucks for driverless[J].Industry and Mine Automation,47(Supp.1):88-90.
Zhao Hailei, Zeng Chuigang, Wang Liming,et al,2021.Development and application of intelligent collision avoidance system for trackless transportation in long-distance single-lane tunnels[J].Tunnel Construction,41(6):956-963.
Zhao Wei, Li Wei, Huang Shuwei,et al,2018.Construction and practice of intelligent green mine for Sanshandao gold mine[J].Gold Science and Technology,26(2):219-227.
Zhou Bin, Tang Lijun, Liu Shisen,2022.Design of path planning for underground vehicle based on genetic algorithm [J].Coal Mine Machinery,43(1):23-26.
鲍久圣,刘琴,葛世荣,等,2020.矿山运输装备智能化技术研究现状及发展趋势[J].智能矿山,1(1):78-88.
工信部原材料工业司,2020.《有色金属行业智能工厂(矿山)建设指南(试行)》解读[J].有色冶金节能,36(3):1-4.
古德生,2013.矿业未来三主题[J].中国经济和信息化,(16):18-19.
胡建,2022.智能化生产管理技术MES制造执行系统设计方法[J].数字技术与应用,40(9):154-156.
化祖旭,2021.自动驾驶汽车路径跟踪控制算法综述[J].装备制造技术,(6):100-103.
焦承尧,王永强,张幸福,等,2022.煤矿智能化综采装备系统及其可靠性分析[J].煤炭工程,54(2):166-171.
李浩然,张利,陆鑫,等,2022.基于车云协同的露天矿山数字地图更新方法[J].控制与信息技术,(5):44-52.
李宏刚,王云鹏,廖亚萍,等,2019.无人驾驶矿用运输车辆感知及控制方法[J].北京航空航天大学学报,45(11):2335-2344.
李文宏,郑建志,2021.井下调度运输的自动调度策略研究[J].控制理论与应用,38(6):757-765.
刘炜,夏玉洁,贾骏,等,2023.基于主从链和边缘计算的MES生产调度模型[J].郑州大学学报(理学版),55(3):14-21.
孟德将,田滨,蔡峰,等,2021.面向无人驾驶矿车的露天矿山道路坡度实时检测方法[J].测绘学报,50(11):1628-1638.
饶运清,李培根,李淑霞,等,2002.制造执行系统的现状与发展趋势[J].机械科学与技术,(6):1011-1016.
田臣,丁震,李镇江,等,2022.矿区无人运输系统总体设计[J].工矿自动化,48(9):109-115.
王李管,陈鑫,2016.数字矿山技术进展[J].中国有色金属学报,26(8):1693-1710.
张伦,2021.矿用自卸卡车无人驾驶线控改装[J].工矿自动化,47(增1):88-90.
赵海雷,曾垂刚,王利明,等,2021.长距离单车道隧道无轨运输智能避让系统研制及应用[J].隧道建设(中英文),41(6):956-963.
赵威,李威,黄树巍,等,2018.三山岛金矿智能绿色矿山建设实践[J].黄金科学技术,26(2):219-227.
周斌,唐丽均,刘世森,2022.基于遗传算法的井下车辆路径规划设计[J].煤矿机械,43(1):23-26.
[1] 孙越,邹昀,康文宝,王黎明,贾智. 地下无人矿卡智能调度系统框架及应用研究[J]. 黄金科学技术, 2023, 31(1): 133-143.
[2] 谭正华,文阳,王李管,李国泰. 基于关键链的地下矿采掘计划编制优化方法[J]. 黄金科学技术, 2021, 29(4): 602-611.
[3] 李杰林,杨承业,彭朝智,周科平,刘锐凯. 三维激光扫描技术在地下巷道岩体结构面识别的应用[J]. 黄金科学技术, 2021, 29(2): 236-244.
[4] 王京华,王李管,毕林. 基于计算机视觉技术的矿井电机车无人驾驶障碍物检测技术[J]. 黄金科学技术, 2021, 29(1): 136-146.
[5] 毕林,王黎明,段长铭. 矿井环境高精定位技术研究现状与发展[J]. 黄金科学技术, 2021, 29(1): 3-13.
[6] 戚伟,李威,李振阳,赵国彦. 基于CRITIC-CW法的地下矿岩体质量评价[J]. 黄金科学技术, 2020, 28(2): 264-270.
[7] 刘晓明,邓磊,王李管,邓顺华,杨新锋,万由,贺艳军. 地下金属矿智能矿山总体规划[J]. 黄金科学技术, 2020, 28(2): 309-316.
[8] 毕林,段长铭,任助理. 基于RANSAC的地下矿山巷道边线检测算法[J]. 黄金科学技术, 2020, 28(1): 105-111.
[9] 胡建华,徐朔寒,徐泽林,韩磊. 城市地下矿山采矿方法的数值与熵权耦合优选[J]. 黄金科学技术, 2019, 27(4): 513-521.
[10] 刘定一, 王李管, 陈鑫, 钟德云, 徐志强. 地下矿中长期计划多目标优化及应用研究[J]. 黄金科学技术, 2018, 26(2): 228-233.
[11] 聂兴信,张国丹. 基于熵值法—突变理论的地下矿山紧急避险系统可靠性研究[J]. 黄金科学技术, 2016, 24(6): 72-77.
[12] 罗周全,秦亚光,周吉明. 采空区三维可视化集成系统CAD交互接口研发[J]. 黄金科学技术, 2015, 23(5): 41-46.
[13] 秦亚光,罗周全,周吉明,汪伟,孙杨. 采空区可视化集成系统信息管理研究与应用[J]. 黄金科学技术, 2015, 23(2): 57-62.
[14] 陈建宏,曾闵,李涛,江时雨. 基于物元分析—未确知测度理论的地下矿山安全避险“六大系统”可靠性评估方法[J]. 黄金科学技术, 2015, 23(1): 80-84.
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
[1] 胡琴霞, 陈凯, 陈超, 张圣潇. 广东那程银金矿床地质特征及成矿规律浅析[J]. J4, 2011, 19(1): 16 -20 .
[2] 陈力子, 曹东宏, 杨登美. 陕西金龙山金矿古楼山矿段元素地球化学特征[J]. J4, 2011, 19(1): 28 -33 .
[3] 赵海,崔学武,徐伦先. 吉林汪清九三沟金矿床地质及同位素特征探讨[J]. J4, 2008, 16(1): 48 -51 .
[4] 张华全,张维昕,李洪杰. 山东胶莱盆地金矿成矿条件及找矿方向[J]. J4, 2008, 16(2): 12 -17 .
[5] 臧恩光,衣存昌,张春晓. 黑龙江桦南砾岩金矿地质特征及找矿标志[J]. J4, 2008, 16(2): 29 -32 .
[6] 马树江, 柳志进. 莱西山后金矿区地化特征及深部矿体预测[J]. J4, 2007, 15(1): 34 -40 .
[7] 陆树林, 苏建华. 顶吹烟化法在回收铟中的应用[J]. J4, 2010, 18(4): 71 -74 .
[8] 陈满 ,周殿宇 ,李德新. 大兴安岭森林景观区金化探异常查证方法探讨[J]. J4, 2008, 16(1): 24 -27 .
[9] 曲晖, 史瑞民. 黑龙江东安金矿成矿的构造条件分析[J]. J4, 2007, 15(1): 23 -25 .
[10] 林洪勇. 双鸭山七星河金矿矽卡岩中金矿化地质特征、成矿规律及矿床成因探讨[J]. J4, 2008, 16(3): 26 -29 .