Research On The Cooperative Relationship Of Unmanned Trucks Multi-agent System In Open-pit Mine

As the latest product of the new generation of artificial intelligence and engineering technology,unmanned trucks have begun to appear in major coal mines in our country,indicating that the intelligent transformation of traditional industries will usher in a new wave.Open-pit mining is a systematic project.Multiple material flows such as coal flow,rock flow,and soil flow between multiple steps,multiple loading points,and multiple dumping points in the stope and dumping site flow together,and the production scene is extremely complicated.If the intermittent and semi-continuous mining technology systems are fully transported by unmanned trucks,the cooperative relationship between unmanned trucks and other equipment,as well as the change law of operation time and work quantities,will become the key problems affecting the formulation of production plan and production organization management of unmanned trucks transportation mining technology system.In response to the above problems,from the point of view of system science,a research method system of unmanned trucks multi-agent cooperative relationship in open-pit mines is proposed.The method system takes the electric shovel-unmanned trucks mining technology system and the semi-continuous mining technology system as the research objects.Firstly,a layered comprehensive integrated modeling method was used to establish a homomorphic model of the unmanned trucks mining technology system represented by the actual physical system,multi-agent system,and parallel artificial software system.And abstract modeling of unmanned trucks mining technology system is carried out from three different research perspectives:mechanical equipment,operation method and virtual production process.Secondly,taking the multi-agent system as the core layer of the mapping from physical space to information space,the system component agent models with observation ability,learning ability and interaction ability such as unmanned truck,electric shovel,crusher,belt conveyor,bulldozer and dispatching center are established,and on this basis,from the perspective of the cooperative operation relationship of unmanned trucks,the cooperative relationship models for describing the system structure are established,such as cooperative loading,cooperative scheduling,cooperative transportation,cooperative unloading,cooperative transportation and cooperative dumping.Then,aiming at the equipment failure interval prediction problem and the truck path planning problem,which have a great influence on the coordinated operation time of equipment and the total output in the multi-agent system,the intelligent optimization algorithms such as neural network prediction model based on exponential smoothing method,multi-objective fusion path planning model based on reinforcement learning,path planning model based on NSGA-Ⅲ and path planning model based on improved RRT are proposed respectively.Finally,based on the cooperative relationship of multi-agent system and the corresponding intelligent optimization algorithm,a parallel artificial software system which can simulate the production process of unmanned trucks process system is designed by using multi-threaded concurrency technology,and the numerical simulation of cooperative operation process among multi-agents is realized.The research results have formed an integrated technology of system modeling,intelligent optimization and simulation with multi-agent cooperative relationship as the core,which not only improves and develops the relevant theories of open-pit mining process system under the condition of modern mining technology,but also has important theoretical and practical significance for realizing the real implementation of unmanned technology in open-pit mining industry.The paper has 54 figures,23 tables and 122 references.