Optimization For Transportation Efficiency Of Single Bucket-Unmanned Truck Discontinuous System In Open-pit Coal Mines

Unmanned trucks will face the transportation efficiency optimization problems of how to interact with unmanned trucks,how to interact with manned equipment,and where to go after dumping in the transportation link.However,the transportation scenario under the single bucket-truck system with unmanned trucks has changed from human-human interaction to human-machine and machine-machine interaction,causing a lack of corresponding strategies;Also the current dispatch strategy can be optimized for the common domestic open-pit coal mine transportation scenario with near-horizontal coal seams.Taking the proposed Single Bucket-Unmanned Truck Discontinuous System as the research background,this thesis carries out the research on the optimization strategy of Single Bucket-Unmanned Truck Discontinuous System transportation efficiency in open-pit coal mine with the efficient intersection coordination access strategy among unmanned trucks,safe coordination operation strategy between unmanned trucks and manned equipment,and reliable real-time dispatch strategy with the goal of optimizing transportation efficiency,intelligent body simulation as the main verification means,and analyzes the coupling relationship between technology,economy and transportation efficiency.The main research work and conclusions are as follows:(1)Single bucket excavator-unmanned truck system: Based on the current situation of unmanned technology application in open pit mines at home and abroad,comparing the characteristics of manned and unmanned technology,analyzing the characteristics of Single Bucket-Unmanned Truck Discontinuous System,establishing the system architecture of Single Bucket-Unmanned Truck Discontinuous System,discussing the changes and implementation path of Single Bucket-Unmanned Truck Discontinuous System in operation,summarizing the characteristics of unmanned technology and unmanned system in open pit mines,and analyzing the operation process of mining,transportation and dump of Single Bucket-Unmanned Truck Discontinuous System;(2)Intersection Access Strategies between Multiple Unmanned Trucks: Based on the gap theory,the common cross-conflict and merging conflict at intersections of unmanned trucks in open pit coal mines are analysed on the basis of known right-of-way allocation,their conflict characteristics are analysed,a coordination access strategy is established,a multi-agents simulation platform is built,and the intersection traffic density and truck speed and gap changes are used as KPI to evaluate the coordination access efficiency under different initial average truck gap.The results show that under the simulation conditions of this thesis,when the initial average truck gap reaches 3(4)times or more the safety distance,the coordinated traffic performance of the intersection conflict(merging)conflict is better,and the intersection capacity is close to the capacity when there is no conflict.(3)Unmanned Trucks and Auxiliary Equipment Coordinate Operational Strategies: The unmanned truck and manned equipment are classified as parallel and non-parallel operation,a static operation area control strategy is established for non-parallel operation,a dynamic operation area control strategy based on segmented travel permit control is proposed and established for parallel operation,a coordinated operation strategy between the unmanned truck and multiple manned equipment is designed,a multi-agents simulation model is built,and the results show that: the design logic can effectively monitor potential conflicts when multiple manned equipment are present and make corresponding speed control strategies,which verifies the correctness of the strategy design;(4)Non-Continue Real-time Dispatching Strategy for Unmanned Trucks: In the context of an open pit coal mine with a near-horizontal coal seam,which is common in China,with the objective of "completing the production plan with the minimum number of trucks",the Non-Continue dispatch strategy was established with multi-stage strategy as the basic structure and the real-time dispatch strategy as the main object of research,and a dispatch simulation system was built to compare the DISPATCH dispatch strategy.The results show that the effective transportation capacity of each route is improved under the Non-Continue real-time dispatch strategy,and the completion rate of the production plan is increased from 92.12% to 99.73%compared with DISPATCH,and the total transportation capacity is increased compared with the design transportation capacity;(5)Transport efficiency analysis of Single Bucket-Unmanned Truck Discontinuous System: Based on the actual measurement data of unmanned trucks in open pit mines,the transport efficiency under manned and unmanned was compared and the importance of the factors affecting transport efficiency was analysed.The results show that the importance accounts for 64.3% of transport speed,14.2% of transport distance,13.1% of loading and unloading time and 8.4% of daily operation time,and that transport speed improvement is an important technical development direction for optimising transport efficiency;the coupling relationship between transport efficiency and economy is explored,and economic and reasonable transport efficiency is proposed.The coupling relationship with economic and reasonable stripping ratio is discussed.This dissertation includes 64 figures,29 tables,and 124 references.