Research On Dynamic Traffic Flow Planning And Scheduling Model And Simulation Of Unmanned Truck In Open-pit Mine

With the in-depth integration of industrialization and information technology,the development of open-pit mine information,intelligence and unmanned has become the irresistible trend.How to efficiently and reasonably plan and dispatch driverless trucks has become an urgent problem for new open-pit mining enterprises.In this paper,based on the predecessors’ studies of open pit mine truck traffic planning and scheduling,the driverless trucks may encounter in the process of mining production condition are analyzed,and the key factors influencing the unmanned trucking are determined.Consequently,a multi-objective dynamic traffic planning and scheduling model has been established,which is devoted to minimizing the total transportation cost,trucks queuing time,ore grade deviation.Then,a new multi-objective traffic planning and scheduling algorithm(RPSC-NSGA-Ⅱ)has been designed to solve the model,which is a traffic planning and scheduling algorithm baesd on refrence point strength constraint dominating relations.The driverless trucks dynamic traffic planning and scheduling in open pit mine has been achieved,and provides a solution for the open pit mine to realize unmanned transport.The main works are as follows:(1)The relevant studies of trucks traffic flow planning and scheduling problem are combed.Firstly,the research status of trucks traffic flow planning and scheduling model,solution methods,and the development and application status of driverless truck in mining area are systematically sorted out and summarized.Then,the basic theory of open-pit truck flow planning and scheduling and the related theories of multi-objective optimization are summarized,which provides the main theoretical basis and lays a certain theoretical foundation for solving the problem of open-pit truck flow planning and scheduling(2)A dynamic traffic flow planning and scheduling model based on different scenarios is constructed.On the basis of previous studies,and considering the actual demand of mining enterprises,this paper determined to minimize the total transportation cost,the total idle time of the truck,and the deviation of ore grade as the objective function.By analyzing the situation that the driverless truck may encounter when going back and forth between loading and unloading points in the actual production process of mining area,the constraint conditions of the multi-objective vehicle flow planning model under different conditions are determined,and a dynamic real-time updating multi-objective dynamic vehicle flow planning model is established.(3)A traffic flow planning and scheduling algorithm with reference points-based strengthened constrained dominance relation is designed.According to the model established in this paper,a traffic flow planning and scheduling algorithm is designed,which with reference points-based strengthened constrained dominance relation(RPSC-NSGA-Ⅱ).This algorithm combines Parato dominance relation,decompose-based idea and constraint dominance method,and can effectively solve the multi-objective dynamic vehicle flow planning and scheduling model established in this paper.(4)Multi-objective dynamic vehicle flow planning and scheduling simulation is carried out.Taking an open-pit mine in Henan Province as an example,this article extracts the required data from the intelligent production control integrated system used in the open-pit mine.The relevant parameters required by the simulation research are obtained through data analysis,and then the simulation experiment is carried out.The results show that the deviation of ore grade at each unloading point can be controlled by limiting the transport volume of the unmanned truck at the loading/unloading point.The model established in this paper can well meet the actual production needs of the mine,and the algorithm can reduce the transport cost of the open-pit mining area,improve the utilization rate of trucks.The research results of this paper provide a solution for the dynamic traffic flow planning and scheduling of driverless trucks in open-pit mines,and lay a foundation for the realization of unmanned transportation and automatic scheduling in open-pit mines...