Research On Key Technologies Of Real-time Truck Dispatching System In Open-pit Mine Based On 3D Visualization Environment

In the process of open-pit mining,the transportation cost of mining trucks accounts for more than 50% of the total production cost of the mine.Further efficient use of mining equipment and reduction of equipment loss are of great significance to improving the market competitiveness of enterprises.With the advancement of the working face,how to quickly update the road network in the route planning stage,complete the solution of the truck flow planning in the truck flow planning stage,and realize the real-time and real-time dispatching of mining trucks in the production process has always been an urgent problem for open-pit mining enterprises to be solved.Open-pit mine is a true three-dimensional geographic/geological environment,ore of the core object of the job,along with the advancement of operation,how to quickly update the road network in path planning phase,it finishes the truck planning in truck planning stage,and realize the truck real-time dispatching in the process of production,has always been a problem urgently to be solved in open-pit mine enterprises.The main research contents are as follows:1.The principle of 3D visualization of open-pit production scene is briefly described,and the automatic construction method of surface model of open-pit mine based on DTM(Digital Terrain Models,hereinafter referred to as DTM)and explosion pile model based on octree is proposed.The 3D visualization of open-pit production scene is realized based on HOOPS 3D Application Framework technology.2.This thesis introduces the element composition of high-precision map and the principle of road network construction,and puts forward a method for automatic construction of road network centerline and topological structure consistency based on measured discrete points: this method uses Bowyer Watson method to generate Delaunay triangulation for measured discrete point set,and then generates corresponding Voronoi diagram,and uses Bowyer Watson method to generate Delaunay triangulation for the union of measured discrete points and vertices of Voronoi diagram,The edge of the triangle network is extracted as the center line of the road network for collecting discrete points;Based on the automatically constructed road network,the neighbor search method based on the KD tree is used to realize the consistent topological structure of the road network.3.Based on the actual production scenario of open-pit mine and combined with the information of generating elements,a mathematical model of traffic flow planning with the goal of minimizing the total volume of trucks and the idle time of trucks was constructed.By comparing and analyzing the advantages and disadvantages of NSGAII and NSGA-III in test cases,it was decided to solve the mathematical model on MATLAB based on NSGA-III algorithm.The traffic flow planning solution of mine transportation task is realized,and the least dispatching scheme is obtained,which effectively solves the problem of multi-objective model of truck dispatching in openpit mine.4.Aiming at the problem of long waiting time for trucks at loading points and unloading points,a real-time dispatching strategy based on road transport capacity saturation is proposed.This strategy is based on the truck flow planning of mine transport tasks,and uses the road transport capacity saturation coefficient as a reference to determine the direction of trucks applying for adjustment.While completing the truck flow planning task,it reduces the road congestion,This method can effectively predict the impact of the next scheduling on the truck queue.The above method has been applied in a cement mine in Jiangsu Province.The implementation results show that: based on the method of automatic road network construction and real-time truck dispatching optimization,the automatic construction of high-precision road network and the solution of truck flow planning in open-pit mine under three-dimensional visualization environment are realized,which effectively reduces the congestion of transportation road,improves the truck transportation efficiency of open-pit mine,and can better meet the actual production needs of the mine.