CN117252356A

CN117252356A - Ore card job scheduling method, device, terminal, chip, equipment and storage medium

Info

Publication number: CN117252356A
Application number: CN202311084440.5A
Authority: CN
Inventors: 刘树栋; 刘志华; 刘敬玉; 冯树清; 孟祥春; 包建军; 汪显权; 李忠飞; 石践; 孙艳辉; 褚立庆; 康志强; 孙立超; 王亚超; 董强; 邹天旭; 王惠杰; 杨国华; 王闯; 王健
Original assignee: Inner Mongolia Power Investment Energy Co ltd
Current assignee: Inner Mongolia Power Investment Energy Co ltd
Priority date: 2023-08-28
Filing date: 2023-08-28
Publication date: 2023-12-19

Abstract

The application provides a mining card job scheduling method, a device, a terminal, a chip, equipment and a storage medium, and relates to the field of mining area automatic driving. The method comprises the following steps: acquiring grouping information and operation scheduling information of different types of ore cards, and determining grouping operation states of all the ore cards according to the operation scheduling information, wherein the different types of ore cards comprise manned ore cards and unmanned ore cards; acquiring the current operation stage of each mine card, and determining the operation schedule requested by each mine card according to the operation stage and the grouping operation state; if the job scheduling requested by the mine card is loading job scheduling or unloading job scheduling, acquiring real-time operation information of the mine card, and determining a target scheduling mode according to the real-time operation information, wherein the target scheduling mode comprises a mixed grouping mode or an original grouping mode; the job areas are allocated to each of the mining cards based on the job scheduling and target scheduling patterns requested by the mining cards.

Description

Ore card job scheduling method, device, terminal, chip, equipment and storage medium

Technical Field

The present application relates to the field of mining area autopilot, and in particular, to a mining card job scheduling method, device, terminal, chip, computer device, and computer readable storage medium.

Background

Along with the rapid development of unmanned technology of strip mines, many mines are actively driven to transport unmanned, and unmanned mining cards, manned transport vehicles and manned auxiliary operation vehicles exist in the mines at the same time. Before the unmanned full mine is realized, the mixed operation of the unmanned mine card and the manned vehicle is a common operation mode, and the problem of how to dispatch the mixed operation of the mine card is faced.

In the related art, a traditional manned ore card dispatching system is generally adopted for the manned ore card, an unmanned dispatching system is newly added for the unmanned ore card, and the operation dispatching of the manned ore card and the unmanned ore card is realized through two sets of separated systems. Under the scene of lack of unified management and control, the dispatching optimization of the manned mining card and the unmanned mining card cannot be carried out globally, and the operation conflict and blockage cannot be effectively avoided. Moreover, the driving behavior of the manned vehicle is difficult to predict, and a great potential safety hazard is easily brought to unmanned mining cards in mining areas.

Disclosure of Invention

In view of this, the present application provides a mining card job scheduling method, apparatus, terminal, chip, computer device, and computer readable storage medium, which implement scheduling optimization of manned mining cards and unmanned mining cards on a global basis, avoiding job conflicts and blockages.

In a first aspect, an embodiment of the present application provides a method for scheduling an ore card job, including:

acquiring grouping information and operation scheduling information of different types of ore cards, and determining grouping operation states of all the ore cards according to the operation scheduling information, wherein the different types of ore cards comprise manned ore cards and unmanned ore cards;

acquiring the current operation stage of each mine card, and determining the operation schedule requested by each mine card according to the operation stage and the grouping operation state;

if the job scheduling requested by the mine card is loading job scheduling or unloading job scheduling, acquiring real-time operation information of the mine card, and determining a target scheduling mode according to the real-time operation information, wherein the target scheduling mode comprises a mixed grouping mode or an original grouping mode;

the job areas are allocated to each of the mining cards based on the job scheduling and target scheduling patterns requested by the mining cards.

The method according to the embodiment of the application can also have the following additional technical characteristics:

in the above technical solution, optionally, the method further includes:

and if the job scheduling requested by the mine card is the return job scheduling, taking the original grouping mode as a target scheduling mode.

In any of the foregoing solutions, optionally, the grouping information includes at least one of: the loading area, an electric shovel, an unloading area, a mine truck and a parking area are arranged in the loading area;

The job scheduling information includes a planned start time and a planned end time;

the method for acquiring the grouping information and the job scheduling information of different types of mining cards comprises the following steps:

acquiring grouping information corresponding to the manned mine cards, and planning starting time and planning ending time of the manned mine cards;

and acquiring grouping information corresponding to the unmanned mine cards, and planning starting time and planning ending time of the unmanned mine cards.

In any of the above technical solutions, optionally, determining a grouping operation state of each mine card according to the job scheduling information includes:

if the current time is less than the planned starting time, the grouping running state is not started;

if the current time is greater than or equal to the planned starting time and less than or equal to the planned ending time, the grouping operation state is operation;

and if the current time is greater than the planned ending time, ending the grouping operation state.

In any of the above technical solutions, optionally, determining the job schedule requested by each mine card according to the job stage and the grouping operation state includes:

if the marshalling running state is not started, the mine card does not request the job scheduling;

if the marshalling operation state is operation and the operation stage is idle, the operation schedule requested by the mining card is loading operation schedule;

If the grouping operation state is operation and the operation stage is heavy load, the operation schedule requested by the mining card is unloading operation schedule;

if the grouping operation state is terminated and the job stage is a heavy load, the job scheduling requested by the mining card is an unloading job scheduling;

if the grouping operation state is terminated and the job stage is idle, the job scheduling requested by the mine card is return job scheduling.

In any of the above solutions, optionally, determining the target scheduling mode according to the real-time operation information includes:

judging whether the real-time operation information meets preset conditions corresponding to the mixed grouping mode or not;

if the real-time operation information meets the preset condition, the mixed grouping mode is used as a target scheduling mode;

if the real-time operation information does not meet the preset condition, the original grouping mode is used as a target scheduling mode;

wherein the preset conditions include at least one of the following: the electric shovel fails, the unmanned mine card is offline, the someone mine card fails, and the mine card driving route cannot pass.

In any of the above solutions, optionally, allocating a job area for each mine card based on a job scheduling and a target scheduling mode requested by the mine card includes:

If the target scheduling mode is an original grouping mode, a working area is allocated to the mine card in target grouping information according to job scheduling requested by the mine card, wherein when the mine card is a manned mine card, the target grouping information is grouping information corresponding to the manned mine card, and when the mine card is an unmanned mine card, the target grouping information is grouping information corresponding to the unmanned mine card;

if the target scheduling mode is a mixed grouping mode, a working area is allocated to the mine cards in target grouping information according to the job scheduling requested by the mine cards, wherein the mine cards comprise manned mine cards and/or unmanned mine cards, and the target grouping information is grouping information of a collection of manned mine card grouping and unmanned mine card grouping.

In any of the above solutions, optionally, according to the job scheduling requested by the mine card, a job area is allocated to the mine card in the target grouping information, including:

and the minimum oil consumption and the minimum arrival time are used as the optimization targets of the manned mine cards, the operation areas are allocated for the manned mine cards which request the loading operation scheduling or the unloading operation scheduling in the target grouping information, or the minimum arrival time is used as the optimization targets of the unmanned mine cards, and the operation areas are allocated for the unmanned mine cards which request the loading operation scheduling or the unloading operation scheduling in the target grouping information.

In any of the above technical solutions, optionally, the arrival time of the mine truck to the operation area is a sum of a shortest path running time length of the mine truck from the current position to the operation area and an expected operation time length, where, for the mine truck scheduled for loading operation, the shortest path running time length is a shortest path no-load running time length, and the expected operation time length is a loading operation time length; for the ore clamps scheduled by loading operation, the shortest path running time is the shortest path reloading running time, and the predicted operation time is the unloading operation time;

the oil consumption of the manned mine truck to the operation area is the shortest path oil consumption of the manned mine truck from the current position to the operation area, wherein the shortest path oil consumption is the shortest path idle oil consumption for the manned mine truck in the loading operation scheduling, and the shortest path oil consumption is the shortest path heavy load oil consumption for the manned mine truck in the unloading operation scheduling.

In a second aspect, an embodiment of the present application provides an ore card job scheduling device, including:

the information acquisition module is used for acquiring grouping information and job scheduling information of different types of mining cards;

the processing module is used for determining the grouping operation state of each ore card according to the operation scheduling information, wherein the different types of ore cards comprise manned ore cards and unmanned ore cards;

The information acquisition module is also used for acquiring the current operation stage of each mine card;

the processing module is also used for determining the job scheduling requested by each mine card according to the job stage and the grouping operation state;

the information acquisition module is also used for acquiring real-time operation information of the ore card if the job schedule requested by the ore card is a loading job schedule or an unloading job schedule;

the processing module is also used for determining a target scheduling mode according to the real-time operation information, wherein the target scheduling mode comprises a mixed grouping mode or an original grouping mode; and assigning a job zone to each of the mining cards based on the job scheduling and the target scheduling pattern requested by the mining cards.

In a third aspect, embodiments of the present application provide a terminal, which includes an apparatus as in the second aspect.

In a fourth aspect, embodiments of the present application provide a chip comprising at least one processor and a communication interface, the communication interface being coupled to the at least one processor, the at least one processor being configured to execute programs or instructions for implementing a method as in the first aspect.

In a fifth aspect, embodiments of the present application provide a computer device comprising a processor and a memory storing a program or instructions executable on the processor, the program or instructions implementing the steps of the method as in the first aspect when executed by the processor.

In a sixth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the steps of the method as in the first aspect.

The beneficial effects of this application lie in: and acquiring different types of mine cards, namely job scheduling information of different mine card groups, grouping information of each group, and determining the grouping operation state of each group. Acquiring a current operation stage of the manned mine card and a current operation stage of the unmanned mine card, wherein the unmanned mine card requests operation scheduling according to the current operation stage and the grouping operation state of the unmanned mine card, and the unmanned mine card requests operation scheduling according to the current operation stage and the grouping operation state of the unmanned mine card. If the job scheduling requested by the mine card is loading job scheduling or unloading job scheduling, determining a corresponding target scheduling mode according to real-time operation information of the mine card, wherein the target scheduling mode comprises an original grouping mode and a mixed grouping mode. And confirming the assignable operation areas of each ore card according to the operation scheduling requested by the ore card and the determined target scheduling mode. According to the embodiment of the application, two marshalling modes are provided aiming at the real-time running condition of the manned mine card and the unmanned mine card, and the original marshalling mode is adopted under the conventional state, so that the mixed arrangement work of the manned mine card and the unmanned mine card is avoided as much as possible, the interference of the manned mine card on the running and the operation of the unmanned mine card is reduced, and the safety and the efficiency of the mixed marshalling operation of the unmanned mine card are ensured to the greatest extent; under the unconventional condition, a mixed-knitting grouping mode is adopted, the utilization rate of an electric shovel, a vehicle and a loading and unloading area is increased, the optimization of mixed-knitting operation scheduling is globally increased, and the operation conflict and blockage are avoided.

The foregoing description is only an overview of the technical solutions of the present application, and may be implemented according to the content of the specification in order to make the technical means of the present application more clearly understood, and in order to make the above-mentioned and other objects, features and advantages of the present application more clearly understood, the following detailed description of the present application will be given.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

FIG. 1 shows one of the flow diagrams of the mining card job scheduling method of the embodiment of the present application;

FIG. 2 shows a second flow chart of a method for dispatching mining card jobs according to an embodiment of the present application;

FIG. 3 shows a schematic diagram of a mining card stage of operation of an embodiment of the present application;

FIG. 4 shows a schematic diagram of real-time operation of an embodiment of the present application;

FIG. 5 shows a block diagram of a mining card job scheduling device according to an embodiment of the present application;

fig. 6 shows a block diagram of a terminal according to an embodiment of the present application;

FIG. 7 shows a block diagram of a schematic structure of a chip according to an embodiment of the present application;

FIG. 8 shows a block diagram of a computer device of an embodiment of the present application;

fig. 9 shows a block diagram of the computer-readable storage medium according to an embodiment of the present application.

Detailed Description

Technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application are within the scope of the protection of the present application.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.

The method, the device, the terminal, the chip, the computer equipment and the computer readable storage medium for dispatching the mining card job provided by the embodiment of the application are described in detail below through specific embodiments and application scenes thereof with reference to the accompanying drawings.

The embodiment of the application provides a mining card job scheduling method, as shown in fig. 1, which comprises the following steps:

step 101, grouping information and operation scheduling information of different types of ore cards are obtained, and grouping operation states of all the ore cards are determined according to the operation scheduling information, wherein the different types of ore cards comprise manned ore cards and unmanned ore cards.

In this step, as shown in fig. 2, job scheduling information of different types of mine cards, that is, different mine card groups, and grouping information of each group, that is, grouping composition of each group, are acquired. Further, according to the job scheduling information of each group, the group running state of each group is obtained. The mine card grouping comprises a manned mine card and an unmanned mine card, wherein the manned mine card can be a fuel truck, and the unmanned mine card can be an electric truck.

In one embodiment of the present application, the grouping information includes at least one of: the loading area, an electric shovel placed in the loading area, an unloading area, a mine card and a parking area, wherein the mine card is specific mine card equipment; the job scheduling information includes a planned start time and a planned end time.

In an embodiment of the present application, the step of obtaining grouping information and job scheduling information of different types of mining cards specifically includes:

acquiring grouping information corresponding to the manned mine cards, and planning starting time and planning ending time of the manned mine cards; and acquiring grouping information corresponding to the unmanned mine cards, and planning starting time and planning ending time of the unmanned mine cards.

In this embodiment, the job scheduling information of the different types of the mine cards includes a planned start time and a planned end time of the operation performed by the manned mine card, and a planned start time and a planned end time of the operation performed by the unmanned mine card.

The grouping information of different types of mine cards comprises a loading area corresponding to the mine cards, an electric shovel placed in the loading area, an unloading area, the mine cards and a parking area, and the loading area corresponding to the mine cards, the electric shovel placed in the loading area, the unloading area, the mine cards and the parking area.

According to the method and the device, grouping information and job scheduling information of different types of mining cards are obtained, so that data basis is provided for job scheduling of the mining cards with persons and the mining cards without persons in the future.

In an embodiment of the present application, the step of determining the grouping operation state of each mine card according to the job scheduling information specifically includes:

In this embodiment, a manner of determining a consist operational state is defined, including not beginning, operating, and ending. Specifically, if the current time is smaller than the planned starting time of the mine card, the grouping operation state corresponding to the mine card is not started; if the current time is greater than or equal to the planned starting time of the mine card and less than or equal to the planned ending time of the mine card, the grouping operation state corresponding to the mine card is operation; and if the current time is greater than the planned ending time of the mine card, ending the grouping operation state corresponding to the mine card.

According to the method and the device for determining the grouping operation state of the mining cards, the grouping operation state of the mining cards can be accurately determined according to the operation scheduling information.

Step 102, acquiring the current operation stage of each mine card, and determining the operation schedule requested by each mine card according to the operation stage and the grouping operation state.

In this step, the current operation phase of the manned mine card and the current operation phase of the unmanned mine card are obtained. As shown in fig. 3, the operation phase of the mine card includes: empty load, loading, heavy load, unloading and returning to the field, the ore cards completing the unloading operation return to the field, and the ore cards completing the returning to the field are converted into empty load.

Further, as shown in fig. 2, the manned mine card requests job scheduling according to its current job stage and the marshalling operation state of the manned mine card, and the unmanned mine card requests job scheduling according to its current job stage and the marshalling operation state of the unmanned mine card.

In one embodiment, the job schedule requested by the manned mining cards in the manned mining card consist and the job schedule requested by the unmanned mining cards in the unmanned mining card consist are collected and integrated into a mixed mining card requested job schedule.

In one embodiment of the present application, the step of determining the job schedule requested by each mine card according to the job stage and the grouping operation state specifically includes:

In this embodiment, if the group operation state to which the mine card belongs is not started, job scheduling is not requested. If the grouping operation state of the mine card is operation and the current operation stage of the mine card is idle, the operation schedule requested by the mine card is a loading operation schedule, and the operation is switched to a reloading operation after the loading operation is completed. If the grouping operation state of the mine card is operation and the current operation stage of the mine card is heavy load, the operation schedule requested by the mine card is unloading operation schedule, and the operation is switched to idle operation after the unloading operation is completed. If the grouping operation state of the mine card is terminated and the current operation stage of the mine card is heavy load, the operation schedule requested by the mine card is an unloading operation schedule, and the operation schedule is switched to an idle operation after the unloading operation is completed. If the grouping operation state of the mine card is terminated and the current operation stage of the mine card is empty, the operation schedule requested by the mine card is return operation schedule.

By the method, the job scheduling requested by the mine card can be accurately determined.

After determining the job schedule requested by the mine card, as shown in fig. 2, the type of job schedule requested by the mine card is determined, and then the target scheduling mode is determined.

In one case of the present application, it includes: step 103, if the job scheduling requested by the mine card is loading job scheduling or unloading job scheduling, acquiring real-time operation information of the mine card, and determining a target scheduling mode according to the real-time operation information, wherein the target scheduling mode comprises a mixed grouping mode or an original grouping mode.

In this embodiment, if the job schedule requested by the mine card is a load job schedule or an unload job schedule, a corresponding target schedule mode is determined according to real-time operation information of the mine card.

In an embodiment of the present application, the step of determining the target scheduling mode according to the real-time operation information specifically includes:

In this embodiment, real-time operation information of each mine card is monitored, and a scheduling mode is dynamically selected. Specifically, whether the real-time operation information of the mine cards meets the preset conditions corresponding to the mixed grouping mode is judged, if yes, the mixed grouping mode is adopted to allocate the operation area for the mine cards, and if not, the original grouping mode is adopted to allocate the operation area for the mine cards.

If the original grouping mode is adopted, the manned mine cards only allow the assignable loading/unloading areas to be selected in the manned mine card grouping; the drone card only allows for selection of the assignable loading/unloading zones in the drone card consist. If a mixed grouping mode is used, loading/unloading zones can be selected in all groupings for all mine cards.

The preset conditions corresponding to the mixed-formation mode include, but are not limited to, failure of an electric shovel, failure of an unmanned mine card, offline of the unmanned mine card, failure of the unmanned mine card, incapability of passing of a mine card driving route and the like.

By the method, the operation areas are distributed according to the real-time operation information and different grouping modes, so that the safety and the efficiency of the mixed operation are ensured.

In another case of the present application, if the job schedule requested by the mine card is a return job schedule, the original grouping mode is taken as the target scheduling mode.

In this embodiment, if the requested job scheduling type is a return job, a parking area is allocated for the mine card requesting the return job scheduling. Because each grouping has only one parking area, as shown in fig. 2, the original grouping parking areas are allocated for the mine cards requesting the return-to-the-field scheduling in both grouping modes so as to ensure the smooth proceeding of the return-to-the-field operation.

Step 104, assigning a job area for each ore card based on the job scheduling and the target scheduling mode requested by the ore card.

In this step, the job areas to which each of the mine cards can be assigned are confirmed according to the job scheduling requested by the mine card and the target scheduling pattern determined in the above step.

In one embodiment of the present application, the step of allocating a job area for each mine card based on the job scheduling and the target scheduling mode requested by the mine card specifically includes:

if the target scheduling mode is an original grouping mode, according to job scheduling requested by the mine card, a job area is allocated for the mine card in target grouping information, wherein when the mine card is a manned mine card, the target grouping information is grouping information corresponding to the manned mine card, and when the mine card is an unmanned mine card, the target grouping information is grouping information corresponding to the unmanned mine card;

If the target scheduling mode is a mixed grouping mode, a working area is allocated for the mine cards in target grouping information according to the job scheduling requested by the mine cards, wherein the mine cards comprise manned mine cards and/or unmanned mine cards, and the target grouping information is grouping information of a collection of manned mine card grouping and unmanned mine card grouping.

In this embodiment, as shown in fig. 2, the hybrid grouping mode is employed in an unusual case of a vehicle failure, an electric shovel failure, a route non-passing, or the like. That is, grouping information of the manned mine cards and grouping information of the unmanned mine cards are collected into one grouping information set, and then the operation areas are allocated to the manned mine cards in the grouping information set according to operation scheduling of the manned mine cards, or the operation areas are allocated to the unmanned mine cards in the grouping information set according to operation scheduling of the unmanned mine cards. In this case, the manned mine cards may be applied to the grouping information of the unmanned mine cards, and the unmanned mine cards may also be applied to the grouping information of the manned mine cards. By the method, the utilization rate of the electric shovel, the vehicle and the loading and unloading area can be increased, so that the optimization of the mixed operation scheduling is globally increased.

It should be noted that, the equipment meeting the corresponding conditions of the hybrid grouping mode is removed from the grouping information, that is, the electric shovel, the mine card or the driving route which is faulty is removed from the grouping information, and the faulty electric shovel, mine card or driving route is no longer included in the grouping information set, so that the subsequent arrangement of the electric shovel, mine card or driving route which is faulty when the operation is distinguished is avoided, and the safety and efficiency of the operation of the mine card are further ensured.

As shown in fig. 2, the original grouping mode is adopted under the conventional condition that the problems of vehicle failure, electric shovel failure, no-pass route and the like do not occur, namely, the mining cards adopt the grouping information distribution operation area of the mining cards, and the unmanned mining cards adopt the grouping information distribution operation area of the unmanned mining cards. Under the conventional condition, the original marshalling mode is adopted, so that the mixed arrangement work of the manned mine cards and the unmanned mine cards can be avoided as much as possible, the interference of the manned mine cards on the running and operation of the unmanned mine cards is reduced, and the safety and the efficiency of the mixed arrangement work of the unmanned mine cards are ensured to the greatest extent.

In one embodiment of the present application, the step of allocating a job area for the mining card in the target grouping information according to the job scheduling requested by the mining card specifically includes:

The arrival time of the mine truck to the operation area is the sum of the shortest path running time of the mine truck from the current position to the operation area and the expected operation time, wherein the shortest path running time is the shortest path idle running time for the mine truck scheduled by the loading operation, and the expected operation time is the loading operation time; for the ore clamps scheduled by loading operation, the shortest path running time is the shortest path reloading running time, and the predicted operation time is the unloading operation time;

In this embodiment, as shown in fig. 2, the minimum fuel consumption, the minimum arrival time (i.e., the minimum estimated start operation time) are used as the optimization targets of the manned mining cards, the loading/unloading operation areas are allocated to the manned mining cards requesting the loading/unloading operation scheduling, and the minimum arrival time (i.e., the minimum estimated start operation time) are used as the optimization targets of the unmanned mining cards, and the loading/unloading operation areas are allocated to the unmanned mining cards requesting the loading/unloading operation scheduling.

Specifically, the electric shovel which is not faulty is determined in the target grouping information, and then a loading area where the electric shovel which is not faulty is located is used as an assignable loading area, and an assignable unloading area, a passable driving route and an ore card which is not faulty are determined. Further, a scheduling calculation parameter is obtained, and the scheduling calculation parameter includes: the method comprises the steps of requesting the shortest path idle running time of each type of non-faulty ore cards of the loading operation dispatching from the current position to the allocable loading area, and the predicted loading operation time of each loading area, wherein the shortest path idle oil consumption of the non-faulty manned ore cards from the current position to the allocable loading area; the shortest path heavy load driving time length from the current position to the allocable unloading area of each ore card which is not faulty and requests to unload the operation scheduling, the expected unloading operation time length in each unloading area, and the shortest path heavy load oil consumption from the current position to the allocable unloading area of the non-faulty manned ore card.

Further, the minimum oil consumption and the minimum arrival time are used as the optimization targets of the manned mine cards, the minimum arrival time is used as the optimization targets of the unmanned mine cards, and an optimization objective function is established:

target value of the optimization objective for the manned mine card, < >>For the evaluation value of the minimum arrival time of a manned mine truck to the selected working area, +.>For evaluation of minimum fuel consumption of a mine truck to a selected working area, +.>The weight is chosen to be the minimum arrival time,the weight is selected for the minimum oil consumption; />Optimizing a target value of the target for the unmanned mine card, < >>Is an estimate of the minimum arrival time of an unmanned mine truck to a selected work area.

Wherein, the minimum arrival time of the mine card to the selected operation area = the shortest path travel time of the mine card from the current position to the selected operation area + the estimated operation time of the current and the front mine cards of the selected operation area. For the mine card of the loading operation scheduling request, the shortest path running time is the shortest path idle running time, and the predicted operation time is the loading operation time; for the mine card for unloading the job scheduling request, the shortest path driving time length is the shortest path reloading driving time length, and the predicted job time length is the unloading job time length.

And obtaining the ore card requesting for loading/unloading the operation scheduling, the distributable loading/unloading area and the optimized objective function according to the collected operation scheduling and the target mixed mode requested by the mixed ore card. Further, calculation of a loading area to which a manned ore card requesting loading job scheduling can be allocated A value, wherein the smallest value is selected as a loading area optimally allocated; calculation of load zone assignable to unmanned mining card requesting load job scheduling +.>The value, the smallest value among them, is selected as the optimally allocated load area. Calculation of the load area that can be allocated to the manned mine card requesting the load job schedule +.>A value, wherein the smallest value is selected as an unloading area of optimal allocation; calculation of an unloading zone assignable to an unmanned mining card requesting to unload a job schedule +.>The value, the smallest value is selected as the unload area for optimal allocation.

According to the embodiment of the application, the mixed-braiding mode is dynamically selected according to the operation state monitored in real time, the shortest operation completion time is taken as a main optimization target, the oil consumption target of the fuel oil mine card is considered, the mixed-braiding global operation optimization optimal scheduling scheme is obtained, and the scheduling effect on the mine card is improved.

A specific embodiment of the present application is given below, and the mining card job scheduling method of the present application includes the following steps:

step 1: two groupings are determined: the manned group 1 and the unmanned group 2 acquire job scheduling information and grouping information of the mine card grouping. And judging that the current time is between the starting time and the ending time of the two marshalling, and operating the marshalling operation states of the manned marshalling 1 and the manned marshalling 2.

The grouping information of the person group 1 includes: 1 loading area Q1, 1 electric shovel L1,1 unloading area UL1,3 manned fuel-oil mine cards V1, V2 and V3 and 1 parking area P1 are arranged in the loading area Q1; the grouping information of the unmanned grouping 1 includes: 2 loading areas Q2 and Q3, and the loading areas Q2 and Q3 are respectively provided with electric shovels L2 and L3,1 unloading area UL2,5 unmanned electric trucks UV1, UV2, UV3, UV4, UV5 and 1 parking area P2. The grouping information is specifically shown in table 1:

TABLE 1 composition of group

Step 2: and obtaining the job scheduling requested by each ore card according to the grouping operation state and the job stage of the ore cards. And is integrated into the job scheduling of the mixed mining card request as shown in table 2:

TABLE 2 job phase for each mine card and requested job scheduling

As shown in table 2, when the currently requested job scheduling types are loading or unloading jobs, step 3 is entered to select a target scheduling mode, and step 4 is executed to allocate a loading or unloading area for the ore card requesting to load or unload the job scheduling.

In addition, if the job scheduling type requested by the mine cards is a return job, a parking area P1 is allocated for the manned mine cards requesting the return job scheduling, and a parking area P2 is allocated for the unmanned mine cards requesting the return job scheduling.

Step 3: monitoring current real-time operation information of each mine card to obtain real-time operation information, as shown in table 3:

TABLE 3 real time operation information of mining cards

The real-time operation information of each ore card, loading area and unloading area is shown in fig. 4.

If the original grouping mode is adopted, each mine card and the assignable operation area are shown in the table 4:

TABLE 4 assignable working area for each mine card in original group mode

However, the present application considers real-time operation information, and if the current real-time operation information satisfies a preset condition corresponding to the mixed grouping mode, the mixed grouping mode is adopted. The preset conditions corresponding to the mixed grouping mode comprise: the electric shovel is failed, the unmanned mine card is offline, the unmanned mine card is failed, the route cannot pass, and the like.

Step 4: currently, a mixed marshalling mode is adopted, and V3, UV4, L3 and UV5 are removed and marshalled to obtain each mine card and an assignable operation area as shown in table 5:

TABLE 5 assignable working area for each mine card in current mixed grouping mode

Step 5: the minimum oil consumption and the minimum arrival time are used as the optimization targets of the manned ore cards, the loading/unloading operation areas are allocated for the manned ore cards requesting the loading/unloading operation scheduling, the minimum arrival time is used as the optimization targets of the unmanned ore cards, and the loading/unloading operation areas are allocated for the unmanned ore cards requesting the loading/unloading operation scheduling.

The types of job scheduling requested by each mine card, the assignable job areas, the scheduling calculation parameters and the optimization targets are shown in table 6:

TABLE 6 type of job scheduling requested by each mining card, assignable job area, scheduling calculation parameters, and optimization objectives

Taking the minimum oil consumption and the minimum arrival time as an optimization target of the unmanned mining card, and taking the minimum arrival time as the optimization target of the unmanned mining card, and establishing an optimization objective function:

wherein,target value of the optimization objective for the manned mine card, < >>For the evaluation value of the minimum arrival time of a manned mine truck to the selected working area, +.>An evaluation value of minimum oil consumption for the mine truck to the selected operation area; />Optimizing a target value of the target for the unmanned mine card, < >>Is an estimate of the minimum arrival time of an unmanned mine truck to a selected work area.

From the contents in table 6, the minimum arrival time of the mine card to the selected operation area=the shortest path travel time of the mine card from the current position to the selected operation area+the estimated operation time of the current and preceding mine cards of the selected operation area is calculated.

Calculation of load zone that can be allocated to manned mine card V1 requesting load job schedulingA value, wherein the smallest value is selected as an optimal allocation loading area; unmanned mining cards UV1, UV2 requesting load job scheduling can allocate load zone calculation +. >The value, the smallest value is selected as the optimally allocated load area. Calculation of the unloading zone to which the manned mine card V2 requesting the scheduling of the unloading job can be allocated +.>A value, wherein the smallest value is selected as an unloading area of optimal allocation; calculation of the unloading zone assignable to the unmanned mining card UV3 requesting the scheduling of the unloading job +.>The value, the smallest value is selected as the unload area for optimal allocation.

According to the embodiment of the application, two grouping modes are provided aiming at the operation characteristics of the manned mine card and the unmanned mine card, wherein the two grouping modes comprise an original grouping mode and a mixed grouping mode, and unified management and intelligent operation scheduling of mixed grouping consisting of the manned fuel mine card, the unmanned electric mine card and an electric shovel in cooperation with loading operation and unloading operation in an unloading area are realized. Under the conventional state, an original marshalling mode is adopted, so that mixed arrangement work of the manned mine cards and the unmanned mine cards is avoided as much as possible, and interference of the manned mine cards on running and operation of the unmanned mine cards is reduced, so that safety and efficiency of mixed arrangement work of the unmanned mine cards are guaranteed to the greatest extent; the mixed-knitting grouping mode is adopted under the abnormal conditions of vehicle faults, electric shovel faults, non-passing routes and the like, so that the utilization rate of the electric shovel, the vehicle and the loading and unloading area is increased, the optimization of mixed-knitting operation scheduling is globally increased, and the operation conflict and blockage are avoided.

And moreover, the shortest operation completion time is taken as a main optimization target, the oil consumption target of the fuel oil mine card is considered, and the mixed-compiling global operation optimization optimal scheduling scheme is obtained.

Further, as a specific implementation of the ore card job scheduling method, the embodiment of the application provides an ore card job scheduling device. As shown in fig. 5, the mining card job scheduling apparatus 500 includes: an information acquisition module 501 and a processing module 502.

The information acquisition module 501 is used for acquiring grouping information and job scheduling information of different types of mining cards;

the processing module 502 is configured to determine a grouping operation state of each mine card according to the job scheduling information, where different types of mine cards include a manned mine card and an unmanned mine card;

the information obtaining module 501 is further configured to obtain a current operation stage of each mine card;

the processing module 502 is further configured to determine a job schedule requested by each mine card according to the job stage and the grouping operation state;

the information obtaining module 501 is further configured to obtain real-time operation information of the mine card if the job schedule requested by the mine card is a loading job schedule or an unloading job schedule;

the processing module 502 is further configured to determine a target scheduling mode according to the real-time operation information, where the target scheduling mode includes a hybrid grouping mode or an original grouping mode; and assigning a job zone to each of the mining cards based on the job scheduling and the target scheduling pattern requested by the mining cards.

In this embodiment, job scheduling information of different types of mining cards, that is, different mining card groups, grouping information of each group are acquired, and a grouping operation state of each group is determined. Acquiring a current operation stage of the manned mine card and a current operation stage of the unmanned mine card, wherein the unmanned mine card requests operation scheduling according to the current operation stage and the grouping operation state of the unmanned mine card, and the unmanned mine card requests operation scheduling according to the current operation stage and the grouping operation state of the unmanned mine card. If the job scheduling requested by the mine card is loading job scheduling or unloading job scheduling, determining a corresponding target scheduling mode according to real-time operation information of the mine card, wherein the target scheduling mode comprises an original grouping mode and a mixed grouping mode. And confirming the assignable operation areas of each ore card according to the operation scheduling requested by the ore card and the determined target scheduling mode. According to the embodiment of the application, two marshalling modes are provided aiming at the real-time running condition of the manned mine card and the unmanned mine card, and the original marshalling mode is adopted under the conventional state, so that the mixed arrangement work of the manned mine card and the unmanned mine card is avoided as much as possible, the interference of the manned mine card on the running and the operation of the unmanned mine card is reduced, and the safety and the efficiency of the mixed marshalling operation of the unmanned mine card are ensured to the greatest extent; under the unconventional condition, a mixed-knitting grouping mode is adopted, the utilization rate of an electric shovel, a vehicle and a loading and unloading area is increased, the optimization of mixed-knitting operation scheduling is globally increased, and the operation conflict and blockage are avoided.

Further, the processing module 502 is further configured to take the original grouping mode as the target scheduling mode if the job scheduling requested by the mine card is a return job scheduling.

Further, the grouping information includes at least one of: the loading area, an electric shovel, an unloading area, a mine truck and a parking area are arranged in the loading area; the job scheduling information includes a planned start time and a planned end time;

the information obtaining module 501 is specifically configured to:

Further, the processing module 502 is specifically configured to:

Further, the processing module 502 is specifically configured to allocate a working area for the manned mine card that requests the loading job schedule or the unloading job schedule in the target grouping information by taking the minimum fuel consumption and the minimum arrival time as the manned mine card optimization targets, or allocate a working area for the unmanned mine card that requests the loading job schedule or the unloading job schedule in the target grouping information by taking the minimum arrival time as the unmanned mine card optimization targets.

Further, the arrival time of the mine truck to the operation area is the sum of the shortest path running time of the mine truck from the current position to the operation area and the expected operation time, wherein the shortest path running time is the shortest path idle running time for the mine truck scheduled by the loading operation, and the expected operation time is the loading operation time; for the ore clamps scheduled by loading operation, the shortest path running time is the shortest path reloading running time, and the predicted operation time is the unloading operation time;

The mining card job scheduling device 500 in the embodiment of the present application may be a computer device, or may be a component in the computer device, for example, an integrated circuit or a chip. The computer device may be a terminal or may be other devices than a terminal. By way of example, the computer device may be a cell phone, tablet, notebook, palmtop, vehicle-mounted computer device, mobile internet appliance (Mobile Internet Device, MID), robot, ultra-mobile personal computer (Ultra-Mobile Personal Computer, UMPC), netbook or personal digital assistant (Personal Digital Assistant, PDA), etc., but also a server, network attached storage (Network Attached Storage, NAS), personal computer (Personal Computer, PC), etc., and the embodiments of the present application are not limited in particular.

The mine card job scheduling device 500 provided in the embodiment of the present application can implement each process implemented by the embodiment of the mine card job scheduling method of fig. 1, and in order to avoid repetition, a detailed description is omitted here.

The embodiment of the application also provides a terminal, as shown in fig. 6, where the terminal 600 includes the mine card job scheduling apparatus 500.

The terminal 600 may perform the mine card job scheduling method described in the above embodiment through the mine card job scheduling apparatus 500. It can be appreciated that the implementation manner of the terminal 600 for controlling the mine card job scheduling apparatus 500 may be set according to an actual application scenario, and the embodiment of the present application is not limited specifically.

The above terminal 600 includes, but is not limited to: the method provided by the application is implemented by other sensors such as a vehicle, a vehicle-mounted terminal, a vehicle-mounted controller, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip, a vehicle-mounted unit, a vehicle-mounted radar or a vehicle-mounted camera, and the vehicle can pass through the vehicle-mounted terminal, the vehicle-mounted controller, the vehicle-mounted module, the vehicle-mounted component, the vehicle-mounted chip, the vehicle-mounted unit, the vehicle-mounted radar or the camera. Vehicles in this application include passenger and commercial vehicles, common vehicle types for commercial vehicles include, but are not limited to: pick-up cards, micro-cards, light-trucks, micro-guests, dumpers, trucks, tractors, trailers, special vehicles, mining vehicles and the like. Mining vehicles include, but are not limited to, mining trucks, wide body vehicles, articulated vehicles, diggers, electric shovels, bulldozers, and the like. The type of the intelligent vehicle is not further limited, and any vehicle type is within the protection scope of the application.

The embodiment of the present application further provides a chip, as shown in fig. 7, where the chip 700 includes at least one processor (for example, a first processor 701) and a communication interface 702, where the communication interface 702 is coupled to the first processor 701, and the first processor 701 is configured to execute a program or an instruction, so that each process of the foregoing embodiment of the method for dispatching an operation of a mining card is implemented, and the same technical effect can be achieved, so that repetition is avoided, and no redundant description is provided herein.

It should be understood that the chips referred to in the embodiments of the present application may also be referred to as system-on-chip chips, chip systems, or system-on-chip chips, etc.

Preferably, the chip 700 further comprises a memory, for example a first memory 703, the first memory 703 storing the following elements: executable modules or data structures, or a subset thereof, or an extended set thereof.

In the embodiment of the present application, the first memory 703 may include a read only memory and a random access memory, and provides instructions and data to the first processor 701. A portion of the first memory 703 may also include non-volatile random access memory (non-volatile random access memory, NVRAM).

In the present embodiment, the first processor 701, the communication interface 702, and the first memory 703 are coupled together by a bus system 704. The bus system 704 may include a power bus, a control bus, a status signal bus, and the like, in addition to a data bus. For ease of description, the various buses are labeled as bus system 704 in FIG. 7.

The ore card job scheduling method described in the embodiments of the present application may be applied to the first processor 701 or implemented by the first processor 701. The first processor 701 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in software form in the first processor 701. The first processor 701 may be a general purpose processor (e.g., a microprocessor or a conventional processor), a digital signal processor (digital signal processing, DSP), an application specific integrated circuit (application specific integrated circuit, ASIC), an off-the-shelf programmable gate array (field-programmable gate array, FPGA) or other programmable logic device, discrete gates, transistor logic, or discrete hardware components, and the first processor 701 may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the invention.

The embodiment of the present application further provides a computer device, as shown in fig. 8, where the computer device 800 includes a processor and a memory, for example, a second processor 801 and a second memory 802, where a program or an instruction that can be executed on the second processor 801 is stored in the second memory 802, and the program or the instruction when executed by the second processor 801 implements each step of the foregoing embodiment of the mining card job scheduling method, and the same technical effect can be achieved, so that repetition is avoided and redundant description is omitted herein.

It should be noted that, the computer device in the embodiment of the present application includes the mobile computer device and the non-mobile computer device described above.

The second memory 802 may be used to store software programs as well as various data. The second memory 802 may mainly include a first memory area storing programs or instructions and a second memory area storing data, wherein the first memory area may store an operating system, application programs or instructions (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like. Further, the second memory 802 may include volatile memory or nonvolatile memory, or the second memory 802 may include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable EPROM (EEPROM), or a flash Memory. The volatile memory may be random access memory (Random Access Memory, RAM), static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (ddr SDRAM), enhanced SDRAM (Enhanced SDRAM), synchronous DRAM (SLDRAM), and Direct RAM (DRRAM). The secondary memory 802 in embodiments of the present application includes, but is not limited to, these and any other suitable types of memory.

The second processor 801 may include one or more processing units; optionally, the second processor 801 integrates an application processor that primarily processes operations involving an operating system, user interface, application programs, etc., and a modem processor that primarily processes wireless communication signals, such as a baseband processor. It will be appreciated that the modem processor described above may not be integrated into the second processor 801.

The embodiment of the present application further provides a computer readable storage medium, as shown in fig. 9, on which a program or an instruction 901 is stored, where the program or the instruction 901 implements each process of the above-mentioned embodiment of the mine card job scheduling method when being executed by a processor, and the same technical effects can be achieved, so that repetition is avoided, and no further description is given here.

The methods described in the above embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. Computer readable storage media 900 may include computer storage media and communication media and may include any medium that can transfer a computer program from one place to another. The storage media may be any target media that is accessible by a computer.

As one possible design, computer-readable storage medium 900 may include compact disk read-Only Memory (CD-ROM), RAM, ROM, EEPROM, or other optical disk storage; the computer readable storage medium may include disk storage or other disk storage devices. Moreover, any connection is properly termed a computer-readable storage medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, DSL (Digital Subscriber Line ), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk and disc, as used herein, includes Compact Disc (CD), laser disc, optical disc, digital versatile disc (Digital Versatile Disc, DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.

Claims

1. A mining card job scheduling method, comprising:

acquiring grouping information and operation scheduling information of different types of ore cards, and determining grouping operation states of the ore cards according to the operation scheduling information, wherein the different types of ore cards comprise manned ore cards and unmanned ore cards;

acquiring the current operation stage of each ore card, and determining the operation schedule requested by each ore card according to the operation stage and the grouping operation state;

And allocating a job area for each ore card based on the job scheduling requested by the ore card and the target scheduling mode.

2. The method according to claim 1, wherein the method further comprises:

and if the job scheduling requested by the mine card is return job scheduling, taking the original grouping mode as a target scheduling mode.

3. The method of claim 1, wherein the grouping information comprises at least one of: the loading area, an electric shovel, an unloading area, a mine truck and a parking area are arranged in the loading area;

the job scheduling information comprises a planned starting time and a planned ending time;

the obtaining grouping information and job scheduling information of different types of mining cards comprises the following steps:

acquiring grouping information corresponding to the unmanned mining card, and planning starting time and planning ending time of the unmanned mining card;

the determining the grouping operation state of each ore card according to the job scheduling information comprises the following steps:

If the current time is greater than or equal to the planned starting time and less than or equal to the planned ending time, the grouping running state is running;

if the current time is greater than the planned ending time, the grouping running state is terminated;

the determining the job scheduling requested by each mine card according to the job stage and the grouping operation state comprises the following steps:

if the grouping operation state is not started, the mine card does not request job scheduling;

if the grouping operation state is operation and the operation stage is idle, the operation schedule requested by the mine card is loading operation schedule;

if the grouping operation state is operation and the job stage is heavy load, the job scheduling requested by the mine card is unloading job scheduling;

if the grouping operation state is terminated and the job stage is reloaded, the job scheduling requested by the mining card is unloading job scheduling;

and if the grouping operation state is terminated and the job stage is idle, the job scheduling requested by the mine card is return job scheduling.

4. A method according to any one of claims 1 to 3, wherein said determining a target scheduling pattern from said real-time running information comprises:

if the real-time operation information meets the preset condition, the mixed grouping mode is used as the target scheduling mode;

if the real-time operation information does not meet the preset condition, the original grouping mode is used as the target scheduling mode;

wherein the preset conditions include at least one of: the electric shovel fails, the unmanned mine card is offline, the unmanned mine card fails, and the mine card running route cannot pass;

the assigning a job area to each of the mining cards based on the job scheduling requested by the mining card and the target scheduling mode includes:

and if the target scheduling mode is a mixed grouping mode, a working area is allocated for the mine cards in target grouping information according to the operation scheduling requested by the mine cards, wherein the mine cards comprise manned mine cards and/or unmanned mine cards, and the target grouping information is grouping information of a collection of manned mine card grouping and unmanned mine card grouping.

5. The method of claim 4, wherein the assigning a job area to the mining card in the target consist information according to the job schedule requested by the mining card comprises:

the minimum oil consumption and the minimum arrival time are used as an optimization target of the manned mine cards, a work area is allocated for the manned mine cards which request to load the work scheduling or unload the work scheduling in the target grouping information, or the minimum arrival time is used as an optimization target of the unmanned mine cards, and a work area is allocated for the unmanned mine cards which request to load the work scheduling or unload the work scheduling in the target grouping information;

the arrival time of the mine truck to the operation area is the sum of the shortest path running time of the mine truck from the current position to the operation area and the expected operation time, wherein the shortest path running time is the shortest path idle running time for the mine truck scheduled by loading operation, and the expected operation time is the loading operation time; for the ore cards scheduled by loading operation, the shortest path running time is the shortest path heavy load running time, and the predicted operation time is the unloading operation time;

the oil consumption of the manned mine truck to the operation area is the shortest path oil consumption of the manned mine truck from the current position to the operation area, wherein the shortest path oil consumption is the shortest path idle oil consumption for the manned mine truck scheduled by loading operation, and the shortest path oil consumption is the shortest path heavy load oil consumption for the manned mine truck scheduled by unloading operation.

6. An ore card job scheduling device, comprising:

the processing module is used for determining the grouping operation state of each ore card according to the job scheduling information, wherein the ore cards of different types comprise manned ore cards and unmanned ore cards;

the information acquisition module is also used for acquiring the current operation stage of each ore card;

the processing module is also used for determining the job scheduling requested by each mining card according to the job stage and the grouping operation state;

the information acquisition module is further used for acquiring real-time operation information of the ore card if the job schedule requested by the ore card is a loading job schedule or an unloading job schedule;

the processing module is further used for determining a target scheduling mode according to the real-time operation information, wherein the target scheduling mode comprises a mixed grouping mode or an original grouping mode; and assigning a job zone to each of the mining cards based on the job schedule requested by the mining cards and the target scheduling pattern.

7. A terminal comprising the mine card job scheduling apparatus of claim 6.

8. A chip comprising at least one processor and a communication interface coupled to the at least one processor, the at least one processor for executing programs or instructions to implement the steps of the mining card job scheduling method of any one of claims 1 to 5.

9. A computer device comprising a processor and a memory storing a program or instructions that when executed by the processor implement the steps of the mining card job scheduling method of any one of claims 1 to 5.

10. A computer-readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the steps of the mining card job scheduling method of any one of claims 1 to 5.