Concrete mixer truck dispatching system and method for continuous concrete pouring

Abstract

The invention provides a concrete mixer truck dispatching system and method for continuous concrete pouring. The concrete mixer truck dispatching system comprises a mixer truck module, a pouring point module and a control module. The mixer truck module comprises a forward and reverse rotation module, a Beidou positioning module, a terminal display module and a first network communication module, and the mixer truck module is arranged on a mixer truck; each pouring point module comprises an RFID module, an acousto-optic prompt module and a second network communication module, and the pouring point modules are arranged at all pouring point positions; the control module comprises a cloud server and a control terminal module; the mixer truck module and the pouring point module are connected with the cloud server through the network communication module. Through a mixer truck scheduling algorithm deployed at the control terminal module and related hardware installed at the mixer trucks and the pouring points, statistics of data such as task scheduling of the concrete mixer trucks, the distribution condition of the concrete mixer trucks and the pouring strength of the pouring points can be realized, and the concrete pouring efficiency is effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of concrete production, and in particular to a concrete mixer truck scheduling system and method for continuous concrete pouring. Background Art

[0002] Concrete transportation is an important part of concrete construction, and its transportation is usually completed by concrete mixer trucks. Since concrete cannot be stored for a long time after mixing, the transportation time of concrete should be shortened as much as possible and the concrete pouring should be completed.

[0003] In the process of continuous pouring of large-volume concrete, there are usually dozens or even hundreds of pouring points, and a large number of concrete mixer trucks are used to complete the concrete pouring. At the concrete mixing station, managers are needed to manage and dispatch concrete mixer trucks, and at the pouring site, on-site managers are needed to guide concrete mixer trucks to a certain pouring point for concrete pouring. There are even more complex process requirements, which leads to low efficiency, easy human errors, and even affects the construction progress and even the quality of the project.

[0004] In summary, the level of automation and intelligence in the scheduling of concrete mixer trucks during the continuous pouring of large-volume concrete needs to be improved. Therefore, there is an urgent need for a concrete mixer truck scheduling device and system suitable for the continuous pouring of large-volume concrete. Summary of the invention

[0005] The main purpose of the present invention is to provide a concrete mixer truck scheduling system and method for continuous concrete pouring. The purpose of the present invention is to solve the problem of low automation level of concrete mixer truck scheduling for continuous pouring of large-volume concrete in the above-mentioned background technology. In order to solve the above technical problems, the technical solution adopted by the present invention is: a concrete mixer truck scheduling system for continuous concrete pouring, comprising a mixer truck module, a pouring point module, and a control module; The mixer truck module includes a forward and reverse module, a Beidou positioning module, a terminal display module, and a first network communication module. The mixer truck module is arranged on the mixer truck; The pouring point module includes an RFID module, an audio and video prompt module, and a second network communication module. The pouring point module is set at each pouring point; The control module includes a cloud server and a control terminal module; The mixer truck module and the pouring point module are both connected to the cloud server through the network communication module.

[0006] In a preferred embodiment, the RFID module includes an RFID card reader and an RFID card corresponding thereto, and the RFID card is arranged at the rear of the concrete mixer truck or installed at a position corresponding to the RFID card reader.

[0007] In the preferred embodiment, the terminal control module includes a controller and a display. The terminal control module can receive data from the mixer truck module and the pouring point module and transmit them to the terminal control module to realize the relevant functions of the scheduling system and perform visual display.

[0008] In a preferred embodiment, the method comprises: S1. Divide the construction area into electronic fences, which are divided into concrete pouring area, production area and transportation area; S2. Detect the current position of the concrete mixer truck through the Beidou positioning module and divide it into corresponding areas according to the position; S3, based on the pouring point module and the mixer truck module, determine whether there is a pouring point that has completed concrete pouring. If so, update the concrete pouring status of each pouring point, otherwise return to step S2; S4, determine whether the number of currently available concrete mixer trucks is greater than m, if so, assign tasks to the available mixer trucks through the mixer truck scheduling algorithm, otherwise return to step S3; The specific judgment method of whether the pouring point t has completed the current concrete pouring is shown in formula 1-4. =1, it is determined that the concrete pouring of the pouring point is completed: (1); (2); (3); (4); In the formula, is the rotation state of the tank of the nth concrete mixer truck at time t, is the position of the nth concrete mixer truck, This is the electronic fence area for the concrete pouring area. It is the RFID check-in status of the nth concrete mixer truck at the tth pouring point.

[0009] In the preferred solution, the concrete pouring situation mainly counts three indicators: pouring volume, pouring strength, and last pouring time. The specific statistical method is: Casting volume: The casting volume statistics of casting point t are calculated from the above and the mixer truck number n, if =1, the pouring volume at pouring point t increases by p cubic meters, where p is determined by the mixer truck model; Casting strength: Casting strength The specific calculation method is calculated based on the concrete pouring time and concrete pouring volume as shown in Formula 5: (5); In the formula, is the non-uniformity coefficient, is the concrete pouring volume, The duration of concrete pouring; Last pouring time: The last concrete pouring time at a pouring point is the last RFID check-in time at that pouring point.

[0010] In the preferred embodiment, the above-mentioned mixer truck scheduling algorithm steps are: A1. Considering the current position, operating capacity, and concrete pouring strength of the concrete mixer truck, a cost model for scheduling concrete mixer truck tasks is established. The model is:

[0011]

[0012] In the formula, is the location cost of the concrete mixer truck, The cost of concrete mixer truck operation capacity. The cost of pouring strength of concrete at the pouring point; A2, detect the number of mixer trucks in the concrete pouring area and the transportation area at the current moment, if the number is greater than the threshold p, repeat step A2; A3. Calculate the task scheduling cost of the currently idle concrete mixer truck based on the above model; A4. Solve the objective function through the branch and bound method to obtain the mixer truck task scheduling plan.

[0013] In the preferred embodiment, the concrete steps of the above mixer truck scheduling algorithm are as follows: A11. For each mixer truck ( ) and each pouring point ( ), define a scheduling cost coefficient ; This coefficient consists of three parts: concrete mixer location cost , Concrete mixer truck operating capacity cost and the cost of concrete pouring strength at the pouring point ,Right now ; Location Cost The calculation takes into account the spatial relationship between the current position of the mixer truck and the pouring point as well as the road traffic conditions; The position coordinates of the mixer truck are , the coordinates of the casting point are , the road traffic coefficient is ,in , indicating the difficulty of the road. The road is completely clear. The smaller the road, the more difficult it is to navigate. ,in It is a coefficient related to the distance weight, which is used to adjust the influence of distance on the cost; Operational Capacity Cost Comprehensive consideration of the tank capacity of the mixer truck , unloading speed And the comprehensive indicators of mechanical performance of mixer truck ,in , indicating the quality of mechanical properties, Indicates perfect mechanical performance; assuming there is a baseline operating capacity cost ,but ; Concrete pouring strength cost at pouring point Preset pouring rate at the pouring point , Current poured volume and pouring time window Related; define a pouring progress function ,in Indicates the current time. Indicates at time The volume that has been poured at the time ,in It is an adjustment coefficient used to control the weight of this part of the cost in the total cost; The whole model is expressed as ,in is a decision variable, indicating that the mixer truck Whether it is dispatched to the pouring point ,Right now Indicates being scheduled. Indicates that it has not been scheduled; A12. Obtain the location information of the mixer trucks through the sensor network set up in the concrete pouring area and transportation area or based on the positioning system, and count the number of mixer trucks at the current moment ; Will With threshold For comparison, if , then repeat this step and continue to monitor the changes in the number of mixer trucks; if , then proceed to the next step; A13. First, determine which mixer trucks are idle through the mixer truck status monitoring system. The idle mixer truck can be determined by the condition that the mixer truck has completed unloading and has not received a new dispatch task, or is in standby status and has not performed any operation within a specified time. For each idle mixer truck , calculate it to each pouring point The scheduling cost , using the formula established in step 1 ; A14. Use the dispatch cost of the idle mixer truck to each pouring point calculated in step A3 as input and use the branch and bound method to solve the objective function To solve; The basic idea of ​​the branch and bound method is to evaluate and eliminate possible solutions by continuously dividing the search space, and gradually approach the optimal solution. In the solution process, different branches are searched first according to the size of the scheduling cost, and branches with smaller costs are searched first to improve the solution efficiency. Specifically, starting from the root node, the search space is divided into several subspaces, each of which corresponds to a possible scheduling solution; the objective function value of each subspace, that is, the total scheduling cost, is calculated and compared with the currently found optimal solution; if the objective function value of a subspace is less than the current optimal solution, the subspace is further searched; if the objective function value of a subspace is greater than or equal to the current optimal solution, the subspace is excluded and no further search is performed; By repeating this process continuously, we can finally find the optimal solution, that is, find a set of The value of Minimum.

[0014] The present invention provides a concrete mixer truck scheduling system and method for continuous concrete pouring. The present invention can solve the concrete mixer truck scheduling problem during continuous pouring of large-volume concrete. By deploying a mixer truck scheduling algorithm in a control terminal module and related hardware installed on the mixer truck and pouring points, statistics can be performed on data such as task scheduling of concrete mixer trucks, distribution of concrete mixer trucks, and pouring strength of each pouring point, which can effectively improve concrete pouring efficiency and improve the automation and intelligence level of concrete mixer trucks during continuous pouring of large-volume concrete. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 It is a system architecture diagram of the present invention; Figure 2 It is a flow chart of the dispatching system of the present invention; Figure 3 It is a flow chart of the scheduling algorithm of the present invention; DETAILED DESCRIPTION Example 1 like Figures 1 to 3 As shown, a concrete mixer truck scheduling system for continuous concrete pouring includes a mixer truck module, a pouring point module, and a control module; The mixer truck module includes a forward and reverse module, a Beidou positioning module, a terminal display module, and a first network communication module. The mixer truck module is arranged on the mixer truck; The pouring point module includes an RFID module, an audio and video prompt module, and a second network communication module. The pouring point module is set at each pouring point; The control module includes a cloud server and a control terminal module; The mixer truck module and the pouring point module are both connected to the cloud server through the network communication module.

[0016] In a preferred embodiment, the RFID module includes an RFID card reader and an RFID card corresponding thereto, and the RFID card is arranged at the rear of the concrete mixer truck or installed at a position corresponding to the RFID card reader.

[0017] In the preferred embodiment, the terminal control module includes a controller and a display. The terminal control module can receive data from the mixer truck module and the pouring point module and transmit them to the terminal control module to realize the relevant functions of the scheduling system and perform visual display.

[0018] It consists of a mixer truck module, a pouring point module, and a control module, including a cloud server, a terminal control module, a forward and reverse module installed on the mixer truck, a Beidou positioning module, a terminal display module, a network communication module, an RFID card, and an RFID module installed at each pouring point, an audio and video prompt module, and a network communication module.

[0019] The cloud server is used to deploy the MQTT service, which is used to receive and send data from the network communication module deployed at the mixer truck and the pouring point, and send and receive data to the terminal control module; The terminal control module is composed of a controller and a display, and is used to deploy the mixer truck dispatching system, realize the relevant functions of the dispatching system and perform visual display; The forward and reverse rotation module is used to obtain the rotation direction of the mixer truck tank body, so as to determine whether the mixer truck is unloading and whether the unloading is completed; The Beidou positioning module is used to obtain the real-time position of the mixer truck; The terminal display module is used to remind the mixer truck driver the concrete pouring point he should go to at present; The network communication module is used to send data such as the real-time position of the mixer truck and the rotation direction of the tank to the cloud server; The RFID module is installed at the pouring point to record the pouring times at the current point; The sound and light prompt module is used to prompt the mixer truck driver that the concrete pouring check-in is successful; The network communication module is used to send data such as RFID card punching status to the cloud server.

[0020] Mixer truck module: The mixer truck module consists of a forward and reverse module, a Beidou positioning module, a terminal display module, and a network communication module. The modules are installed on a concrete mixer truck. First, the Beidou positioning module collects the location data of the concrete mixer truck in real time. Secondly, the forward and reverse module collects the unloading status of the concrete mixer truck. Then, the network communication module transmits the data to the cloud server, receives the dispatching instructions issued by the cloud server, and finally prompts the mixer truck driver to the concrete pouring point he should go to on the terminal display module.

[0021] Pouring point module: The pouring point module consists of an RFID module, an audio-visual prompt module, and a network communication module. The above modules are installed at each pouring point, wherein the RFID module consists of an RFID card reader and a corresponding RFID card, and the RFID card is placed at the rear of the concrete mixer truck. The installation position of the above modules must ensure that the concrete mixer truck can automatically swipe the card when pouring concrete, and the audio-visual prompt module will be used to prompt the mixer truck driver that the card swipe is successful. The RFID module collects the punch-in data of the concrete mixer truck at the current pouring point, and then transmits it to the cloud server through the network communication module.

[0022] Key features include: 1. Dispatch a mixer truck to a certain pouring point to pour concrete.

[0023] 2. Count the number of mixer trucks and related information in the concrete pouring area, production area and transportation area.

[0024] 3. Count the current concrete pouring volume, pouring strength, and last pouring time of each pouring point. Before dispatching the mixer truck, it is necessary to make initial settings in the terminal control module and install relevant devices at the pouring site and mixer truck. First, divide the concrete pouring area, production area, and transportation area in the map module in the terminal control module according to the actual location of concrete production, transportation, and pouring, and set up electronic fences; Secondly, according to the actual pouring site conditions, RFID modules, sound and light prompt modules, and network communication modules are installed at the pouring points; Finally, the forward and reverse module, Beidou positioning module, network communication module, terminal display module and RFID card corresponding to the RFID module are installed on the mixer truck. The specific dispatching method is: First, count the number of mixer trucks currently in the pouring area, production area, and transportation area; Secondly, count the current concrete pouring volume at each pouring point in the pouring area; Finally, according to the mixer truck scheduling algorithm, the mixer truck is dispatched to the pouring point to pour concrete.

[0025] Example 2 Further illustrate with reference to Example 1, Figure 1-3 The structure shown, S1, divides the construction area into electronic fences, which are divided into concrete pouring area, production area and transportation area; S2. Detect the current position of the concrete mixer truck through the Beidou positioning module and divide it into corresponding areas according to the position; S3, based on the pouring point module and the mixer truck module, determine whether there is a pouring point that has completed concrete pouring. If so, update the concrete pouring status of each pouring point, otherwise return to step S2; S4, determine whether the number of currently available concrete mixer trucks is greater than m, if so, assign tasks to the available mixer trucks through the mixer truck scheduling algorithm, otherwise return to step S3; The specific judgment method of whether the pouring point t has completed the current concrete pouring is shown in formula 1-4. =1, it is determined that the concrete pouring of the pouring point is completed: (1); (2); (3); (4); In the formula, is the rotation state of the tank of the nth concrete mixer truck at time t, is the position of the nth concrete mixer truck, This is the electronic fence area for the concrete pouring area. It is the RFID check-in status of the nth concrete mixer truck at the tth pouring point.

[0026] In order to reasonably divide the construction area, so as to facilitate the subsequent effective management and scheduling of concrete mixer trucks and pouring points.

[0027] According to the actual layout of the construction site and the operation process, determine the approximate scope of the concrete pouring area, production area and transportation area.

[0028] Use electronic fence technology to accurately divide these three areas by setting coordinate ranges or geo-fencing. For example, for the concrete pouring area, set its boundary coordinates to arrive The production area is arrive The transport area is arrive .

[0029] This step mainly defines the area through the coordinate range, and the formula is the setting of the area boundary coordinates. For example, for the concrete pouring area, the formula is: and ,in It is the coordinate of any point in the area. Its purpose is to clarify the scope of each area and provide a basis for the subsequent determination of the location of the mixer truck and the pouring point.

[0030] Acquire the location information of concrete mixer trucks in real time and accurately divide them into corresponding areas to understand the distribution of mixer trucks.

[0031] Get the real-time position coordinates of the concrete mixer truck through the Beidou positioning module .

[0032] Compare the location coordinates of the mixer truck with the boundary coordinates of each area divided in S1 to determine the area to which the mixer truck belongs. and , the mixer truck is located in the concrete pouring area; if the coordinate range conditions of the production area or transportation area are met, it is divided into the corresponding area.

[0033] The formula is a comparative judgment of the coordinates of the area boundary, such as the above formula for judging that the mixer truck is located in the concrete pouring area. Its purpose is to accurately divide the mixer trucks into corresponding areas and provide basic information for subsequent scheduling decisions, such as giving priority to scheduling the mixer trucks near the pouring area.

[0034] Monitor the pouring status of pouring points in real time so as to update the concrete pouring situation of each pouring point in time.

[0035] Get the rotation status of the mixer truck tank through the mixer truck module , obtain the RFID check-in status of the mixer truck at the pouring point through the pouring point module And the location coordinates of the mixer truck .

[0036] Determine the pouring point according to formulas (1) - (4) Whether the current concrete pouring is completed.

[0037] First, according to formula (1), determine whether the rotation state of the mixer truck tank meets the condition of changing from reverse rotation to forward rotation. If it meets the condition, ,otherwise .

[0038] Next, according to formula (2), determine whether the location of the mixer truck is within the electronic fence of the concrete pouring area. If so, ,otherwise .

[0039] Then, according to formula (3), it is determined whether the RFID check-in status of the mixer truck at the pouring point is , if yes then ,otherwise .

[0040] Finally, according to formula (4), when hour, , it is determined that the concrete pouring of the pouring point is completed; otherwise .

[0041] 3. Formula usage and derivation Formula (1): Purpose: It is used to judge whether the rotation state of the mixer truck tank meets the conditions for the completion of unloading, that is, the transition from reverse rotation (mixing) to forward rotation (unloading), which is an important basis for judging whether the pouring point has completed pouring.

[0042] Assume that the tank of the mixer truck is reversed when mixing concrete, and the tank turns to forward rotation when unloading. By observing the changes in this rotation state, it can be determined whether the unloading is completed, and then it can be inferred whether the pouring is completed.

[0043] Formula (2): Use: To determine whether the mixer truck is within the specified range of the concrete pouring area, to ensure that the pouring is carried out in the correct area and to avoid misjudgment.

[0044] By setting the electronic fence range of the concrete pouring area , and compare the position coordinates of the mixer truck Whether it is within this range can be used to determine whether the mixer truck is in the correct pouring area.

[0045] Formula (3): Use: The RFID punch-in status of the mixer truck at the pouring point is used to determine whether the punch-in operation has been completed. Successful punching may mean that an important link in the pouring process has been completed, which serves as a basis for judging whether the pouring is completed.

[0046] An RFID module is set up at the pouring point. When the mixer truck arrives and performs corresponding operations, the RFID card status will change. It indicates that the clock-in is successful and can be used as a reference condition for the completion of pouring.

[0047] Formula (4): Use: Taking the previous three conditions into consideration, the pouring point is judged to have completed the concrete pouring only when the mixer truck's tank rotation state, position within the pouring area and RFID check-in state meet the requirements, thus avoiding misjudgment of a single condition.

[0048] Through the logical AND operation , , The three conditions are combined, only when the three conditions are simultaneously hour, Caiwei , indicating that pouring is completed.

[0049] According to the number of available mixer trucks, mixer trucks are reasonably allocated to various pouring locations to carry out tasks.

[0050] Count the number of concrete mixer trucks currently available .

[0051] Will and For comparison, if , then the available mixer trucks are assigned tasks through the mixer truck scheduling algorithm; if , then return to S3 and continue waiting for more mixer trucks to become available or the pouring point to complete pouring.

[0052] When allocating tasks, multiple factors need to be considered, such as the distance from the mixer truck to the pouring site, the operating capacity of the mixer truck, and the intensity of the demand for the pouring site. To the pouring point The distance is , the operating capacity of the mixer truck Indicates that the required strength of the pouring point is Represents. Establish a task allocation priority function .

[0053] According to the value of the task allocation priority function, the mixer trucks are sorted and preferentially allocated to the pouring points with higher priorities.

[0054] formula:

[0055] Use: Used to determine whether the current number of available mixer trucks meets the conditions for task allocation. If the number is sufficient ( ), you can assign tasks; if the quantity is insufficient, you need to wait.

[0056] is a threshold value set according to construction requirements and experience. When it is greater than this threshold, it means that there are enough mixer trucks available for dispatch and the next task allocation operation can be carried out.

[0057] formula:

[0058] Purpose: Used to determine the priority of task allocation from mixer trucks to pouring sites. The closer the distance, the stronger the operating capacity, and the higher the intensity of the pouring site demand, the higher the priority, and the mixer truck should be assigned to the pouring site.

[0059] This partly reflects the effect of distance on priority: the closer the distance, the higher the priority; Indicates the operating capacity of the mixer truck. The stronger the operating capacity, the higher the priority. Indicates the demand intensity of the pouring point. The higher the demand intensity, the higher the priority. By multiplying these three factors, we get a task allocation priority function that takes multiple factors into consideration.

[0060] In the preferred solution, the concrete pouring situation mainly counts three indicators: pouring volume, pouring strength, and last pouring time. The specific statistical method is: Casting volume: The casting volume statistics of casting point t are calculated from the above and the mixer truck number n, if =1, the pouring volume at pouring point t increases by p cubic meters, where p is determined by the mixer truck model; Casting strength: Casting strength The specific calculation method is calculated based on the concrete pouring time and concrete pouring volume as shown in Formula 5: (5); In the formula, is the non-uniformity coefficient, is the concrete pouring volume, The duration of concrete pouring; Last pouring time: The last concrete pouring time at a pouring point is the last RFID check-in time at that pouring point.

[0061] Example 3 Further illustrate with reference to Example 1, Figure 1-3 The structure shown in A1 is to establish a concrete mixer task scheduling cost model by comprehensively considering the current position, operating capacity, concrete pouring strength of the pouring point and other parameters of the concrete mixer. The model is:

[0062]

[0063] In the formula, is the location cost of the concrete mixer truck, The cost of concrete mixer truck operation capacity. The cost of pouring strength of concrete at the pouring point; A2, detect the number of mixer trucks in the concrete pouring area and the transportation area at the current moment, if the number is greater than the threshold p, repeat step A2; A3. Calculate the task scheduling cost of the currently idle concrete mixer truck based on the above model; A4. Solve the objective function through the branch and bound method to obtain the mixer truck task scheduling plan.

[0064] In the preferred embodiment, the concrete steps of the above mixer truck scheduling algorithm are as follows: A11. For each mixer truck ( ) and each pouring point ( ), define a scheduling cost coefficient ; This coefficient consists of three parts: concrete mixer location cost , Concrete mixer truck operating capacity cost and the cost of concrete pouring strength at the pouring point ,Right now ; Location Cost The calculation takes into account the spatial relationship between the current position of the mixer truck and the pouring point as well as the road traffic conditions; The position coordinates of the mixer truck are , the coordinates of the casting point are , the road traffic coefficient is ,in , indicating the difficulty of the road. The road is completely clear. The smaller the road, the more difficult it is to navigate. ,in It is a coefficient related to the distance weight, which is used to adjust the influence of distance on the cost; Operational Capacity Cost Comprehensive consideration of the tank capacity of the mixer truck , unloading speed And the comprehensive indicators of mechanical performance of mixer truck ,in , indicating the quality of mechanical properties, Indicates perfect mechanical performance; assuming there is a baseline operating capacity cost ,but ; Concrete pouring strength cost at pouring point Preset pouring rate at the pouring point , Current poured volume and pouring time window Related; define a pouring progress function ,in Indicates the current time. Indicates at time The volume that has been poured at the time ,in It is an adjustment coefficient used to control the weight of this part of the cost in the total cost; The whole model is expressed as ,in is a decision variable, indicating that the mixer truck Whether it is dispatched to the pouring point ,Right now Indicates being scheduled. Indicates that it has not been scheduled; formula:

[0065] This formula is used to calculate the location cost from the mixer truck to the pouring point, taking into account the impact of spatial distance and road conditions on scheduling. The longer the distance and the more difficult the road, the higher the location cost, so in the scheduling decision, the mixer truck-pouring point combination with a short distance and smooth road is more likely to be selected.

[0066] Spatial distance uses the Euclidean distance formula To measure the straight-line distance between the mixer truck and the pouring point. Multiply by This is to reflect the impact of road conditions on costs. The more difficult the road, the faster the cost increases. This is to adjust the weight of the impact of distance on cost according to actual conditions.

[0067] formula:

[0068] The operation cost of a mixer truck is calculated by comprehensively considering the impact of tank capacity, discharge speed and mechanical performance on the operation cost. The larger the tank capacity, the faster the discharge speed and the better the mechanical performance, the lower the operation cost. When dispatching, a mixer truck with strong operation capacity is more likely to be selected.

[0069] Baseline Operation Capability Cost It is a constant determined by experience or experiment and used as the basis for calculating the cost of operating capacity. This partly reflects the inverse proportional relationship between tank capacity and unloading speed and operating capacity, that is, the larger the capacity and the faster the speed, the stronger the operating capacity and the lower the cost. This is to consider the impact of mechanical properties on operating capabilities. The better the mechanical properties, the lower the cost.

[0070] formula:

[0071] The concrete pouring strength cost of the pouring point is calculated, taking into account factors such as pouring progress, preset pouring rate and pouring time window. The closer the pouring progress is to the preset value, the smaller the cost is, so that the scheduling decision is more inclined to select those pouring points whose current pouring progress is relatively slow but still within a reasonable range.

[0072] Represents the pouring progress function, which measures the pouring progress by the ratio of the poured volume to the preset pouring rate and time window. Part of the reason is to adjust the cost according to the pouring progress. When it is close to 1, the pouring progress is close to the preset value, the value of this part is close to 0, and the cost is reduced. This is to adjust the weight of this part of the cost in the total cost.

[0073] A12. Obtain the location information of the mixer trucks through the sensor network set up in the concrete pouring area and transportation area or based on the positioning system, and count the number of mixer trucks at the current moment ; Will With threshold For comparison, if , then repeat this step and continue to monitor the changes in the number of mixer trucks; if , then proceed to the next step; Monitor the number of mixer trucks in the concrete pouring and transportation areas in real time to ensure that there are enough mixer trucks available for dispatch, while avoiding congestion or waste of resources caused by too many mixer trucks.

[0074] This step mainly involves comparison operations, and the formula is Its purpose is to determine whether the current number of mixer trucks meets the scheduling conditions. If the number of mixer trucks exceeds the threshold , indicating that there are a large number of mixer trucks available for dispatch, and it may be necessary to further observe their distribution and state changes to select the optimal dispatching plan; if the number of mixer trucks is less than or equal to the threshold , you need to consider whether a new mixer truck is about to enter the area, or adjust the scheduling strategy to adapt to limited resources.

[0075] A13. First, determine which mixer trucks are idle through the mixer truck status monitoring system. The idle mixer truck can be determined by the condition that the mixer truck has completed unloading and has not received a new dispatch task, or is in standby status and has not performed any operation within a specified time. For each idle mixer truck , calculate it to each pouring point The scheduling cost , using the formula established in step 1 ; For idle mixer trucks, the task scheduling cost to each pouring point is calculated according to the model established in step 1, providing a data basis for the subsequent solution of the optimal scheduling solution.

[0076] The formula is the same as step 1, that is, Its purpose is to calculate the comprehensive dispatching cost of each idle mixer truck to each pouring point, so that the optimal dispatching scheme can be selected according to these costs in the subsequent steps. The derivation process is also the same as step A11, which will not be repeated here.

[0077] A14. Solve the objective function through the branch and bound method to find the optimal mixer truck task scheduling plan so that the total scheduling cost is minimized.

[0078] The dispatch cost of the idle mixer truck to each pouring point calculated in step A3 is used as input, and the objective function is optimized using the branch and bound method. To solve; The basic idea of ​​the branch and bound method is to evaluate and eliminate possible solutions by continuously dividing the search space, and gradually approach the optimal solution. In the solution process, different branches are searched first according to the size of the scheduling cost, and branches with smaller costs are searched first to improve the solution efficiency. Specifically, starting from the root node, the search space is divided into several subspaces, each of which corresponds to a possible scheduling solution; the objective function value of each subspace, that is, the total scheduling cost, is calculated and compared with the currently found optimal solution; if the objective function value of a subspace is less than the current optimal solution, the subspace is further searched; if the objective function value of a subspace is greater than or equal to the current optimal solution, the subspace is excluded and no further search is performed; By repeating this process continuously, we can finally find the optimal solution, that is, find a set of The value of Minimum.

[0079] formula:

[0080] This formula is the objective function of the entire scheduling problem. By minimizing this objective function, the optimal mixer truck scheduling solution can be obtained. The value of Minimum.

[0081] The derivation of the objective function is based on the scheduling cost model established in step 1. By accumulating the scheduling costs of all mixer trucks to each pouring point, a total scheduling cost is obtained. In the solution process, we hope to find a scheduling solution that minimizes the total scheduling cost and thus achieves the optimal mixer truck scheduling.

[0082] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A concrete mixer truck dispatching system for continuous concrete pouring, characterized by: It consists of a mixer truck module, a pouring point module, and a control module; The mixer truck module includes a forward and reverse module, a Beidou positioning module, a terminal display module, and a first network communication module. The mixer truck module is arranged on the mixer truck; The pouring point module includes an RFID module, an audio and video prompt module, and a second network communication module. The pouring point module is set at each pouring point; The control module includes a cloud server and a control terminal module; The mixer truck module and the pouring point module are both connected to the cloud server through the network communication module.

2. A concrete mixer truck dispatching system for continuous concrete pouring according to claim 1, characterized in that: The RFID module includes an RFID card reader and an RFID card corresponding thereto. The RFID card is arranged at the rear of the concrete mixer truck or installed at a position corresponding to the RFID card reader.

3. A concrete mixer truck dispatching system for continuous concrete pouring according to claim 2, characterized in that: The terminal control module includes a controller and a display. The terminal control module can receive data from the above-mentioned mixer truck module and pouring point module and transmit them to the terminal control module to realize the relevant functions of the scheduling system and perform visual display.

4. The dispatching method of a concrete mixer truck dispatching system for continuous concrete pouring according to claim 3, characterized in that: The method includes: S1. Divide the construction area into electronic fences, which are divided into concrete pouring area, production area and transportation area; S2. Detect the current position of the concrete mixer truck through the Beidou positioning module and divide it into corresponding areas according to the position; S3, based on the pouring point module and the mixer truck module, determine whether there is a pouring point that has completed concrete pouring. If so, update the concrete pouring status of each pouring point, otherwise return to step S2; S4, determine whether the number of currently available concrete mixer trucks is greater than m, if so, assign tasks to the available mixer trucks through the mixer truck scheduling algorithm, otherwise return to step S3; The specific judgment method of whether the pouring point t has completed the current concrete pouring is shown in formula 1-4. =1, it is determined that the concrete pouring of the pouring point is completed: (1)； (2)； (3)； (4)； In the formula, is the rotation state of the tank of the nth concrete mixer truck at time t, is the position of the nth concrete mixer truck, This is the electronic fence area for the concrete pouring area. It is the RFID check-in status of the nth concrete mixer truck at the tth pouring point.

5. The method for dispatching a concrete mixer truck dispatching system for continuous concrete pouring according to claim 4, wherein: The pouring situation mainly counts three indicators: pouring volume, pouring intensity, and last pouring time. The specific statistical method is as follows: Casting volume: The casting volume statistics of casting point t are calculated from the above and the mixer truck number n, if =1, the pouring volume at pouring point t increases by p cubic meters, where p is determined by the mixer truck model; Casting strength: Casting strength The specific calculation method is calculated based on the concrete pouring time and concrete pouring volume as shown in Formula 5: (5)； In the formula, is the non-uniformity coefficient, is the concrete pouring volume, The duration of concrete pouring; Last pouring time: The last concrete pouring time at a pouring point is the last RFID check-in time at that pouring point.

6. The dispatching method of a concrete mixer truck dispatching system for continuous concrete pouring according to claim 4, characterized in that: The above mixer truck scheduling algorithm steps are: A1. Considering the current position, operating capacity, and concrete pouring strength of the concrete mixer truck, a cost model for scheduling concrete mixer truck tasks is established. The model is: In the formula, The location cost of the concrete mixer truck is The cost of concrete mixer truck operation capacity. The cost of pouring strength of concrete at the pouring point; A2, detect the number of mixer trucks in the concrete pouring area and the transportation area at the current moment, if the number is greater than the threshold p, repeat step A2; A3. Calculate the task scheduling cost of the currently idle concrete mixer truck based on the above model; A4. Solve the objective function through the branch and bound method to obtain the mixer truck task scheduling plan.

7. The dispatching method of a concrete mixer truck dispatching system for continuous concrete pouring according to claim 6, characterized in that: The concrete steps of the above mixer truck scheduling algorithm are as follows: A11. For each mixer truck ( ) and each pouring point ( ), define a scheduling cost coefficient ; This coefficient consists of three parts: concrete mixer location cost , Concrete mixer truck operating capacity cost and the cost of concrete pouring strength at the pouring point ,Right now ; Location Cost The calculation takes into account the spatial relationship between the current position of the mixer truck and the pouring point as well as the road traffic conditions; The position coordinates of the mixer truck are , the coordinates of the casting point are , the road traffic coefficient is ,in , indicating the difficulty of the road. The road is completely clear. The smaller the road, the more difficult it is to navigate. ,in It is a coefficient related to the distance weight, which is used to adjust the influence of distance on the cost; Operational Capacity Cost Comprehensive consideration of the tank capacity of the mixer truck , unloading speed And the comprehensive indicators of mechanical performance of mixer truck ,in , indicating the quality of mechanical properties, Indicates perfect mechanical performance; assuming there is a baseline operating capacity cost ,but ; Concrete pouring strength cost at pouring point Preset pouring rate at the pouring point , Current poured volume and pouring time window Related; define a pouring progress function ,in Indicates the current time. Indicates at time The volume that has been poured at the time ,in It is an adjustment coefficient used to control the weight of this part of the cost in the total cost; The whole model is expressed as ,in is a decision variable, indicating that the mixer truck Whether it is dispatched to the pouring point ,Right now Indicates being scheduled. Indicates that it has not been scheduled; A12. Obtain the location information of the mixer trucks through the sensor network set up in the concrete pouring area and transportation area or based on the positioning system, and count the number of mixer trucks at the current moment ; Will With threshold For comparison, if , then repeat this step and continue to monitor the changes in the number of mixer trucks; if , then proceed to the next step; A13. First, determine which mixer trucks are idle through the mixer truck status monitoring system. The idle mixer truck can be determined by the condition that the mixer truck has completed unloading and has not received a new dispatch task, or is in standby status and has not performed any operation within a specified time. For each idle mixer truck , calculate it to each pouring point The scheduling cost , using the formula established in step 1 ; A14. Use the dispatch cost of the idle mixer truck to each pouring point calculated in step A3 as input and use the branch and bound method to solve the objective function To solve; The basic idea of ​​the branch and bound method is to evaluate and eliminate possible solutions by continuously dividing the search space, and gradually approach the optimal solution. In the solution process, different branches are searched first according to the size of the scheduling cost, and branches with smaller costs are searched first to improve the solution efficiency. Specifically, starting from the root node, the search space is divided into several subspaces, each of which corresponds to a possible scheduling solution; the objective function value of each subspace, that is, the total scheduling cost, is calculated and compared with the currently found optimal solution; if the objective function value of a subspace is less than the current optimal solution, the subspace is further searched; if the objective function value of a subspace is greater than or equal to the current optimal solution, the subspace is excluded and no further search is performed; By repeating this process continuously, we can finally find the optimal solution, that is, find a set of The value of Minimum.

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