Concrete continuous pouring concrete mixer truck dispatching system and method

Abstract

The application provides a concrete continuous pouring concrete mixer truck scheduling system and method, which comprises a mixer truck module, a pouring point module and a control module; the mixer truck module comprises a forward and reverse module, a Beidou positioning module, a terminal display module and a first network communication module, and is arranged on the mixer truck; the pouring point module comprises an RFID module, an audible and visual prompt module and a second network communication module, and is arranged at each pouring point; 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 modules; through the mixer truck scheduling algorithm arranged on the control terminal module and the related hardware arranged on the mixer truck and the pouring point, the task scheduling of the concrete mixer truck, the distribution of the concrete mixer truck, the pouring strength of each pouring point and other data can be counted, and the concrete pouring efficiency is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of concrete production, in particular to a concrete continuous pouring concrete mixer truck scheduling system and method. BACKGROUND

[0002] Concrete transportation is an important link in the concrete construction link, and its transportation is usually completed by a concrete mixer truck. Because the mixed concrete cannot be stored for a long time, the concrete transportation time should be shortened as much as possible and the concrete pouring should be completed.

[0003] In the continuous pouring process of mass 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, management personnel are needed to manage and schedule the concrete mixer trucks, and at the pouring site, on-site management personnel are needed to guide the concrete mixer trucks to a certain pouring point for concrete pouring. There are even more complex process requirements, which leads to low efficiency, human errors, and even affects the construction progress and engineering quality.

[0004] In summary, the automation and intelligence level of the concrete mixer truck scheduling in the continuous pouring of mass concrete needs to be improved, and therefore a concrete mixer truck scheduling device and system suitable for the continuous pouring of mass concrete is urgently needed. SUMMARY

[0005] The main purpose of the present application is to provide a concrete continuous pouring concrete mixer truck scheduling system and method. The purpose of the present application is to solve the problem of low automation level of the concrete mixer truck scheduling in the continuous pouring of mass concrete in the background technology,

[0006] To solve the above technical problems, the technical solution adopted by the present application is: a concrete continuous pouring concrete mixer truck scheduling system, comprising a mixer truck module, a pouring point module and a control module;

[0007] The mixer truck module comprises a forward and reverse module, a Beidou positioning module, a terminal display module and a first network communication module, and the mixer truck module is arranged on the mixer truck.

[0008] The pouring point module comprises an RFID module, an audible and visual prompt module and a second network communication module, and the pouring point module is arranged at each pouring point.

[0009] The control module comprises a cloud server and a control terminal module.

[0010] The mixer truck module and the pouring point module are connected to the cloud server through the network communication module.

[0011] In the preferred solution, the RFID module comprises an RFID card reader and an RFID card corresponding thereto, and the RFID card is arranged at the tail of the concrete mixing truck or installed at a position corresponding to the RFID card reader.

[0012] In the preferred solution, the terminal control module comprises a controller and a display, and the terminal control module can receive data of the mixing truck module and the pouring point module and transmit the data to the terminal control module, realize the related functions of the dispatching system and perform visual display.

[0013] In the preferred solution, the method comprises:

[0014] S1, dividing an electronic fence in a construction operation area, wherein the electronic fence is divided into a concrete pouring area, a production area and a transportation area;

[0015] S2, detecting a current position of the concrete mixing truck by a Beidou positioning module and dividing the concrete mixing truck into a corresponding area according to the position;

[0016] S3, judging whether a pouring point completes concrete pouring based on the pouring point module and the mixing truck module, and if yes, updating concrete pouring conditions of each pouring point, otherwise returning to step S2;

[0017] S4, judging whether the number of available concrete mixing trucks is greater than m, and if yes, performing task distribution on the available concrete mixing trucks by a mixing truck dispatching algorithm, otherwise returning to step S3;

[0018] wherein a specific judgment method of whether the pouring point t completes the current concrete pouring is shown in formula 1-4, when =1, it is determined that the current concrete pouring of the pouring point is completed:

[0019] (1);

[0020] (2);

[0021] (3);

[0022] (4);

[0023] In the formula, is a rotation state of a tank of the nth concrete mixing truck at the tth moment, is a position of the nth concrete mixing truck, is an electronic fence range of the concrete pouring area, is an RFID clocking state of the nth concrete mixing truck at the tth pouring point.

[0024] In the preferred embodiment, the concrete pouring conditions are mainly counted by pouring volume, pouring strength, and last pouring time, and the specific counting method is as follows:

[0025] Pouring volume: The pouring volume of pouring point t is determined by the above-mentioned and the mixer truck number n. If = 1, the pouring volume of pouring point t is increased by p, and p is determined by the mixer truck model;

[0026] Pouring strength: The pouring strength is calculated by the concrete pouring time and the concrete pouring volume, and the specific calculation method is shown in formula 5:

[0027] (5);

[0028] In the formula, is the uneven coefficient, is the concrete pouring volume, is the concrete pouring time;

[0029] Last pouring time: The last pouring time of the concrete at a pouring point is the last time the RFID at the pouring point was punched.

[0030] In the preferred embodiment, the above-mentioned mixer truck scheduling algorithm steps are as follows:

[0031] A1, considering the current position of the concrete mixer truck, the work capacity, the concrete pouring strength of the pouring point, and other parameters, a concrete mixer truck task scheduling cost model is established, and the model is as follows:

[0032]

[0033]

[0034] In the formula, is the concrete mixer truck position cost, is the concrete mixer truck work capacity cost, is the pouring point concrete pouring strength cost;

[0035] A2, detect the number of mixer trucks in the concrete pouring area and the transportation area at the current time, if the number is greater than the threshold value p, repeat step A2;

[0036] A3, based on the above-mentioned model, calculate the task scheduling cost of the current idle concrete mixer truck;

[0037] A4, solve the objective function by branch and bound method to obtain the mixer truck task scheduling scheme.

[0038] In the preferred embodiment, the above-mentioned mixer truck scheduling algorithm specific steps are as follows:

[0039] A11、For each mixer truck ( ) and each pouring point ( ), define a scheduling cost coefficient ;

[0040] This coefficient consists of three parts: the concrete mixer position cost , the concrete mixer work capacity cost and the pouring point concrete pouring intensity cost , that is ;

[0041] The calculation of the position cost takes into account the spatial relationship between the current position of the mixer truck and the pouring point and the road traffic conditions;

[0042] The coordinates of the mixer truck position are , the coordinates of the pouring point are , and the road traffic coefficient is , where represents the degree of difficulty of road traffic, represents that the road is completely open, the smaller the value, the more difficult the road is to pass through, and then , where is a coefficient related to the distance weight, used to adjust the degree of influence of distance on the cost;

[0043] The work capacity cost considers the tank capacity , the unloading speed and the mechanical performance comprehensive index of the mixer truck , where represents the degree of mechanical performance, represents perfect mechanical performance; assuming that there is a baseline work capacity cost , then ;

[0044] The pouring point concrete pouring intensity cost is related to the preset pouring rate of the pouring point , the current poured volume and the pouring time window ; define a pouring progress function , where represents the current time, represents the volume poured at time ; then , where is an adjustment coefficient used to control the weight of the part cost in the total cost;

[0045] The whole model is expressed as wherein is a decision variable, representing whether the mixer truck is dispatched to the pouring point , i.e. represents being dispatched, represents not being dispatched;

[0046] A12, obtain the position information of the mixer truck through the sensor network or the positioning system set in the concrete pouring area and the transportation area, and count the number of mixer trucks at the current time ;

[0047] Compare with the threshold value , if , repeat this step to continue monitoring the change of the number of mixer trucks; if , go to the next step;

[0048] A13, first, determine which mixer trucks are idle through the state monitoring system of the mixer truck; the determination condition of the idle mixer truck can be that the unloading is completed and no new dispatching task is received, or the mixer truck is in standby state and no operation is performed within the specified time;

[0049] For each idle mixer truck , calculate the dispatching cost of the mixer truck to each pouring point , using the formula established in step one ;

[0050] A14, use the branch and bound method to solve the objective function by taking the dispatching cost of the idle mixer truck to each pouring point calculated in step A3 as input;

[0051] The basic idea of the branch and bound method is to gradually approach the optimal solution by continuously dividing the search space, evaluating and excluding possible solutions; in the solving process, different branches are searched in priority according to the size of the dispatching cost, and the branch with smaller cost is searched in priority to improve the solving efficiency;

[0052] Specifically, from the root node, the search space is divided into several subspaces, each corresponding to a possible scheduling scheme; the objective function value of each subspace, i.e. the total scheduling cost, is calculated and compared with the current 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 longer searched;

[0053] By continuously repeating this process, the optimal solution is eventually found, i.e. a set of values of is found, so that is minimized.

[0054] The present application provides a concrete continuous pouring concrete mixer scheduling system and method, which can solve the problem of concrete mixer scheduling during continuous pouring of mass concrete. Through the deployment of the mixer scheduling algorithm in the control terminal module and the installation of related hardware in the mixer and the pouring point, the task scheduling of the concrete mixer, the distribution of the concrete mixer, and the pouring strength of each pouring point can be statistically analyzed, which can effectively improve the efficiency of concrete pouring and improve the automation and intelligence level of the concrete mixer during the continuous pouring of mass concrete. BRIEF DESCRIPTION OF DRAWINGS

[0055] The present application will be further described below in conjunction with the drawings and examples:

[0056] Fig. 1 is the system architecture diagram of the present application;

[0057] Fig. 2 is the flowchart of the scheduling system of the present application;

[0058] Fig. 3 is the flowchart of the scheduling algorithm of the present application; DETAILED DESCRIPTION

[0059] Example 1

[0060] As shown in Figs. 1-3 , a concrete continuous pouring concrete mixer scheduling system includes a mixer module, a pouring point module, and a control module.

[0061] The mixer module includes a forward and reverse module, a Beidou positioning module, a terminal display module, and a first network communication module, and is arranged on the mixer.

[0062] The pouring point module includes an RFID module, an audible and visual prompt module, and a second network communication module, and is arranged at each pouring point.

[0063] The control module includes a cloud server and a control terminal module.

[0064] The stirring truck module and the pouring point module are connected with the cloud server through the network communication module.

[0065] In the preferred embodiment, the RFID module comprises an RFID card reader and an RFID card corresponding thereto, and the RFID card is arranged at the tail of the concrete stirring truck or installed at a position corresponding to the RFID card reader.

[0066] In the preferred embodiment, the terminal control module comprises a controller and a display, and the terminal control module can receive data of the stirring truck module and the pouring point module and transmit the data to the terminal control module, so as to realize the related functions of the dispatching system and perform visual display.

[0067] The stirring truck module, the pouring point module and the control module are composed of the cloud server, the terminal control module, the forward and reverse rotation module installed on the stirring truck, the Beidou positioning module, the terminal display module, the network communication module, the RFID card and the RFID module installed at each pouring point, the sound and light prompt module and the network communication module.

[0068] The cloud server is used to deploy an MQTT service, and the module is used to receive and send data of the network communication module deployed at the stirring truck and the pouring point and send and receive the data to the terminal control module.

[0069] The terminal control module is composed of a controller and a display, and is used to deploy a stirring truck dispatching system, so as to realize the related functions of the dispatching system and perform visual display.

[0070] The forward and reverse rotation module is used to obtain the rotation direction of the stirring truck tank, so as to determine whether the stirring truck is unloaded and the unloading is completed.

[0071] The Beidou positioning module is used to obtain the real-time position of the stirring truck.

[0072] The terminal display module is used to prompt the concrete truck driver to go to the current concrete pouring point.

[0073] The network communication module is used to send data such as the real-time position of the stirring truck and the rotation direction of the tank to the cloud server.

[0074] The RFID module is installed at the pouring point and is used to record the pouring frequency of the current point.

[0075] The sound and light prompt module is used to prompt the concrete truck driver that the current concrete pouring card punching is successful.

[0076] The network communication module is used to send data such as the RFID card punching condition to the cloud server.

[0077] The stirring truck module is composed of a forward and reverse rotation module, a Beidou positioning module, a terminal display module and a network communication module, and the modules are installed on the concrete mixing truck. First, the Beidou positioning module is used to collect the position data of the concrete mixing truck in real time, then the forward and reverse rotation module is used to collect the unloading state of the concrete mixing truck, and then the network communication module is used to transmit the above data to the cloud server and receive the scheduling instructions issued by the cloud server, and finally the terminal display module prompts the concrete mixing truck driver to go to the current concrete pouring point.

[0078] The pouring point module is composed of an RFID module, an audible and visual prompt module and a network communication module, and the modules are installed at each pouring point. The RFID module is composed of an RFID card reader and a corresponding RFID card, and the RFID card is placed at the tail of the concrete mixing truck. The installation position of the above modules should ensure that the concrete mixing truck can complete automatic card swiping when pouring concrete, and the audible and visual prompt module prompts the concrete mixing truck driver that this card swiping is successful. The RFID module collects the card swiping data of the concrete mixing truck at the current pouring point, and then the network communication module transmits the data to the cloud server.

[0079] The main functions include:

[0080] 1. Scheduling the concrete mixing truck to a pouring point for concrete pouring.

[0081] 2. Statistics of the number of concrete mixing trucks in the concrete pouring area, production area and transportation area and related information.

[0082] 3. Statistics of the current concrete pouring volume, pouring strength and last pouring time of each pouring point. Before scheduling the concrete mixing truck, initial settings need to be made in the terminal control module and related devices need to be installed at the pouring site and the concrete mixing truck. First, according to the actual positions of concrete production, transportation and pouring, the concrete pouring area, production area and transportation area are divided in the map module of the terminal control module and the electronic fence is set;

[0083] Secondly, according to the actual pouring site situation, the RFID module, audible and visual prompt module and network communication module are installed at the pouring point;

[0084] Finally, the forward and reverse rotation module, Beidou positioning module, network communication module, terminal display module and RFID card corresponding to the RFID module are installed on the concrete mixing truck. The specific scheduling method is as follows:

[0085] First, the number of concrete mixing trucks in the pouring area, production area and transportation area is counted;

[0086] Secondly, the current concrete pouring volume of each pouring point in the pouring area is counted;

[0087] Finally, according to the mixer truck scheduling algorithm, the mixer truck is dispatched to the pouring point for concrete pouring.

[0088] Embodiment 2

[0089] Further illustrated in combination with Embodiment 1, as shown in the structure, S1, an electronic fence is divided in the construction operation area, which is divided into a concrete pouring area, a production area and a transportation area; Figs. 1-3

[0090] S2, the current position of the concrete mixer truck is detected by the Beidou positioning module and divided into the corresponding area according to the position;

[0091] S3, based on the pouring point module and the mixer truck module, it is judged whether there is a pouring point to complete the concrete pouring, if yes, the concrete pouring situation of each pouring point is updated, otherwise, it returns to step S2;

[0092] S4, it is judged whether the number of available concrete mixer trucks is greater than m, if yes, the available mixer trucks are distributed by the mixer truck scheduling algorithm, otherwise, it returns to step S3;

[0093] Wherein, the specific judgment method of whether the pouring point t completes the concrete pouring this time is shown in formula 1-4, when =1, it is determined that the concrete pouring of the pouring point this time is completed:

[0094] (1);

[0095] (2);

[0096] (3);

[0097] (4);

[0098] In the formula, is the rotation state of the nth concrete mixer truck tank at time t, is the position of the nth concrete mixer truck, is the electronic fence range of the concrete pouring area, is the RFID clock-in state of the nth concrete mixer truck at the tth pouring point.

[0099] In order to reasonably divide the construction operation area, so as to effectively manage and schedule the concrete mixer truck and the pouring point.

[0100] According to the actual layout and operation process of the construction site, the approximate range of the concrete pouring area, the production area and the transportation area is determined.

[0101] ​The three areas are precisely divided by setting coordinate ranges or geographic fences using electronic fence technology. For example, the boundary coordinates of the concrete pouring area are set as to , the production area is to , and the transportation area is to .

[0102] This step mainly defines the area by coordinate range, that is, the setting of the boundary coordinates of the area. For example, the formula for the concrete pouring area is and , where is the coordinate of any point in the area. Its use is to clearly define the range of each area and provide a basis for subsequent judgment of the position of the mixer truck and the pouring point.

[0103] The position information of the concrete mixer truck is obtained in real time and accurately divided into the corresponding area to understand the distribution of the mixer truck.

[0104] The real-time position coordinates of the concrete mixer truck are obtained by the Beidou positioning module .

[0105] The position coordinates of the mixer truck are compared with the boundary coordinates of each area divided in S1 to determine the area to which the mixer truck belongs. If and , the mixer truck is located in the concrete pouring area; if it meets the coordinate range conditions of the production area or the transportation area, it is divided into the corresponding area.

[0106] The formula for comparing the boundary coordinates of the area is as follows: the formula for judging that the mixer truck is located in the concrete pouring area. Its use is to accurately divide the mixer truck into the corresponding area to provide basic information for subsequent scheduling decisions, such as prioritizing the scheduling of mixer trucks located near the pouring area.

[0107] The pouring state of the pouring point is monitored in real time to update the concrete pouring situation of each pouring point in time.

[0108] The rotation state of the mixer truck tank is obtained by the mixer truck module , the RFID clock-in state of the mixer truck at the pouring point is obtained by the pouring point module , and the position coordinates of the mixer truck are obtained .

[0109] Whether the pouring point has completed the concrete pouring according to formula (1) - (4).

[0110] ​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 does, then , otherwise .

[0111] Next, according to formula (2), determine whether the position of the mixer truck is within the electronic fence range of the concrete pouring area. If it is, then , otherwise .

[0112] Then, according to formula (3), determine whether the RFID check-in state of the mixer truck at the pouring point is . If it is, then , otherwise .

[0113] Finally, according to formula (4), when , , determine that the current concrete pouring at the pouring point is complete; otherwise .

[0114] 3. Use and derivation of formula

[0115] Formula (1):

[0116] Use: Used to determine whether the rotation state of the mixer truck tank meets the unloading completion condition, i.e., the change from reverse rotation (mixing) to forward rotation (unloading), which serves as an important basis for determining whether the pouring point is complete.

[0117] Assume that the mixer truck is in reverse rotation when mixing concrete, and the tank turns to forward rotation when unloading. By observing the change in this rotation state, it can be determined whether unloading is complete, and further deduced whether pouring is complete.

[0118] Formula (2):

[0119] Use: Determine whether the mixer truck is within the specified range of the concrete pouring area, ensuring that the pouring behavior is performed in the correct area and avoiding misjudgment.

[0120] By setting the electronic fence range of the concrete pouring area , and comparing the position coordinates of the mixer truck to determine whether the mixer truck is in the correct pouring area.

[0121] Formula (3):

[0122] Use: Determine whether the RFID check-in state of the mixer truck at the pouring point is complete by checking the RFID check-in state. Successful check-in may mean that an important part of the pouring process has been completed, serving as a basis for determining whether the pouring is complete.

[0123] When the RFID module is set at the pouring point, the RFID clock-in state will change after the mixer truck arrives and corresponding operations are performed. When it is , it indicates that the clock-in is successful, which can be used as a reference condition for pouring completion.

[0124] Formula (4):

[0125] Use: Considering the above three conditions comprehensively, only when the mixer truck tank rotation state, position in the pouring area range, and RFID clock-in state all meet the requirements, the pouring point is determined to complete the current concrete pouring, avoiding misjudgment by a single condition.

[0126] Through logical AND operation, combine , , three conditions, only when all three conditions are , , it is , indicating that the pouring is completed.

[0127] According to the number of available mixer trucks, reasonably allocate mixer trucks to each pouring point for tasks.

[0128] Count the number of currently available concrete mixer trucks .

[0129] Compare with , if , then use the mixer truck scheduling algorithm to allocate tasks to available mixer trucks; if , return to S3 to continue waiting for more mixer trucks to be available or the pouring point to complete pouring.

[0130] When allocating tasks, multiple factors need to be considered, such as the distance from the mixer truck to the pouring point, the work capacity of the mixer truck, and the demand intensity of the pouring point, etc. Assume that the distance from the mixer truck to the pouring point is , the work capacity of the mixer truck is represented by , and the demand intensity of the pouring point is represented by . Establish a task allocation priority function .

[0131] According to the value of the task allocation priority function, sort the mixer trucks, and preferentially allocate the mixer trucks to the pouring points with higher priority.

[0132] Formula:

[0133] Use: Used to determine whether the number of currently available mixer trucks meets the conditions for task allocation. If the number is sufficient If the number is enough, the task allocation can be carried out; if the number is not enough, waiting is needed.

[0134] is a threshold value set according to construction needs and experience, when is greater than the threshold value, it means that there are enough mixers available for scheduling, and the next step of task allocation operation can be carried out.

[0135] Formula:

[0136] Use: used for determining the task allocation priority of the mixer to the pouring point. The closer the distance, the stronger the work capacity, and the higher the demand intensity of the pouring point, the higher the priority, and the mixer should be allocated to the pouring point.

[0137] partially reflects the influence of distance on priority, the closer the distance, the higher the priority; represents the work capacity of the mixer, the stronger the work capacity, the higher the priority; represents the demand intensity of the pouring point, the higher the demand intensity, the higher the priority. By multiplying these three factors, a task allocation priority function is obtained, which comprehensively considers multiple factors.

[0138] In the preferred scheme, the concrete pouring situation mainly statistics pouring volume, pouring intensity, last pouring time three indexes, its specific statistics method is:

[0139] Pouring volume: the pouring volume statistics of the pouring point t is determined by the above and the mixer number n, if =1, the pouring volume of the pouring point t increases p square, p is determined by the mixer model;

[0140] Pouring intensity: the pouring intensity is calculated by the concrete pouring time and the concrete pouring volume, and the specific calculation method is shown in formula 5:

[0141] (5);

[0142] In the formula, is the uneven coefficient, is the concrete pouring volume, is the concrete pouring time;

[0143] Last pouring time: the last pouring time of the concrete of a pouring point is the last clock-in time of the RFID of the pouring point.

[0144] Embodiment 3

[0145] Further illustrated in combination with embodiment 1, asFigs. 1-3 As shown in the diagram, A1, a concrete mixer truck task scheduling cost model is established by comprehensively considering parameters such as the current location of the concrete mixer truck, its working capacity, and the concrete pouring intensity at the pouring point. The model is as follows:

[0146]

[0147]

[0148] In the formula, The cost of the concrete mixer truck's location. The cost to the operational capacity of concrete mixer trucks. The cost of increasing the strength of the concrete poured at the pouring point;

[0149] A2. Detect the number of mixer trucks in the concrete pouring area and transportation area at the current moment. If the number is greater than the threshold p, repeat step A2.

[0150] A3. Calculate the task scheduling cost of the currently idle concrete mixer truck based on the above model;

[0151] A4. The objective function is solved by the branch and bound method to obtain the task scheduling scheme for the mixer truck.

[0152] In the preferred embodiment, the specific steps of the above-mentioned mixer truck scheduling algorithm are as follows:

[0153] A11. For each mixer truck ( and each pouring point ( Define a scheduling cost coefficient. ;

[0154] This coefficient consists of three parts: the cost of the concrete mixer truck's location. Cost of concrete mixer truck operating capacity and the cost of concrete pouring strength at the pouring point ,Right now ;

[0155] 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;

[0156] The location coordinates of the mixer truck are The coordinates of the pouring point are The road traffic coefficient is ,in This indicates the level of difficulty in navigating a road. This indicates that the road is completely open. The smaller the value, the more difficult the road is to pass through. wherein is a coefficient related to distance weight, used to adjust the degree of influence of distance on cost;

[0157] Job capability cost Considering the tank capacity of the mixer truck , unloading speed and the mechanical performance comprehensive index of the mixer truck wherein , represents the degree of good or bad mechanical performance, representing perfect mechanical performance; assuming that there is a baseline job capability cost , then ;

[0158] Pouring point concrete pouring strength cost related to the preset pouring rate of the pouring point , the current poured volume and the pouring time window ; define a pouring progress function wherein represents the current time, represents the volume poured at time ; then wherein is an adjustment coefficient used to control the weight of this part of the cost in the total cost;

[0159] The entire model is represented as wherein is a decision variable representing whether the mixer truck is dispatched to the pouring point , i.e. represents being dispatched, represents not being dispatched;

[0160] Formula:

[0161] This formula is used to calculate the location cost of the mixer truck to the pouring point, considering the influence of spatial distance and road traffic conditions on scheduling. The farther the distance, the more difficult the road traffic, the higher the location cost, so as to preferentially select the mixer truck-pouring point combination with short distance and smooth road traffic in the scheduling decision.

[0162] The spatial distance adopts the Euclidean distance formula to measure the straight-line distance between the mixer truck and the pouring point. Multiplying by is to reflect the influence of road traffic conditions on cost, and the more difficult the road traffic, the faster the cost increases. Multiplying by is to adjust the influence weight of distance on cost according to the actual situation.

[0163] Formula:

[0164] The operation capacity cost of the mixer truck is calculated by comprehensively considering the influence of tank capacity, unloading speed and mechanical performance on the operation capacity. The greater the tank capacity, the faster the unloading speed and the better the mechanical performance, the smaller the operation capacity cost, and the more inclined to select the mixer truck with strong operation capacity in scheduling.

[0165] Reference operation capacity cost It is a constant determined by experience or experiment, which is used as the basis for calculating the operation capacity cost. Partly reflects the inverse proportional relationship between tank capacity and unloading speed on the operation capacity, that is, the greater the capacity and the faster the speed, the stronger the operation capacity and the smaller the cost. Multiply by is to consider the influence of mechanical performance on the operation capacity, the better the mechanical performance, the smaller the cost.

[0166] Formula:

[0167] The concrete pouring strength cost of the pouring point is calculated by considering factors such as pouring progress, preset pouring rate and pouring time window. When the pouring progress is closer to the preset value, the cost is smaller, so it is more inclined to select those pouring points with relatively slow current pouring progress but still within the reasonable range in scheduling decision.

[0168] 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. Partly to adjust the cost according to the pouring progress, when is close to 1, that is, the pouring progress is close to the preset value, the part value tends to 0, and the cost decreases. Multiply by is to adjust the weight of this part of the cost in the total cost.

[0169] A12, obtain the position information of the mixer truck through the sensor network or based on the positioning system set in the concrete pouring area and the transportation area, and count the number of mixer trucks at the current time ;

[0170] Compare with the threshold , if , repeat this step to continue monitoring the change of the number of mixer trucks; if , go to the next step;

[0171] Real-time monitoring of the number of mixer trucks in the concrete pouring area and the transportation area ensures that there are enough mixer trucks available for scheduling, while avoiding congestion or resource waste caused by too many mixer trucks.

[0172] This step mainly involves comparison operations, and the formula is: Its purpose is to determine whether the current number of concrete mixer trucks meets the scheduling requirements. If the number of concrete mixer trucks exceeds the threshold... This indicates that there are currently a large number of mixer trucks available for dispatch, and further observation of their distribution and status changes may be needed to select the optimal dispatching scheme; if the number of mixer trucks is less than or equal to the threshold... If so, it is necessary to consider whether new mixer trucks are about to enter the area, or to adjust the scheduling strategy to accommodate limited resources.

[0173] A13. First, the status monitoring system of the mixer trucks is used to determine which mixer trucks are idle. The criteria for determining an idle mixer truck can be that it has completed unloading and has not received a new dispatch task, or it is in standby mode and has not performed any operation within the specified time.

[0174] For each idle mixer truck Calculate it to each pouring point. scheduling cost Use the formula established in step one ;

[0175] For idle mixer trucks, the task scheduling cost from their arrival at each pouring point is calculated based on the model established in step one, providing a data foundation for solving the optimal scheduling scheme in the future.

[0176] The formula is the same as in step one, that is... Its purpose is to calculate the comprehensive scheduling cost of each idle mixer truck to each pouring point, so that the optimal scheduling scheme can be selected based on these costs in subsequent steps. The derivation process is the same as step A11, and will not be repeated here.

[0177] A14. Solve the objective function using the branch and bound method to find the optimal scheduling scheme for the mixer trucks, minimizing the total scheduling cost.

[0178] Using the scheduling cost from the idle mixer trucks to each pouring point calculated in step A3 as input, the branch and bound method is used to optimize the objective function. Solve the problem;

[0179] The basic idea of ​​the branch and bound method is to continuously divide the search space, evaluate and eliminate possible solutions, and gradually approach the optimal solution. During the solution process, different branches are searched first according to the size of the scheduling cost, with priority given to branches with smaller costs, in order to improve the solution efficiency.

[0180] Specifically, from the root node, the search space is divided into several subspaces, each corresponding to a possible scheduling scheme; the objective function value of each subspace, i.e. the total scheduling cost, is calculated and compared with the current optimal solution; if the objective function value of a subspace is less than the current optimal solution, further search is performed in the subspace; 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;

[0181] By continuously repeating this process, the optimal solution is finally found, i.e. a set of values of is found, so that is minimized.

[0182] The formula is:

[0183] The formula is the objective function of the entire scheduling problem, and by minimizing the objective function, the optimal mixer truck scheduling scheme can be obtained. That is, a set of values of is found, so that is minimized.

[0184] The derivation of the objective function is based on the scheduling cost model established in step one. By adding up the scheduling costs of all mixer trucks to each pouring point, a total scheduling cost is obtained. In the solving process, we want to find a scheduling scheme that minimizes the total scheduling cost, so as to achieve optimal mixer truck scheduling.

[0185] The above embodiments are only preferred technical solutions of the present application, and should not be regarded as a limitation of the present application. The protection scope of the present application should be based on the technical solutions recited in the claims, including equivalent replacement solutions of the technical features recited in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present application.

Claims

1. A scheduling method for a concrete mixer truck scheduling system for continuous concrete pouring, characterized in that: The dispatching system consists of a mixer truck module, a pouring point module, and a control module; The mixer truck module includes a forward / reverse rotation module, a Beidou positioning module, a terminal display module, and a first network communication module. The mixer truck module is installed on the mixer truck. The pouring point module includes an RFID module, an audio-visual 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; Both the mixer truck module and the pouring point module are connected to the cloud server via a network communication module. Scheduling methods include: S1. Divide the construction work area into electronic fences, which are divided into concrete pouring area, production area and transportation area; S2. Detect the current location of the concrete mixer truck using the Beidou positioning module and classify it into the corresponding area based on the location; 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 if the number of available concrete mixer trucks is greater than m. If it is, use the mixer truck scheduling algorithm to allocate tasks to the available mixer trucks. Otherwise, return to step S3. The specific method for determining whether the concrete pouring at pouring point t has been completed is shown in Equation 1-4. When =1, the concrete pouring at that pouring point is considered complete for that current period. (1)； (2)； (3)； (4)； In the formula, Let t represent the rotational state of the nth concrete mixer truck's tank at time t. Let n be the position of the nth concrete mixer truck. The electronic fence extends to the concrete pouring area. This refers to the RFID check-in status of the nth concrete mixer truck at the tth pouring point. The steps of the mixer truck scheduling algorithm are as follows: A1. A concrete mixer truck task scheduling cost model is established by comprehensively considering parameters such as the current location of the concrete mixer truck, its working capacity, and the concrete pouring intensity at the pouring point. The model is as follows: In the formula, The cost of the concrete mixer truck's location. The cost to the operational capacity of concrete mixer trucks. The cost of increasing the strength of the concrete poured at the pouring point; A2. Detect the number of mixer trucks in the concrete pouring area and 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. The objective function is solved by the branch and bound method to obtain the task scheduling scheme for the mixer truck.

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

3. The scheduling method of a concrete mixer truck scheduling 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 aforementioned mixer truck module and pouring point module and transmit it to the terminal control module to realize the relevant functions of the scheduling system and perform visual display.

4. The scheduling method of a concrete mixer truck scheduling system for continuous concrete pouring according to claim 1, characterized in that: wherein the concrete... The pouring situation is mainly measured by three indicators: pouring volume, pouring intensity, and time of the last pouring. The specific statistical methods are as follows: Pouring volume: The pouring volume at pouring point t is statistically analyzed as described above. The number n of the mixer truck determines the total number of mixer trucks. =1, then the pouring volume at pouring point t increases by p square meters, where p is determined by the model of the mixer truck; Pouring strength: Pouring strength The calculation method, based on the concrete pouring time and volume, is shown in Equation 5. (5)； In the formula, The coefficient of non-uniformity, For the volume of concrete poured, This refers to the duration of concrete pouring; Last pouring time: The last time the concrete was poured at a certain pouring point was the last time the RFID tag at that pouring point was used to check in.

5. The scheduling method of a concrete mixer truck scheduling system for continuous concrete pouring according to claim 1, characterized in that: The specific steps of the above-mentioned 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: the cost of the concrete mixer truck's location. Cost of concrete mixer truck operating capacity 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 location coordinates of the mixer truck are The coordinates of the pouring point are The road traffic coefficient is ,in This indicates the level of difficulty in navigating a road. This indicates that the road is completely open. The smaller the value, the more difficult the road is to pass through. ,in It is a coefficient related to distance weight, used to adjust the degree of influence of distance on cost; Cost of Operational Capacity Taking into account the tank capacity of the mixer truck Unloading speed and the comprehensive mechanical performance indicators of the mixer truck ,in This indicates the degree of mechanical performance. This represents perfect mechanical performance; it assumes the existence of a baseline operating capacity cost. ,but ; Concrete pouring strength cost at pouring points With respect to the preset pouring rate at the pouring point Current volume of concrete poured and the pouring time window Related; Define a pouring progress function ,in Indicates the current time. Indicates time The volume that has already been poured; then ,in It is an adjustment factor used to control the weight of this part of the cost in the total cost; The entire model is represented as ,in It is a decision variable, representing the mixer truck. Have you been assigned to a pouring point? ,Right now Indicates that it has been scheduled. This indicates that the data has not been scheduled. A12. Obtain the location information of the mixer trucks through a sensor network or a positioning system set up in the concrete pouring area and transportation area, and count the number of mixer trucks at the current moment. ; Will With threshold Compare, if If so, repeat this step to continue monitoring changes in the number of mixer trucks; if Then proceed to the next step; A13. First, the status monitoring system of the mixer trucks is used to determine which mixer trucks are idle. The criteria for determining an idle mixer truck are that it has completed unloading and has not received a new dispatch task, or it is in standby mode and has not performed any operation within the specified time. For each idle mixer truck Calculate it to each pouring point. scheduling cost Use the formula established in step A1 ; A14. Using the scheduling cost of the idle mixer trucks to each pouring point calculated in step A3 as input, apply the branch and bound method to the objective function. Solve the problem; The basic idea of ​​the branch and bound method is to continuously divide the search space, evaluate and eliminate possible solutions, and gradually approach the optimal solution. During the solution process, different branches are searched first according to the size of the scheduling cost, with priority given to branches with smaller costs, in order to improve the solution efficiency. Specifically, starting from the root node, the search space is divided into several subspaces, each subspace corresponding to a possible scheduling scheme; the objective function value of each subspace, i.e. 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 search is further deepened in that subspace; if the objective function value of a subspace is greater than or equal to the current optimal solution, that subspace is excluded and no further search is performed. By repeatedly performing this process, the optimal solution is eventually found, that is, a set of solutions is found. The value of makes Minimum.

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