Tower crane group collaborative operation scheduling and optimizing system

Abstract

The invention provides a tower crane group collaborative operation scheduling and optimizing system. The system comprises a task dynamic allocation module, a conflict sensing path planning module and a collaborative scheduling module. Based on construction site task requirements, tasks are dynamically allocated to tower cranes, and path conflict pre-judgment cost is calculated; then, according to a task allocation result, generating a tower crane motion path in real time, and dynamically avoiding position conflicts and time overlapping among tower cranes by taking a space-time grid as a constraint; and finally, monitoring the state of the tower crane and the environment change in real time through a sensor, and dynamically adjusting the priority of task allocation and the parameters of path planning to form a global collaborative optimization model. The global collaborative optimization model integrates task allocation, path planning and real-time scheduling, and is realized through joint optimization. The system can effectively solve the problems of task delay, resource waste and potential safety hazards caused by insufficient management in collaborative operation of the tower crane group, and improves the collaboration and flexibility of the operation of the tower crane group.

Description

Technical Field

[0001] The invention relates to the technical field of tower crane management, and in particular to a tower crane group collaborative operation scheduling and optimization system. Background Art

[0002] With the continuous expansion of building scale and the increase of construction complexity, construction sites often require multiple tower cranes to work together to complete tasks such as lifting, transportation and installation of materials.

[0003] Although the existing tower crane dispatching and management system can realize task allocation and path planning to a certain extent, there are still some technical defects. The existing tower crane system is difficult to cope with the dynamic changes of the construction site, resulting in task delays and waste of resources. It lacks dynamic consideration of the tower crane's movement speed and load, and it is difficult to effectively quantify the conflict risk, resulting in frequent path conflicts between tower cranes. These technical defects limit the efficiency and safety of the collaborative operation of tower crane groups. Summary of the invention

[0004] 1. Technical issues to be resolved In view of the deficiencies in the prior art, the present invention provides a tower crane group collaborative operation scheduling and optimization system, which solves the problems of task delays, resource waste and safety hazards caused by insufficient management in the collaborative operation of tower crane groups.

[0005] (II) Technical solution To achieve the above objectives, the present invention is implemented through the following technical solutions: a tower crane group collaborative operation scheduling and optimization system, comprising: Task dynamic allocation module: Based on the task requirements of the construction site, including the starting point, end point, priority, and time window, tasks are dynamically allocated to the tower crane, and the path conflict prediction cost is calculated; Conflict-aware path planning module: Generates crane motion paths in real time based on task allocation results. Path planning uses the space-time grid as a constraint to dynamically avoid position conflicts and time overlaps between cranes. Collaborative scheduling module: uses sensors to monitor the crane status and environmental changes in real time, dynamically adjusts the priority of task allocation and path planning parameters, and forms a global collaborative optimization model; Among them, the global collaborative optimization model integrates task allocation, path planning and real-time scheduling. , joint optimization is achieved, where The time cost of task execution; is the actual completion time of the task, is the deadline; The path conflict prediction cost between crane m and crane n.

[0006] The system ensures the collaborative optimization of task allocation, path planning and real-time scheduling by minimizing the task execution time cost, task delay cost and path conflict prediction cost; in the global collaborative optimization model, the adjustment rule of the dynamic weight coefficients α, β and γ in the global collaborative optimization model is that when the task delay rate exceeds 15%, the β value is increased; among them, the task delay rate = (number of delayed tasks / total number of tasks) × 100%, the number of delayed tasks is the number of tasks whose actual completion time exceeds the deadline; the total number of tasks refers to the number of all assigned tasks within the statistical time period; when the distance between tower cranes is less than 80% of the safety threshold, the γ value is increased. For example, the safety threshold is set to 5 meters. When the distance between tower cranes is less than 4 meters, that is, 80% of 5 meters, the system will trigger adjustment and increase the γ value to enhance the intensity of conflict avoidance; the adjustment of α is optimized online by calculating the priority of tower crane tasks.

[0007] In the system, the tower crane tasks are reasonably allocated. The system calculates the priority of each task according to the urgency of the task, the deadline and the weight of the task type. The priority calculation takes into account the urgency of the task, the remaining time and the importance of the task type; the initial priority is determined by the task urgency, the deadline d i and task type weight calculation, , where w1, w2, w3 are weights preset according to the importance of the initial task. The weights are based on the nature and importance of the task. For example, for critical path tasks in construction, the weight of task urgency will be higher, while for non-critical path tasks, the weight of deadline will be higher. When sudden tasks or environmental interference are detected, the weights are set according to the task urgency. Increase priority, where Δp is the priority increment, p emr is the emergency task threshold; for example, when an emergency task or environmental interference is detected, Δp is set according to the task urgency and the severity of the environmental interference. If the task urgency is high, such as construction safety or critical path tasks, Δp is set to 0.5-1.0; if the urgency is medium, Δp is set to 0.3-0.5; if the urgency is low, Δp is set to 0.1-0.3; at the same time, when the environmental interference is severe, such as bad weather or major equipment failure, Δp is increased by 0.4-0.6 on the original basis; if the interference is general, it is increased by 0.2-0.4; if the interference is slight, it is increased by 0.1 or less; after the priority is increased, the local re-optimization of the conflict-aware path planning module is triggered, the spatiotemporal grid occupancy state of the low-priority task is frozen, and the frozen grid resources are released, which are preferentially allocated to the emergency task path.

[0008] The conflict-aware path planning module divides the construction site into space-time grids with a horizontal resolution of no more than 1 meter and a time resolution of no more than 10 seconds, so that it can accurately capture the movement trajectory and time changes of the tower crane and provide detailed space-time constraints for path planning; the space-time grid discretizes the space and time of the construction site into grid units to accurately describe the movement trajectory and time changes of the tower crane; the calculation of the grid size is based on the maximum speed and minimum safety distance of the tower crane, so that the movement range of the tower crane in adjacent time windows will not exceed the grid boundary; for example, the maximum speed of the tower crane is 5 meters per second and the minimum safety distance is 2 meters, then The horizontal size of the grid will be set to no more than 5 meters, and the time size will be set to no more than 10 seconds to ensure that the movement of the tower crane in any time window will not exceed the grid boundary; when planning the tower crane path, the path is discretized into a sequence of space-time grids; each grid will be automatically marked as occupied when it is occupied by a tower crane, and other tower cranes must avoid the occupied grids when planning the path, thereby dynamically avoiding position conflicts and time overlaps between tower cranes. For example, tower crane A occupies a space-time grid in a certain time window, tower crane B will automatically avoid the grid when planning the path, and select other available grids for path planning.

[0009] When a sudden obstacle is detected, the system freezes the affected grids and makes local adjustments to the path segments associated with these grids. For example, if a transport vehicle suddenly appears at the construction site, the system immediately freezes the space-time grid where the transport vehicle is located and makes local adjustments to the tower crane path passing through these grids, such as replanning the path or adjusting the movement speed to ensure that the tower crane can safely bypass the obstacle. At the same time, the unaffected path segments will remain unchanged and continue to be executed as originally planned.

[0010] In each task allocation, potential paths are pre-generated and the conflict probability is calculated, and the path conflict risk is used as the task allocation cost item. The system quantifies the conflict risk between cranes based on factors such as the crane's movement speed, load factor, real-time distance, and path time overlap. For example, if the real-time speeds of two cranes m and n are and , the load factors are and , the real-time distance is , the path time overlap is , the safety time threshold is , then the path conflict risk is expressed as a function of these factors; the task allocation result will be optimized through a global collaborative optimization model, and factors such as the task execution time cost, the actual task completion time, the deadline, and the path conflict prediction cost between tower cranes will be taken into account; the dynamic adjustment rule of the conflict risk threshold is that when the average load of the tower crane exceeds 70% of the rated value, the system will lower the conflict risk threshold to enhance the conflict avoidance strength and ensure that the tower crane can operate safely under high load conditions; for example, if the rated load of the tower crane is 10 tons and the current average load is 7 tons, the system will reduce the conflict risk threshold from the original 0.5 to 0.3 to increase the sensitivity of conflict avoidance; when the task delay rate exceeds 20%, the system will increase the conflict risk threshold to prioritize the task completion rate; for example, if the task delay rate reaches 25%, the system will increase the conflict risk threshold from the original 0.5 to 0.7 to reduce the interference of conflict avoidance on task completion.

[0011] (III) Beneficial effects The present invention provides a tower crane group collaborative operation scheduling and optimization system, which has the following beneficial effects: 1. The dynamic allocation method of the present invention can reasonably arrange the tasks of the tower crane according to the urgency, deadline and type weight of the task, avoiding the idle or overload problem of the tower crane caused by unreasonable task allocation in the traditional scheduling method, and further improving the operating efficiency of the tower crane.

[0012] 2. The present invention divides the construction site into time-space grids, and calculates the movement range of the tower crane in adjacent time windows to ensure that the movement of the tower crane does not exceed the grid boundary, thereby effectively avoiding collisions between tower cranes, further reducing the safety risks of tower crane operations and reducing maintenance losses.

[0013] 3. The global collaborative optimization model of the present invention can comprehensively consider the task execution time cost, the actual task completion time, the deadline and the path conflict prediction cost between tower cranes, realize the global optimization of tower crane group operations, and further improve the coordination and flexibility of tower crane group operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0015] The technical solutions in the embodiments of the present invention will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0016] The present invention provides a tower crane group collaborative operation scheduling and optimization system, which aims to solve the problems of task delay, resource waste and safety hazards caused by insufficient management when multiple tower cranes work together at a construction site.

[0017] At the construction site, the system is first initialized according to the task requirements; assuming that there are cranes A, B and C at the construction site, and there are currently 5 tasks to be executed, each task contains information such as the starting point, end point, priority, and time window; the priority of the task is determined by the task urgency, deadline and task type weight; first quantify the task urgency, and the system divides it into three levels: high 1.0, medium 0.7, and low 0.3; for example, the urgency of task 1 is high 1.0, the deadline is 2 hours, and the task type weight is 0.8; the urgency of task 2 is medium 0.7, the deadline is 3 hours, and the task type weight is 0.5; the system calculates the initial priority of each task according to the following formula: , where w1, w2, and w3 are the preset weights of task urgency, deadline, and task type weight, respectively. is the deadline of the task, is the current time; assuming , , , the priority of task 1 is calculated as follows:

[0018] The system dynamically allocates tasks to cranes according to their priorities; for example, task 1 is allocated to crane A, task 2 is allocated to crane B, and task 3 is allocated to crane C. Through dynamic allocation, the system reasonably arranges crane tasks according to the urgency and deadline of the tasks, avoiding crane idleness or overload problems caused by unreasonable task allocation in traditional scheduling methods.

[0019] After the task allocation is completed, the system enters the conflict-aware path planning stage; first, the system divides the construction site into space-time grids with a horizontal resolution of no more than 1 meter and a time resolution of no more than 10 seconds; assuming that the maximum speed of tower crane A is 5 meters per second and the minimum safety distance is 2 meters, the system sets the horizontal size of the grid to 5 meters and the time size to 10 seconds to ensure that the movement range of the tower crane in adjacent time windows does not exceed the grid boundary.

[0020] The task 1 path of crane A is discretized into a sequence of space-time grids; for example, crane A occupies grid (1,1) in time window 1, grid (1,2) in time window 2, and grid (1,3) in time window 3; the system automatically marks these grids as occupied, and other cranes must avoid these grids when planning their paths; for example, when crane B is planning its path, if it detects that grid (1,2) is occupied, it selects other available grids for path planning.

[0021] By dividing the space-time grid and discretizing the path, the system accurately captures the movement trajectory and time changes of the tower cranes, effectively avoiding position conflicts and time overlaps between tower cranes; for example, if tower crane A occupies a space-time grid within a certain time window, tower crane B will automatically avoid this grid when planning the path and select other available grids for path planning, thereby ensuring a safe distance between the tower cranes.

[0022] During the task execution, the system monitors the crane status and environmental changes in real time through sensors. Assuming that a transport vehicle suddenly appears at the construction site when crane A is executing task 1, the system immediately freezes the spatiotemporal grid of the location of the transport vehicle and makes local adjustments to the path of crane A. For example, crane A was originally scheduled to occupy grid (1,4) in time window 4, but due to the appearance of the transport vehicle, the system replans the path and adjusts the movement speed of crane A so that it occupies grid (2,4) in time window 4 and bypasses the obstacle. At the same time, the system detects an emergency task 4 with a high urgency, a deadline of 1 hour, and a task type weight of 0.9. The system increases the priority of task 4 according to the following rules: , assuming , , the initial priority of Task 4 is 0.75, which is lower than the emergency task threshold of 0.8, and the system raises its priority to 0.95; after the priority is raised, the system triggers the local re-optimization of the conflict-aware path planning module, freezes the spatiotemporal grid occupancy state of low-priority tasks, and releases the frozen grid resources, which are preferentially allocated to emergency Task 4; through the dynamic priority adjustment mechanism, the system responds to sudden tasks and environmental changes in a timely manner to ensure that emergency tasks are given priority; for example, if a tower crane suddenly encounters strong winds during lifting, the system will detect this environmental interference and increase the priority of the tower crane task according to the preset rules to ensure safety and timely completion of the task.

[0023] The system uses a global collaborative optimization model to comprehensively consider the task execution time cost, the actual task completion time, the deadline, and the path conflict prediction cost between cranes to achieve global optimization of the crane group operation; the optimization target can be expressed as the following formula: in The time cost of task execution; is the actual completion time of the task, is the deadline; represents the path conflict prediction cost between crane m and crane n; assuming , , The system realizes the collaborative optimization of task allocation, path planning and real-time scheduling through joint optimization; through the global collaborative optimization model, the system comprehensively considers the task execution time, task delay cost and path conflict risk to realize the global optimization of the tower crane group operation; for example, when the path conflict risk between tower crane A and tower crane B is high, the system will automatically adjust the movement speed of the tower crane or reallocate tasks to reduce the conflict risk and ensure that the task is completed on time.

[0024] In each task allocation iteration, the system pregenerates potential paths and calculates the conflict probability; path conflict risk The calculation formula is as follows:

[0025] in, and Respectively represent the real-time speed of tower crane m and tower crane n, and They represent the load factors of crane m and crane n respectively, Indicates the real-time distance between crane m and crane n. represents the path time overlap, Indicates the safety time threshold, is a very small constant; assuming that the real-time speeds of crane A and crane B are 5 m / s and 4 m / s respectively, the load factors are 0.7 and 0.6 respectively, the real-time distance is 6 meters, the path time overlap is 5 seconds, and the safety time threshold is 3 seconds, the path conflict risk is calculated as follows: Assuming the threshold is 1.0, if the conflict risk exceeds the threshold, the system triggers an optimization operation, adjusts the movement speed of crane A or crane B to reduce the path overlap time, or reallocates tasks to reduce the crane load; through path conflict risk calculation and adjustment, the system effectively avoids collisions between cranes and reduces safety risks; for example, when the path conflict risk between cranes A and B is high, the system will automatically adjust the movement speed of the cranes or reallocate tasks to ensure a safe distance between the cranes.

[0026] The system dynamically adjusts the weight coefficients α, β, and γ in the global collaborative optimization model according to the task delay rate and the distance between cranes. Assuming that the task delay rate exceeds 15%, the system increases the β value to increase the penalty for task delays. Assuming that the safety threshold is 5 meters and 80% is 4 meters, when the distance between cranes is lower than 80% of the safety threshold, the system increases the γ value to increase the intensity of conflict avoidance. For example, if the real-time distance between crane A and crane B is 3.5 meters, the system increases the γ value from 0.2 to 0.3 to enhance the sensitivity of conflict avoidance. Through dynamic weight coefficient adjustment, the system flexibly adjusts the optimization target according to the real-time situation to ensure that the task is completed on time and avoid conflicts between cranes. For example, when the crane load is high, the system will automatically lower the conflict risk threshold to enhance the intensity of conflict avoidance and ensure the safe operation of the crane under high load.

[0027] Through the collaborative operation scheduling and optimization of the tower crane group, Task 1, Task 2 and Task 3 were completed on time, and the emergency task 4 was also handled in a timely manner after its priority was increased; the path planning of tower cranes A, B and C avoided position conflicts and time overlaps; the system has advantages in improving the operating efficiency of tower crane groups and reducing safety risks; through dynamic task allocation, conflict-aware path planning and global collaborative optimization, the system can effectively respond to dynamic changes on the construction site, ensure that tasks are completed on time and avoid conflicts between tower cranes, significantly improving the coordination and flexibility of tower crane group operations.

[0028] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A tower crane group collaborative operation scheduling and optimization system, characterized in that: include: Task dynamic allocation module: Based on the task requirements of the construction site, including the starting point, end point, priority, and time window, tasks are dynamically allocated to the tower crane, and the path conflict prediction cost is embedded; Conflict-aware path planning module: Generates crane motion paths in real time based on task allocation results. Path planning uses the space-time grid as a constraint to dynamically avoid position conflicts and time overlaps between cranes. Collaborative scheduling module: uses sensors to monitor the crane status and environmental changes in real time, dynamically adjusts the priority of task allocation and path planning parameters, and forms a global collaborative optimization model; Among them, the global collaborative optimization model integrates task allocation, path planning and real-time scheduling. Joint optimization is achieved, where The time cost of task execution; is the actual completion time of the task, is the deadline; Predict the cost of the path conflict between crane m and crane n.

2. A tower crane group collaborative operation scheduling and optimization system according to claim 1, characterized in that: The adjustment rules of the dynamic weight coefficients α, β, and γ in the global collaborative optimization model are as follows: when the task delay rate exceeds 15%, the β value is increased; when the distance between tower cranes is lower than 80% of the safety threshold, the γ value is increased; the adjustment of α is optimized online by calculating the priority of the tower crane task.

3. A tower crane group collaborative operation scheduling and optimization system according to claim 2, characterized in that: The priority calculation method of the tower crane task is as follows: The initial priority is determined by the task urgency, deadline i and task type weight calculation, ,in is the priority, w1, w2, w3 are the weights preset according to the importance of the initial task, is the current time; when an emergency task or environmental interference is detected, the priority is increased according to the following rules , where Δp is the priority increment, p emr is the emergency task threshold; after the priority is increased, the local re-optimization of the conflict-aware path planning module is triggered.

4. A tower crane group collaborative operation scheduling and optimization system according to claim 3, characterized in that: In the conflict-aware path planning module, the construction site area is divided into space-time grids with a horizontal resolution of ≤1 meter and a time resolution of ≤10 seconds. The grid size is calculated based on the maximum speed and minimum safety distance of the tower crane so that the movement range of the tower crane in adjacent time windows does not exceed the grid boundary. When planning the tower crane path, the path is discretized into a sequence of space-time grids, and the grid is automatically marked as occupied when it is occupied. The occupied grids need to be avoided when planning the paths of other tower cranes. When a sudden obstacle is detected, the affected grids are frozen and the path segments associated with the affected grids are locally adjusted to retain the unaffected path segments.

5. The tower crane group collaborative operation scheduling and optimization system according to claim 1 is characterized by: In the collaborative scheduling module, in each task allocation iteration, potential paths are pre-generated and conflict probabilities are calculated, and path conflict risks are used as task allocation cost items; If the conflict risk exceeds the threshold, the current allocation plan will be rejected and solved again. The task allocation result is optimized through the global collaborative optimization model. The dynamic adjustment rule of the conflict risk threshold is as follows: when the average tower crane load exceeds 70% of the rated value, the conflict risk threshold is lowered to enhance the conflict avoidance intensity; when the task delay rate exceeds 20%, the conflict risk threshold is increased to prioritize the task completion rate.

6. A tower crane group collaborative operation scheduling and optimization system according to claim 5, characterized in that: Path conflict risk C conflict (m,n) quantifies the probability of path overlap between crane m and crane n in the space-time grid, and its calculation method is: , where v m ,v n is the real-time speed of crane m and crane n, L m ,L n is the load factor of crane m and crane n. The larger the load, the higher the conflict risk. mn is the real-time distance between crane m and crane n, t overlap is the path time overlap, t safe is the safety time threshold, is a very small constant; when the path conflict risk is detected to exceed the threshold, the optimization operation is triggered, including adjusting the movement speed of crane m or crane n to reduce the path overlap time t overlap , redistribute tasks to reduce the crane load L m or L n , and insert waiting time windows to ensure the distance d between cranes mn Always greater than the safety threshold d safe .

7. The tower crane group collaborative operation scheduling and optimization system according to claim 1 is characterized by: In the collaborative scheduling module, when it is detected that a single tower crane deviates from the planned path, only the tower crane associated variables are frozen and the global collaborative optimization model is locally updated; when the priority of the burst task exceeds the threshold, the low priority task is forcibly interrupted and the path resources are released.

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