Multi-tower collaborative scheduling method, collaborative server and multi-tower collaborative scheduling system

Abstract

The invention provides a multi-tower cooperative scheduling method, a cooperative server and a multi-tower cooperative scheduling system, and the method comprises the steps: constructing a twin map of a construction site, generating a movable three-dimensional space of each tower crane device, and rendering the movable three-dimensional space into the twin map; obtaining a shortest task line according to cooperative starting point positioning and cooperative terminal point positioning of the multi-tower cooperative task, and rendering the shortest task line into the twin map; obtaining a movable three-dimensional space of all tower crane equipment intersecting with the shortest task line in the twin map to form a linkage space sequence; a path node sequence of the multi-tower cooperative task is generated according to the linkage space sequence, a node sequential relation is generated according to the cooperative sequence of all path nodes, and the path nodes comprise a hoisting starting point, an unloading stopping point and a rotating path; and sending the path node sequence and the node time sequence relation to a virtual cockpit, and controlling the cooperative equipment corresponding to each path node in a time-sharing manner according to the node time sequence relation through the virtual cockpit.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent tower cranes, and in particular to a multi-tower collaborative scheduling method, a collaborative server, and a multi-tower collaborative scheduling system. Background Art

[0002] With the development of the construction industry, the degree of mechanization in construction has increased year by year. Tower cranes, as a machine that can transport materials vertically and horizontally, have been widely used in the construction industry, especially because of their high lifting height, large lifting weight, and large working range.

[0003] As the scale of buildings continues to expand and the complexity of construction increases, construction sites often require multiple tower cranes to work together. This collaborative approach can significantly improve construction efficiency, especially in large-scale construction projects. By rationally arranging and coordinating the work of multiple tower cranes, the needs of construction in different areas and heights can be met, construction time can be reduced, and costs can be reduced. In the existing technology, multi-tower collaborative operations often involve different operators operating different tower cranes, and the corresponding multi-tower collaborative operations are completed according to the different commands of the commanders. This process requires interaction between multiple personnel and collaborative control of the positions of multiple tower cranes. Other movement rules also need to be met during the control process, such as the lower tower giving way to the higher tower, the rear tower giving way to the earlier tower, the light vehicle giving way to the heavy vehicle, the guest tower giving way to the main tower, and so on. All of the above work requires manual human coordination, which greatly reduces the collaborative efficiency of the tower cranes. In addition, it is highly subjective and dependent on human experience, prone to conflicts, and poses a safety hazard.

[0004] Therefore, how to achieve collaborative operation of large-scale intelligent tower crane clusters and avoid operation conflicts is an urgent problem to be solved by technical personnel in this field. Summary of the Invention

[0005] In view of this, the present application proposes a multi-tower collaborative scheduling method, a collaborative server and a multi-tower collaborative scheduling system, which can realize automatic control of remote multi-tower collaboration, reduce labor costs, improve work efficiency, and ensure the safety of tower cranes working collaboratively.

[0006] In a first aspect, the present application provides a multi-tower coordinated scheduling method, comprising: Construct a twin map of the construction site, generate a movable three-dimensional space for each tower crane based on its attribute status, and render it into the twin map; the attribute status includes at least tower center position, tower height, and arm span information; According to the starting point and the end point of the multi-tower collaborative task, a collaborative starting point location and a collaborative end point location are obtained, and the shortest task line is obtained according to the collaborative starting point location and the collaborative end point location, and is rendered into the twin graph; Obtaining movable three-dimensional spaces of all tower cranes intersecting the shortest task line in the twin graph to form a linkage space sequence, the linkage space sequence including a plurality of linkage spaces adjacent to each other in sequence; Generate a path node sequence for the multi-tower collaborative task based on the linkage spatial sequence, and generate a node temporal relationship based on the collaborative order of each path node, wherein the path node includes a starting hoisting point, an ending unloading point, and a rotation path; The path node sequence and the node timing relationship are sent to a virtual cockpit, and the virtual cockpit controls the collaborative devices corresponding to each path node in a time-sharing manner according to the node timing relationship.

[0007] From the above, in a multi-tower collaborative scheduling method provided by this application, by constructing a twin map of the construction site and generating a three-dimensional space where tower crane equipment can be moved, the layout of tower cranes in the construction site can be intuitively presented; the shortest task line is obtained and rendered to provide clear path guidance for multi-tower collaborative tasks; a linkage space sequence is formed and a path node sequence and node timing relationship are generated, and finally, the collaborative equipment is controlled through the virtual cockpit in a time-sharing manner, thereby realizing the automation and visualization of multi-tower collaborative scheduling, improving scheduling efficiency and accuracy, and reducing manual operation errors.

[0008] Optionally, generating a path node sequence for the multi-tower collaborative task according to the linkage space sequence includes: Detecting the intersection area of ​​two adjacent linkage spaces in the linkage space sequence; if there is an intersection area between the two linkage spaces, determining the intersection point of the shortest task line and the edges of the two linkage spaces, and calculating the Euclidean distance between the two intersection points as the transfer distance; Determine the tower crane equipment to be used based on the transfer distance, the preset multi-tower coordination rules and the multi-tower coordination mode; A path node corresponding to the tower crane equipment is generated according to the starting hoisting point, the ending unloading point and the rotation path of the transfer distance, and multiple path nodes are sorted to generate the path node sequence.

[0009] From the above, by detecting the intersection areas of adjacent linkage spaces in the linkage space sequence, determining the intersection points and calculating the transfer distance, the material transfer distance can be accurately determined; based on the transfer distance, the preset multi-tower coordination rules (lower tower gives way to higher tower, later tower gives way to earlier tower, light vehicles give way to heavier vehicles, passenger tower gives way to main tower, etc.) and multi-tower coordination mode (multi-tower asynchronous operation), the tower crane equipment is determined, and then the corresponding path nodes are generated and sorted, so that the path node sequence generation is more scientific and reasonable, in line with the actual multi-tower coordination operation needs, and the rationality of scheduling is improved.

[0010] Optionally, also include: Detecting the intersection area of ​​two adjacent linkage spaces. If there is no intersection area between the two linkage spaces, determining the intersection point of the shortest task line and the edges of the two linkage spaces, and calculating the Euclidean distance between the two intersection points as the additional transfer distance; Determining the additional transfer equipment required based on the additional transfer distance, transfer material attributes, and additional equipment status; A path node corresponding to the additional transfer equipment is generated according to the starting transfer point, the ending unloading point and the transfer path of the additional transfer distance, and is added to the path node sequence accordingly.

[0011] Based on the above, the additional transfer distance is determined by performing similar detection and calculation on adjacent linkage spaces with no intersection. The additional transfer equipment is determined based on the additional transfer distance, material properties and equipment status, and the corresponding path nodes are generated and added to the sequence. This improves the handling of special situations in multi-tower collaborative scheduling, ensures that all transfer needs can be met, and improves scheduling integrity.

[0012] Optionally, generating a node timing relationship according to the coordination order of each path node includes: According to the data attributes of each path node, the estimated working time of the tower crane equipment corresponding to each path node is calculated:

[0013] in, For the Estimated working time of tower crane equipment, The working time value is the basis, It is the rotation angle of the tower crane during scheduling. It is the time per unit rotation angle during tower crane scheduling; According to the estimated working time of each tower crane equipment, determine the estimated working time period of each tower crane equipment:

[0014] in, For the The estimated working time of the tower crane equipment corresponds to the starting time, For the The deadline corresponding to the estimated working time of the tower crane equipment, For the Estimated loading and unloading time of tower crane equipment, is the current time point, For the The deadline corresponding to the estimated working time of the tower crane equipment, For the Estimated working time of tower crane equipment.

[0015] As described above, the estimated working time of the tower crane equipment is calculated based on the data attributes of the path nodes. Factors such as basic working time and rotation angle are taken into account through a specific formula to make the estimation more accurate. The estimated working time period is then determined based on the estimated working time, providing a basis for the operation time arrangement of each tower crane equipment, which helps to reasonably plan the collaborative operation time of multiple tower cranes and avoid time conflicts.

[0016] Optionally, also include: When the estimated working time period of the tower crane equipment corresponding to a certain path node conflicts with the estimated time period of other tasks and has a lower priority than other tasks, the estimated working time period of the tower crane equipment is adjusted, and the estimated working time periods of the subsequent collaboratively operated tower crane equipment are adjusted accordingly.

[0017] From the above, when the estimated working time period of the tower crane equipment corresponding to the path node conflicts with other tasks and has a low priority, adjusting the estimated working time period of the tower crane equipment and subsequent collaborative equipment can flexibly cope with multi-task parallel situations, ensure that high-priority tasks are executed first, and at the same time ensure the overall smooth progress of multi-tower collaborative tasks, thereby improving scheduling flexibility and adaptability.

[0018] Optionally, the time-sharing control of the collaborative devices corresponding to the respective path nodes according to the node timing relationship through the virtual cockpit includes: The starting lifting point, ending unloading point and rotation path of the current path node are sent to the virtual cockpit, and the control of the tower crane equipment corresponding to the path node is obtained through the virtual cockpit. After controlling the tower crane equipment to complete the collaborative lifting task, the control of the tower crane equipment is released.

[0019] From above, the current path node information is sent to the virtual cockpit to obtain and control the corresponding tower crane equipment. After completing the task, the control right is released, realizing the precise control and orderly management of the tower crane equipment, avoiding long-term occupation of the equipment, improving equipment utilization, and ensuring the orderly implementation of multi-tower collaborative operations.

[0020] Optionally, the path node further includes an operation fence, which is generated according to the rotation path in the path node and is used to limit the device control range of the virtual cockpit.

[0021] As shown above, the path node contains the operation fence generated according to the rotation path, which limits the control range of the virtual cockpit equipment, prevents the equipment operation from exceeding the reasonable range, avoids safety accidents such as collisions, and improves the safety of multi-tower collaborative operations.

[0022] Optionally, also include: After receiving the task, the starting point and end point of the task are first located; If the starting position and the end position are located in the movable three-dimensional space of the same tower crane, the task is performed by the tower crane; If the starting point positioning and the end point positioning are not located in the movable three-dimensional space of the same tower crane equipment, then the task is determined to be the multi-tower collaborative task.

[0023] As described above, after receiving a task, the starting point and the end point are first located to determine whether they are located in the movable three-dimensional space of the same tower crane equipment. Based on this, it is determined whether it is a multi-tower collaborative task. This simplifies the task judgment process, can quickly and accurately distinguish task types, provide a basis for subsequent processing of different types of tasks, and improve task processing efficiency.

[0024] In a second aspect, the present application provides a collaborative server, comprising: A construction module is used to construct a twin map of the construction site, generate a movable three-dimensional space for each tower crane based on the attribute status of each tower crane in the construction site, and render it into the twin map; the attribute status includes at least the tower center position, tower height and arm span information; A path planning module is used to obtain collaborative starting point positioning and collaborative end point positioning according to the starting point and end point of the multi-tower collaborative task, obtain the shortest task line based on the collaborative starting point positioning and collaborative end point positioning, and render it into the twin graph; The path planning module is further configured to obtain the movable three-dimensional spaces of all tower cranes intersecting with the shortest task line in the twin graph to form a linkage space sequence, wherein the linkage space sequence includes a plurality of linkage spaces adjacent to each other in sequence; The path planning module is further configured to generate a path node sequence for the multi-tower collaborative task based on the linkage spatial sequence, and generate a node temporal relationship based on the collaborative order of each path node, wherein the path nodes include a starting hoisting point, an ending unloading point, and a rotation path; The sending module is used to send the path node sequence and the node timing relationship to the virtual cockpit, and the virtual cockpit controls the device corresponding to each path node in a time-sharing manner according to the node timing relationship.

[0025] In a third aspect, the present application provides a multi-tower collaborative dispatching system, comprising a virtual cockpit, multiple edge controllers, and the collaborative server described above; Each edge controller is connected to at least one collaborative device. The virtual cockpit is connected to multiple edge controllers and the collaborative server respectively. Control instructions are generated according to the path node sequence and node timing relationship sent by the collaborative server and sent to the corresponding edge controller to achieve time-sharing control of the collaborative device corresponding to the edge controller.

[0026] In a fourth aspect, the present application provides a computing device, comprising: processor; a memory for storing one or more programs; When the one or more programs are executed by the processor, the processor implements the above-mentioned multi-tower coordinated scheduling method.

[0027] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned multi-tower coordinated scheduling method when executed by a computer.

[0028] These and other aspects of the present application will become more apparent from the following description of the embodiment(s). BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A flowchart of a multi-tower coordinated scheduling method provided in an embodiment of the present application; Figure 2 A structural diagram of a collaborative server provided in an embodiment of the present application; Figure 3 A structural diagram of a multi-tower coordinated scheduling system provided in an embodiment of the present application; Figure 4 A structural diagram of a computing device provided in an embodiment of the present application.

[0030] It should be understood that the sizes and shapes of the blocks in the above structural diagrams are for reference only and should not constitute an exclusive interpretation of the embodiments of this application. The relative positions and inclusion relationships between the blocks presented in the structural diagrams are only schematic representations of the structural relationships between the blocks, and do not limit the physical connection methods of the embodiments of this application. DETAILED DESCRIPTION

[0031] The technical solution provided by this application is further described below with reference to the accompanying drawings and examples. It should be understood that the system structure and business scenarios provided in the examples of this application are mainly for illustrating possible implementation methods of the technical solution of this application and should not be interpreted as the sole limitation of the technical solution of this application. It is known to those skilled in the art that with the evolution of the system structure and the emergence of new business scenarios, the technical solution provided by this application is also applicable to similar technical problems.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art in the art of this application. In the event of any inconsistency, the meaning described in this specification or the meaning derived from the contents recorded in this specification shall prevail. In addition, the terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit this application.

[0033] The solution provided in this application is described in detail below with reference to the accompanying drawings and embodiments.

[0034] Because traditional multi-tower collaborative scheduling requires extensive manual operation and on-site command, it is not only inefficient but also prone to human error. Therefore, the embodiments of the present application propose a multi-tower collaborative scheduling method, collaborative server, and multi-tower collaborative scheduling system that implement automated control and remote monitoring, reduce the number of on-site operators, and lower labor costs. Furthermore, the virtual cockpit's visual interface and intelligent scheduling capabilities make operation easier and reduce the skill requirements for operators.

[0035] Figure 1 The figure shows a flow chart of a multi-tower collaborative scheduling method provided by an embodiment of the present application. The method is applicable to large-scale construction sites that require multi-tower collaboration, such as large commercial complex construction, large residential community construction, and cross-river bridge pier construction. Through the method provided by the present application, it is possible to achieve a leap from "human brain coordination" to "system intelligent scheduling" for multi-tower crane operations, provide core technical support for intelligent construction, reduce labor costs, improve work efficiency, and ensure the safety of tower cranes working in collaboration. Figure 1 As shown, the method can be implemented by a collaborative server, specifically including: S110: Construct a twin map of the construction site, generate a movable three-dimensional space for each tower crane device according to the attribute status of each tower crane device in the construction site, and render it into the twin map.

[0036] The twin map of the construction site accurately reproduces the actual construction site in digital form, including topography, building distribution, road direction, etc., and can be presented in a visual way in the virtual cockpit. This allows dispatchers to fully and intuitively understand the layout and spatial relationships of the entire construction site without having to visit the site in person, providing a clear macro perspective for subsequent tower crane scheduling planning.

[0037] After constructing a twin image of the construction site, the movable 3D space of each crane can be generated based on the attribute status of each crane at the site. The crane's attribute status can be obtained using fixed or mobile imaging devices, including information such as the tower center position, tower height, and arm span. With the tower center position as the center, combined with the tower height and arm span, the maximum coverage range of the crane at different heights and angles can be determined. This generates the movable 3D space of each crane, accurately defining the operating boundaries of each crane within the construction site. The movable 3D space of each crane is then rendered into the twin image, allowing dispatchers to more intuitively visualize the operating range and spatial relationships of each crane. On the twin image, the movable 3D space of each crane can be distinguished using different colors or transparencies, clearly displaying overlapping coverage areas and blank areas between cranes.

[0038] In some embodiments, as the construction progresses, the position and status of the tower crane equipment may change. After the movable three-dimensional space of the tower crane equipment is rendered into the twin diagram, the attribute status of each tower crane equipment can be updated regularly or periodically to update the movable range of the tower crane equipment in real time, so that dispatchers can grasp the dynamic information of the tower crane equipment in a timely manner.

[0039] S120: obtaining collaborative start point positioning and collaborative end point positioning according to the start point and end point of the multi-tower collaborative task, obtaining the shortest task line according to the collaborative start point positioning and collaborative end point positioning, and rendering the shortest task line into the twin graph.

[0040] After the collaborative server receives a task from any command end, it first locates the starting point and end point of the task respectively. When the starting point and end point of the task are located in the movable three-dimensional space of the same tower crane equipment, there is no need for multi-tower coordination, and the tower crane equipment can be directly arranged to perform the task.

[0041] If the starting and ending points are not within the movable three-dimensional space of the same crane, the collaborative server can quickly determine that the task is a multi-tower collaborative task. For multi-tower collaborative tasks, the collaborative starting and ending points can be determined, and the shortest task line can be generated and rendered into the twin diagram. This clearly shows the relationship between the multi-tower collaborative task and the construction environment and crane equipment within the twin diagram, facilitating macro-scheduling planning and management. Furthermore, generating the shortest task line can reduce the distance and time of material transportation, avoid duplication of work and ineffective movement between cranes, and improve the overall efficiency of multi-tower collaborative operations.

[0042] S130: Obtain movable three-dimensional spaces of all tower cranes intersecting with the shortest task line in the twin graph to form a linkage space sequence, where the linkage space sequence includes a plurality of linkage spaces adjacent to each other in sequence.

[0043] After rendering the shortest task line into the twin graph, the three-dimensional movable spaces of all tower cranes within the rendered graph that intersect the shortest task line can be obtained, resulting in multiple sequentially adjacent linkage spaces. The linkage spaces are then counted and coded, using the direction from the collaborative start point to the collaborative end point as the statistical direction, to obtain a spatial number for each linkage space, such as collaborative start point 1, collaborative midpoint 1, collaborative midpoint 2, end point 1, and so on. Two linkage spaces with adjacent spatial numbers are combined into a pending three-dimensional space group. This pending three-dimensional space group can be considered a pending three-dimensional space group in a pending state after the two adjacent tower cranes have been determined, but it has not yet been determined whether the two cranes can be linked. The three-dimensional space group is then determined to determine whether the linkage spaces of the two tower cranes within the pending three-dimensional space group have an intersecting area. If so, the corresponding three-dimensional space group is assigned a first linkage marker and classified as a first linkage space. If not, the corresponding three-dimensional space group is assigned a second linkage marker and classified as a second linkage space. The division of the first and second linkage spaces provides an objective and accurate basis for assessing the linkage potential between adjacent cranes. The presence of an intersecting area indicates that the two cranes may overlap during operation, creating a potential for linkage. A non-intersecting area indicates that the two cranes operate independently, making effective linkage difficult.

[0044] S140: Generate a path node sequence for the multi-tower collaborative task according to the linkage space sequence, and generate a node timing relationship according to the collaborative order of each path node, wherein the path node includes a starting hoisting point, an ending unloading point, and a rotation path.

[0045] After completing the division of the first linkage space and the second linkage space, for the three-dimensional space group with the first linkage mark, priority can be given to arranging adjacent tower crane equipment for coordinated operations. For the three-dimensional space group with the second linkage mark, additional transfer equipment needs to be called to realize the transfer of materials between two tower crane equipment that cannot be linked.

[0046] Among them, for the three-dimensional space group with the first linkage mark (first linkage space 1 and first linkage space 2), the intersection of the shortest task line and the two first linkage space edges of the three-dimensional space group can be first determined, and the Euclidean distance between the two intersections can be calculated as the transfer distance. Then, based on the transfer distance, the preset multi-tower coordination rules and multi-tower coordination method, the two tower cranes to be used are determined and numbered respectively, such as tower crane 4 and tower crane 5. Then, based on the starting hoisting point, ending unloading point and rotation path of the transfer distance, the path node corresponding to the two tower cranes is generated. The path node includes the starting hoisting point, ending unloading point and the corresponding tower crane 4 and tower crane 5, as well as the rotation path automatically generated based on the starting hoisting point and ending unloading point.

[0047] For the three-dimensional space groups marked with the second linkage (second linkage space 1 and second linkage space 2), since no tower cranes intersect, this embodiment introduces additional transfer equipment, such as mobile cranes (crawler cranes and rail cranes), to address the issue of material transfer failure caused by the inability to coordinate adjacent tower cranes. The X and Y intersection points of the shortest task line and the spatial edges of the two second linkage spaces are extracted, and the Euclidean distance between the two intersection points is calculated as the additional transfer distance. Based on the additional transfer distance, the type of material being transferred, the current operating status of the additional transfer equipment, and the distance of the additional transfer equipment from the linkage space, the specific additional transfer equipment to be used is comprehensively determined and numbered, such as additional transfer equipment 5.5. A path node corresponding to the additional transfer equipment is then generated based on the starting transfer point, ending unloading point, and transfer path of the additional transfer distance. This path node includes the starting transfer point, ending unloading point, and the corresponding additional transfer equipment 5.5, as well as the transfer path automatically generated based on the starting transfer point and ending unloading point.

[0048] In some embodiments, the intersection points X and Y of the shortest task line and the spatial edges of the two second linkage spaces can be offset inward by a certain amount based on actual conditions. These offset points are referred to as exchange points X' and Y'. X' can be considered the final unloading point for the tower crane in second linkage space 1 and the starting point for additional transfer equipment; Y' is the final destination for additional transfer equipment and the initial hoisting point for the tower crane in second linkage space 2. By offsetting these intersection points by a certain amount, a certain range of implementation is provided for transfer tasks at construction sites in complex environments, ensuring the safety of transfer personnel and equipment.

[0049] In some embodiments, the collaborative server will also generate a corresponding operation fence based on the rotation path of each path node, and bind the operation fence to the corresponding path node. The operation fence can limit the control range of the virtual cockpit equipment, prevent the equipment operation from exceeding a reasonable range, avoid safety accidents such as collisions, and improve the safety of multi-tower collaborative operations.

[0050] For the three-dimensional space groups with the first linkage mark and the three-dimensional space groups with the second linkage mark, corresponding path nodes can be generated respectively. Multiple path nodes are then sorted to generate a complete path node sequence. This path node sequence includes multiple coordinated equipment (tower cranes and additional transfer equipment) arranged in sequence, as well as the starting hoisting point, ending unloading point, and rotation path of each coordinated equipment. Based on the coordination order of each path node, the start time, estimated working time, and deadline of each path node can also be calculated to generate the node timing relationship of each path node. The specific process is as follows: According to the data attributes of each path node, the estimated working time of the tower crane equipment corresponding to each path node is calculated:

[0051] in, For the Estimated working time of tower crane equipment, The working time value is the basis, It is the rotation angle of the tower crane during scheduling. It is the time per unit rotation angle during tower crane scheduling; According to the estimated working time of each tower crane equipment, determine the estimated working time period of each tower crane equipment:

[0052] in, For the The estimated working time of the tower crane equipment corresponds to the starting time, For the The deadline corresponding to the estimated working time of the tower crane equipment, For the Estimated loading and unloading time of tower crane equipment, is the current time point, For the The deadline corresponding to the estimated working time of the tower crane equipment, For the Estimated working time of tower crane equipment.

[0053] In some embodiments, when the estimated working time period of a tower crane corresponding to a certain path node conflicts with the estimated time period of other tasks and has a lower priority than other tasks, the estimated working time period of the tower crane is adjusted, and the estimated working time periods of subsequent collaborative tower cranes are adjusted accordingly, thereby ensuring that high-priority tasks are executed first, while ensuring the overall smooth progress of multi-tower collaborative tasks, and improving scheduling flexibility and adaptability.

[0054] S150: Sending the path node sequence and the node timing relationship to a virtual cockpit, and using the virtual cockpit to control the collaborative device corresponding to each path node in a time-sharing manner according to the node timing relationship.

[0055] After the collaborative server generates the path node sequence and node timing relationships, it sends the starting lifting point, ending unloading point, and rotation path of the current path node to the virtual cockpit. Through the virtual cockpit, it obtains control of the collaborative device corresponding to the path node. The edge controller corresponding to the collaborative device precisely controls each device to perform the corresponding action at a specific time, ensuring the orderly progress of the collaborative operation. After the collaborative device completes the collaborative lifting task, the control of the collaborative device is released.

[0056] In some embodiments, the virtual cockpit integrates a linked display screen, capable of presenting complex path node sequences and node timing relationships in intuitive graphical, animated, or tabular formats. Dispatchers no longer need to switch between multiple devices or interfaces to view information. Instead, they can gain a comprehensive understanding of the entire construction task process and the timing of each device on a single screen, greatly improving the efficiency and convenience of information acquisition. For example, through the linked display screen, dispatchers can clearly see the operating position, movement, and coordination of the tower crane equipment with other equipment at each path node, allowing them to have an immersive and comprehensive overview. Furthermore, the virtual cockpit provides a variety of tower crane operating tools, including physical buttons, devices, and virtual buttons and devices based on the interactive screen, to meet the operating habits and needs of different dispatchers. Dispatchers accustomed to traditional physical button operation can use physical operating devices for control; those who prefer digital operation can complete various command inputs using virtual buttons on the interactive screen. Furthermore, as construction technology continues to evolve and needs change, the virtual cockpit can be easily expanded and upgraded. For example, new collaborative equipment control modules can be added, the display effects of the linkage display screens can be optimized, and artificial intelligence algorithms can be introduced to improve the intelligence level of decision-making, etc., to meet the needs of different construction scenarios and users.

[0057] The embodiment of the present application provides a multi-tower collaborative scheduling method. By constructing a twin diagram of the construction site and generating a three-dimensional space in which the tower crane equipment can be moved, the layout of the tower cranes on the construction site can be intuitively presented; the shortest task line is obtained and rendered to provide clear path guidance for multi-tower collaborative tasks; a linkage space sequence is formed and a path node sequence and a node timing relationship are generated. Finally, the collaborative equipment is controlled through a virtual cockpit in a time-sharing manner, thereby realizing the automation and visualization of multi-tower collaborative scheduling, improving scheduling efficiency and accuracy, and reducing manual operation errors.

[0058] like Figure 2 As shown, the embodiment of the present application further provides a collaborative server, which can be used to implement any step of the above-mentioned multi-tower collaborative scheduling method and its optional embodiments, referring to Figure 2 As shown, the collaborative server 200 includes a construction module 210 , a path planning module 220 and a sending module 230 .

[0059] Among them, the construction module 210 is used to construct a twin graph of the construction site, generate the movable three-dimensional space of each tower crane equipment in the construction site according to the attribute status of each tower crane equipment in the construction site, and render it into the twin graph; the attribute status includes at least the tower center position, tower height and arm span information; the path planning module 220 is used to obtain the collaborative starting point positioning and collaborative end point positioning according to the starting point and end point of the multi-tower collaborative task, obtain the shortest task line according to the collaborative starting point positioning and collaborative end point positioning, and render it into the twin graph; obtain the movable three-dimensional space of all tower crane equipment in the twin graph that intersects with the shortest task line to form a linkage space sequence, which includes multiple linkage spaces adjacent to each other in sequence; generate the path node sequence of the multi-tower collaborative task according to the linkage space sequence, and generate the node timing relationship according to the collaborative order of each path node, the path node includes the starting hoisting point, the ending unloading point and the rotation path; the sending module 230 is used to send the path node sequence and the node timing relationship to the virtual cockpit, and the virtual cockpit controls the equipment corresponding to each path node in time-sharing according to the node timing relationship.

[0060] like Figure 3 As shown, an embodiment of the present application also provides a multi-tower collaborative scheduling system, which includes a virtual cockpit 100, a collaborative server 200 and multiple edge controllers 300.

[0061] The virtual cockpit 100, serving as the core control point of the entire system, connects to multiple edge controllers 300 and collaborative servers 200, providing centralized management and scheduling. It generates control instructions based on the path node sequence and node timing relationships sent by the collaborative servers 200. The path node sequence details the operational steps for collaborative devices, while the node timing relationships define the execution time sequence of each step. Based on this information, the virtual cockpit 100 generates precise control instructions and accurately transmits them to the corresponding edge controllers 300, ensuring that collaborative devices operate according to the predetermined plan and sequence.

[0062] Each edge controller 300 is connected to at least one collaborative device, serving as a bridge between the virtual cockpit 100 and the collaborative devices. It converts control commands sent from the virtual cockpit 100 into a signal format recognizable by the collaborative devices, ensuring their correct execution. Furthermore, the edge controller 300 collects operational data and status information from the collaborative devices and feeds it back to the virtual cockpit, enabling bidirectional information transmission.

[0063] The collaborative server 200 is responsible for generating path node sequences and node timing relationships. Based on the starting and ending points of the multi-tower collaborative task and the actual conditions of the construction site, it uses advanced algorithms and models to plan the optimal task path and node sequence, ensuring that multiple collaborative devices can complete the task efficiently and orderly. Furthermore, the collaborative server 200 can store and manage data such as relevant information about the construction site, the attributes and status of collaborative devices, and task execution history. This data not only provides a reference for current task scheduling but also provides data support for subsequent construction optimization and decision-making analysis.

[0064] In some embodiments, the virtual cockpit 100 typically features a visual interface, allowing dispatchers to intuitively observe the entire multi-tower collaborative operation scenario, including the location, status, and progress of the coordinated equipment. Furthermore, they can monitor equipment operating parameters and task execution in real time, enabling timely adjustments and resolutions if problems are discovered, thus improving dispatch flexibility and real-time performance.

[0065] In summary, the embodiments of the present application realize the automated and intelligent scheduling of multi-tower collaborative equipment through the collaborative work of the virtual cockpit, edge controller and collaborative server. The precise planning of the path node sequence and the node timing relationship and the implementation of time-sharing control enable each collaborative device to operate in the optimal order and time, reducing the waiting time and conflicts between devices, and greatly improving the overall efficiency of multi-tower collaborative operations. In addition, the system has strong flexibility and scalability and can adapt to construction sites of different sizes and complexities. Whether it is a small construction site or a large-scale infrastructure construction project, the corresponding number of collaborative devices, edge controllers and algorithm parameters of the collaborative server can be configured according to actual needs to achieve effective management of multi-tower collaborative scheduling.

[0066] It should be understood that the system or module in the embodiment of the present application can be implemented by software, for example, it can be implemented by a computer program or instruction having the above functions, and the corresponding computer program or instruction can be stored in a memory inside the terminal, and the processor reads the corresponding computer program or instruction inside the memory to implement the above functions. Alternatively, the system or module in the embodiment of the present application can also be implemented by hardware. Alternatively, the system or module in the embodiment of the present application can also be implemented by a combination of a processor and a software module.

[0067] It should be understood that the processing details of the system or module in the embodiment of the present application can be referred to Figure 1 The related descriptions of the illustrated embodiment and related extended embodiments will not be repeated in the embodiments of this application.

[0068] Figure 410 is a structural diagram of a computing device 1000 provided in an embodiment of the present application. The computing device 1000 includes: a processor 1010, a memory 1020, a communication interface 1030, and a bus 1040.

[0069] It should be understood that Figure 4 The communication interface 1030 in the computing device 1000 shown can be used to communicate with other devices.

[0070] The processor 1010 may be connected to a memory 1020. The memory 1020 may be used to store the program code and data. Therefore, the memory 1020 may be a storage unit within the processor 1010, an external storage unit independent of the processor 1010, or a component including both a storage unit within the processor 1010 and an external storage unit independent of the processor 1010.

[0071] Optionally, the computing device 1000 may further include a bus 1040. The memory 1020 and the communication interface 1030 may be connected to the processor 1010 via the bus 1040. The bus 1040 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus 1040 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 The fact that only one line is used does not mean that there is only one bus or one type of bus.

[0072] It should be understood that in the embodiment of the present application, the processor 1010 can adopt a central processing unit (CPU). The processor can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. Alternatively, the processor 1010 uses one or more integrated circuits to execute relevant programs to implement the technical solutions provided in the embodiments of the present application.

[0073] The memory 1020 may include a read-only memory and a random access memory, and provides instructions and data to the processor 1010. A portion of the processor 1010 may also include a non-volatile random access memory. For example, the processor 1010 may also store information about the device type.

[0074] When the computing device 1000 is running, the processor 1010 executes the computer-executable instructions in the memory 1020 to perform the operating steps of the above method.

[0075] It should be understood that the computing device 1000 according to the embodiment of the present application can correspond to the corresponding subject in executing the method according to each embodiment of the present application, and the above-mentioned other operations and / or functions of each module in the computing device 1000 are respectively for implementing the corresponding processes of each method of the present embodiment. For the sake of brevity, they will not be repeated here.

[0076] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0077] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0078] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0079] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0080] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0081] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0082] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the program is used to execute the above method, which includes at least one of the solutions described in the above embodiments.

[0083] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media.Computer-readable media can be computer-readable signal media or computer-readable storage media.Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination thereof.More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connection with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination thereof.In this document, computer-readable storage media can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0084] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0085] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0086] The computer program code for performing the operations of the present application can be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0087] It should be noted that the embodiments described in this application are only a part of the embodiments of this application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the above detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the application for protection, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

[0088] The words "first, second, third, etc." or module A, module B, module C and other similar terms in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of the objects. It is understandable that the specific order or sequence can be interchanged where permitted so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0089] In the above description, the numbers representing the steps involved do not necessarily mean that the steps must be executed. Intermediate steps may also be included or replaced by other steps. If permitted, the order of the previous and next steps may be interchanged or executed simultaneously.

[0090] The term "comprising" as used in the specification and claims should not be construed as limiting to what is listed thereafter; it does not exclude other elements or steps. Thus, it should be interpreted as specifying the presence of the features, integers, steps, or components mentioned, but not excluding the presence or addition of one or more other features, integers, steps, or components, or groups thereof. Thus, the expression "a device comprising means A and B" should not be limited to a device consisting solely of components A and B.

[0091] The term "one embodiment" or "an embodiment" mentioned in this specification means that the specific features, structures, or characteristics described in conjunction with the embodiment are included in at least one embodiment of the present application. Therefore, the phrases "in one embodiment" or "in an embodiment" appearing in various places in this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. In addition, in the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0092] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present application has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, all of which fall within the scope of protection of the present invention.

Claims

1. A multi-tower coordinated scheduling method, characterized in that: include: Construct a twin map of the construction site, generate a movable three-dimensional space for each tower crane based on its attribute status, and render it into the twin map; the attribute status includes at least tower center position, tower height, and arm span information; According to the starting point and the end point of the multi-tower collaborative task, a collaborative starting point location and a collaborative end point location are obtained, and the shortest task line is obtained according to the collaborative starting point location and the collaborative end point location, and is rendered into the twin graph; Obtaining movable three-dimensional spaces of all tower cranes intersecting the shortest task line in the twin graph to form a linkage space sequence, the linkage space sequence including a plurality of linkage spaces adjacent to each other in sequence; Generate a path node sequence for the multi-tower collaborative task based on the linkage spatial sequence, and generate a node temporal relationship based on the collaborative order of each path node, wherein the path node includes a starting hoisting point, an ending unloading point, and a rotation path; The path node sequence and the node timing relationship are sent to a virtual cockpit, and the virtual cockpit controls the collaborative devices corresponding to each path node in a time-sharing manner according to the node timing relationship.

2. The method according to claim 1, characterized in that Generating the path node sequence of the multi-tower collaborative task according to the linkage space sequence includes: Detecting the intersection area of ​​two adjacent linkage spaces in the linkage space sequence; if there is an intersection area between the two linkage spaces, determining the intersection point of the shortest task line and the edges of the two linkage spaces, and calculating the Euclidean distance between the two intersection points as the transfer distance; Determine the tower crane equipment to be used based on the transfer distance, the preset multi-tower coordination rules and the multi-tower coordination mode; A path node corresponding to the tower crane equipment is generated according to the starting hoisting point, the ending unloading point and the rotation path of the transfer distance, and multiple path nodes are sorted to generate the path node sequence.

3. The method according to claim 1 or 2, characterized in that Also includes: Detecting the intersection area of ​​two adjacent linkage spaces. If there is no intersection area between the two linkage spaces, determining the intersection point of the shortest task line and the edges of the two linkage spaces, and calculating the Euclidean distance between the two intersection points as the additional transfer distance; Determining the additional transfer equipment required based on the additional transfer distance, transfer material attributes, and additional equipment status; A path node corresponding to the additional transfer equipment is generated according to the starting transfer point, the ending unloading point and the transfer path of the additional transfer distance, and is added to the path node sequence accordingly.

4. The method according to claim 1, wherein Generating a node timing relationship according to the coordination order of each path node includes: According to the data attributes of each path node, the estimated working time of the tower crane equipment corresponding to each path node is calculated: ; in, For the Estimated working time of tower crane equipment, The working time value is the basis, It is the rotation angle of the tower crane during scheduling. It is the time per unit rotation angle during tower crane scheduling; According to the estimated working time of each tower crane equipment, determine the estimated working time period of each tower crane equipment: ; in, For the The estimated working time of the tower crane equipment corresponds to the starting time, For the The deadline corresponding to the estimated working time of the tower crane equipment, For the Estimated loading and unloading time of tower crane equipment, is the current time point, For the The deadline corresponding to the estimated working time of the tower crane equipment, For the Estimated working time of tower crane equipment.

5. The method according to claim 4, characterized in that Also includes: When the estimated working time period of the tower crane equipment corresponding to a certain path node conflicts with the estimated time period of other tasks and has a lower priority than other tasks, the estimated working time period of the tower crane equipment is adjusted, and the estimated working time periods of the subsequent collaboratively operated tower crane equipment are adjusted accordingly.

6. The method according to claim 1, characterized in that The time-sharing control of the collaborative devices corresponding to each path node according to the node timing relationship through the virtual cockpit includes: The starting lifting point, ending unloading point and rotation path of the current path node are sent to the virtual cockpit, and the control of the tower crane equipment corresponding to the path node is obtained through the virtual cockpit. After controlling the tower crane equipment to complete the collaborative lifting task, the control of the tower crane equipment is released.

7. The method according to claim 1, characterized in that The path node also includes an operation fence, which is generated according to the rotation path in the path node and is used to limit the device control range of the virtual cockpit.

8. The method according to claim 1, characterized in that Also includes: After receiving the task, the starting point and end point of the task are first located; If the starting position and the end position are located in the movable three-dimensional space of the same tower crane, the task is performed by the tower crane; If the starting point positioning and the end point positioning are not located in the movable three-dimensional space of the same tower crane equipment, then the task is determined to be the multi-tower collaborative task.

9. A collaborative server, characterized in that: include: A construction module is used to construct a twin map of the construction site, generate a movable three-dimensional space for each tower crane based on the attribute status of each tower crane in the construction site, and render it into the twin map; the attribute status includes at least the tower center position, tower height and arm span information; A path planning module is used to obtain collaborative starting point positioning and collaborative end point positioning according to the starting point and end point of the multi-tower collaborative task, obtain the shortest task line according to the collaborative starting point positioning and collaborative end point positioning, and render it into the twin graph; The path planning module is further configured to obtain the movable three-dimensional spaces of all tower cranes intersecting with the shortest task line in the twin graph to form a linkage space sequence, wherein the linkage space sequence includes a plurality of linkage spaces adjacent to each other in sequence; The path planning module is further configured to generate a path node sequence for the multi-tower collaborative task based on the linkage spatial sequence, and generate a node temporal relationship based on the collaborative order of each path node, wherein the path nodes include a starting hoisting point, an ending unloading point, and a rotation path; The sending module is used to send the path node sequence and the node timing relationship to the virtual cockpit, and the virtual cockpit controls the devices corresponding to each path node in a time-sharing manner according to the node timing relationship.

10. A multi-tower coordinated dispatching system, characterized in that: comprising a virtual cockpit, a plurality of edge controllers and the collaborative server according to claim 9; Each edge controller is connected to at least one collaborative device. The virtual cockpit is connected to multiple edge controllers and the collaborative server respectively. Control instructions are generated according to the path node sequence and node timing relationship sent by the collaborative server and sent to the corresponding edge controller to achieve time-sharing control of the collaborative device corresponding to the edge controller.

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