Construction site material transportation scheduling system and method
By introducing a collaborative scheduling system that integrates a central control module, a material transportation scheduling module, and unmanned transport vehicles into construction sites, the problems of slow response speed and weak real-time monitoring capabilities of traditional construction site material transportation scheduling systems have been solved. This system enables elevator coordination and obstacle avoidance in multi-floor transportation scenarios, significantly improving transportation efficiency and controllability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-20
- Publication Date
- 2026-03-10
AI Technical Summary
Traditional construction site material transportation dispatching systems have slow response speeds, weak real-time monitoring capabilities, and low efficiency of multi-device systems. In particular, they are difficult to implement functions such as elevator coordination, obstacle avoidance, and fault recording in multi-floor transportation scenarios.
A construction site material transportation scheduling system was designed. It uses a central control module, a material transportation scheduling module, and unmanned transport vehicles to communicate via the MQTT protocol to realize task decomposition, queue management, and collaborative scheduling. It utilizes unmanned transport vehicles such as AGV transport vehicles, unmanned forklifts, and unmanned elevators for fully automated scheduling and real-time monitoring.
It improves the safety, reliability, and efficiency of material transportation, enhances the controllability of the transportation process through a status feedback mechanism, and provides detailed log records to support system optimization and fault analysis.
Smart Images
Figure CN121638748A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of automated logistics technology, and in particular relates to a material transportation and scheduling system and method for construction sites. Background Technology
[0002] Traditional construction site material transportation mainly relies on manual labor and semi-automated tools. Material transportation scheduling depends on manual experience and there is almost no planned scheduling approach. Its limitations are mainly reflected in the following aspects: (1) Information lag: Information such as material demand, stacking location, and transportation route needs to be collected and recorded manually. Data updates are not timely and the response speed is slow; (2) Scheduling decisions are highly dependent on the experience of management personnel, making it difficult to cope with sudden tasks. This can easily lead to empty vehicle runs, queuing, or task conflicts, and the real-time monitoring capability is weak; (3) Low efficiency of multi-equipment collaboration: Most of the existing transportation tools on the construction site are operated manually, and there is a lack of communication and collaboration mechanisms between equipment. When multiple processes are carried out simultaneously, manual task allocation is prone to path congestion and resource grabbing, resulting in a decrease in transportation efficiency.
[0003] In recent years, some construction sites have tried to introduce automated equipment, such as track-mounted transport robots, to optimize material transportation. However, since these devices operate independently and some still rely on manual operation, the application effect is not ideal. This is mainly reflected in the following aspects: (1) Weak multi-task scheduling capability, complex types of materials on construction sites, and large differences in single transportation needs. (2) Low system integration, construction site management involves multiple systems such as BIM, ERP, and WMS. The existing material transportation and scheduling have poor data interoperability with these systems, making it difficult to obtain real-time task execution information and lacking a complete task lifecycle management mechanism. This leads to a disconnect between scheduling decisions and actual needs, especially in multi-floor transportation scenarios, where it is difficult to achieve functions such as elevator coordination, obstacle avoidance, and fault recording.
[0004] To address the above problems, this invention presents a novel construction site material transportation scheduling system and method. Summary of the Invention
[0005] To address the shortcomings of existing technologies, this invention provides a construction site material transportation scheduling system and method, which overcomes the problems of slow response speed, weak real-time monitoring capability, and low efficiency of multi-device systems in traditional construction site material transportation scheduling systems. It also addresses the weak multi-task scheduling capability and lack of a complete task lifecycle management mechanism in existing material transportation scheduling systems, particularly in multi-floor transportation scenarios where it is difficult to achieve functions such as elevator coordination, obstacle avoidance, and fault recording.
[0006] The present invention achieves the above-mentioned technical objectives through the following technical means.
[0007] A construction site material transportation scheduling system includes a central control module, a material transportation scheduling module, and an unmanned transportation vehicle. The central control module and the material transportation scheduling module, as well as the material transportation scheduling module and the unmanned transportation vehicle, communicate via the MQTT protocol. The central control module issues task orders to the material transportation scheduling module and simultaneously receives real-time information from unmanned transport vehicles uploaded by the material transportation scheduling module. The material transportation scheduling module subscribes to the task orders issued by the central control module, breaks down the task orders into multiple tasks, and then distributes them to the unmanned transport vehicles. At the same time, it communicates with the unmanned transport vehicles, receives real-time information on the location, speed, and battery level of the unmanned transport vehicles, and uploads it to the central control module. After the task is completed, it generates relevant log reports. The unmanned transport vehicles include AGV transport vehicles, unmanned forklifts, and unmanned elevators. They receive various tasks issued by the material transportation scheduling module, perform path planning, execute the tasks, and upload the relevant real-time information to the material transportation scheduling module.
[0008] A construction site material transportation scheduling method utilizing the aforementioned construction site material transportation scheduling system includes the following steps: Step 1: The central control module, the material transportation scheduling module, and the unmanned transport vehicle communicate with each other. The central control module issues task orders, and the material transportation scheduling module stores the received task order information into the MySQL database and simultaneously replies to the central control module that it has received the instruction. Then, it determines whether task breakdown is required. If so, task breakdown is performed; otherwise, proceed directly to Step 2. Step 2: The material transportation scheduling module manages the task queue; Step 3: The material transportation scheduling module evenly distributes tasks to unmanned transport vehicles; Step 4: The unmanned transport vehicle receives the task and carries out the transport work. During the transport process, it feeds back information to the material transport scheduling module when it arrives at the loading point, completes loading, arrives at the elevator, arrives at the unloading point, completes unloading, returns to the elevator, and returns to the starting point. The material transport scheduling module feeds back information to the central control module to realize the coordinated scheduling between unmanned transport vehicles.
[0009] Furthermore, in step 1, the task decomposition method is as follows: Break down large tasks into N smaller tasks based on the smallest unit of execution; Each sub-task contains a unique identifier and descriptive information; the descriptive information includes: vehicle type, vehicle information, cargo type, cargo information, origin, destination, and floor.
[0010] Furthermore, in step 2, the task queue management method is as follows: Task enqueueing: All newly submitted tasks are directly stored in the global queue and are not immediately assigned. Task dequeue conditions: Tasks are only allowed to be retrieved from the global queue and assigned when the material transportation scheduling module determines that "there are no tasks to be executed for all AGVs". Task status tracking: Records the number of tasks in the global queue and their current assignment status to ensure no tasks are missed; Once a new task is submitted, it must wait in line for all currently assigned tasks to be completed, regardless of when it enters the material transportation scheduling module, in order to avoid concurrent conflicts that could lead to uneven loads on the AGV transport vehicles.
[0011] Furthermore, in step 3, when the material transportation scheduling module detects "no task currently being executed," it triggers the task allocation process in the global queue. The specific steps are as follows: Task retrieval: Take all unassigned sub-tasks from the global task queue in sequence until the queue is empty; AGV List Retrieval: Retrieves a list of all currently available AGVs; Round-robin allocation: Tasks are allocated to each AGV transport vehicle in turn according to the round-robin strategy, ensuring that the difference in the number of tasks received by each AGV transport vehicle does not exceed 1; after allocation, each AGV transport vehicle stores the received tasks into its local task queue, waiting for execution.
[0012] Furthermore, the specific process of step 4 is as follows: The AGV transport vehicle proceeds to the loading point according to instructions, then enters the transfer area to load goods in cooperation with the unmanned forklift. After loading, it proceeds to the material transport platform. During this process, if it passes a route marker, it sends information to the material transport scheduling module, which then sends a vehicle passing route marker instruction information to the central control module. If the AGV transport vehicle encounters other transport equipment or obstacles on the road, it will avoid them and stop, waiting for the other transport equipment to have completely passed. After avoiding obstacles, the AGV transport vehicle will continue to the material transport platform. If other vehicles are going upstairs or performing tasks inside the building when it arrives at the material transport platform, it will stop and wait for the other vehicle to finish its task and leave the automated elevator. Then, the AGV transport vehicle will interact with the automated elevator, enter the automated elevator, take the automated elevator to the target floor, drive out of the automated elevator and stop. After that, the AGV transport vehicle will go to the unloading area of the designated floor to unload the goods. After unloading, it will return to the automated elevator, interact with it to go downstairs and leave the floor to return to the starting point. Then the material transportation scheduling module marks the task of the AGV transport vehicle in the local queue as "completed" and removes it from the queue; then it immediately checks whether there are any tasks to be executed in the local queue, and if so, it automatically retrieves the next task to be executed; After the scheduling task is completed, the material transportation scheduling module will generate a task log from the relevant information of the AGV transport vehicle's task execution recorded in the MySQL database, and display the task log information on the central control module system interface.
[0013] The present invention has the following beneficial effects: By automating, managing, and monitoring the entire material transportation process in real time, the safety, reliability, and efficiency of material transportation have been improved. The coordinated scheduling and control of various material transport vehicles, including unmanned elevators, has created a highly efficient transportation network, significantly enhancing the efficiency of material transportation. A status feedback mechanism has improved the controllability of the transportation process, avoiding potential risks and delays. Comprehensive log records provide detailed data support for system optimization and fault analysis, helping technical personnel quickly locate problems and make improvements. Attached Figure Description
[0014] Figure 1 This is a diagram illustrating the architecture of the construction site material transportation and scheduling system described in this invention. Figure 2 This is a flowchart of the construction site material transportation and scheduling method described in this invention; Figure 3 Flowchart of AGV transport vehicle task execution; Figure 4 This is a flowchart of the scheduling tasks for the materials transportation scheduling module. Detailed Implementation
[0015] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the scope of protection of the present invention is not limited thereto.
[0016] like Figure 1 As shown, the construction site material transportation scheduling system of the present invention includes a central control module, a material transportation scheduling module, and an unmanned transportation vehicle.
[0017] like Figure 1 As shown, the central control module communicates with the material transportation scheduling module via the MQTT protocol, publishes task orders to the material transportation scheduling module, and receives real-time information of unmanned transportation vehicles uploaded by the material transportation scheduling module.
[0018] like Figure 1 As shown, the material transportation scheduling module is used to subscribe to the task orders issued by the central control module, and distribute the task orders into several tasks before sending them to the unmanned transport vehicles. At the same time, it communicates with the unmanned transport vehicles through the MQTT protocol, receives real-time information such as the location, speed, and battery level of the unmanned transport vehicles, and uploads it to the central control module. After the task is completed, it generates relevant log reports.
[0019] like Figure 1As shown, the unmanned transport vehicle is used to receive various tasks issued by the material transport scheduling module, perform path planning, execute the tasks, and upload the real-time information related to the tasks to the material transport scheduling module. The unmanned transport vehicle includes multiple AGV handling robots (i.e., AGV transport vehicles), multiple unmanned elevators, and multiple unmanned forklifts, etc.
[0020] The material transportation scheduling module includes an unmanned transport vehicle collaborative control unit, which is used to realize the collaborative control of vehicles such as AGV transport vehicles, unmanned forklifts, and unmanned elevators to transport materials from storage points to construction areas.
[0021] All modules are equipped with a key node status feedback mechanism to provide feedback information when unmanned transport vehicles such as AGV transport vehicles and unmanned forklifts arrive at the loading point, complete loading, arrive at the elevator, arrive at the unloading point, complete unloading, return to the elevator, or return to the starting point, so as to realize the coordinated scheduling between unmanned transport vehicles.
[0022] The construction site material transportation scheduling method utilizing the aforementioned construction site material transportation scheduling system comprises five stages: task issuance, allocation, distribution, execution, and completion. It incorporates a status feedback mechanism at key nodes and features collaborative scheduling capabilities for unmanned transport vehicles and unmanned elevators. This invention achieves fully automated scheduling, management, and real-time monitoring of construction site material transportation, significantly improving transportation efficiency and controllability.
[0023] Reference Figure 2 , 3 As shown in Figure 4, the construction site material transportation scheduling method of the present invention includes the following process: Step 1: Task breakdown; Each module establishes a communication connection. The central control module issues task orders, and the material transportation scheduling module stores the received task order information (e.g., "move 10 boxes of goods to a designated area") into a MySQL database, while simultaneously replying to the central control module that it has received the instruction. Then, it determines whether the task needs to be broken down (identified by the task type field or the number of subtasks parameter). If it needs to be broken down, the internal task breakdown module is called to process it according to the following rules: Decomposition rule: Divide the large task into N smaller tasks according to the smallest execution unit.
[0024] Mini-task generation: Each mini-task contains a unique identifier (e.g., Task_ID=Task ID_Sequence Number) and descriptive information (e.g., "Vehicle type, vehicle information, cargo type, cargo information, origin, destination, and floor").
[0025] Example of an implementation: If a user submits a large task "Move 5 pallets of goods" (parameters: large task ID=1001, number of subtasks=5), it will be broken down into 5 smaller tasks: Task_1001_1: "Move the goods in pallet 1 to the 2nd floor"; Task_1001_2: "Move the goods in pallet 2 to the 2nd floor"; ... Task_1001_5: "Move the goods in pallet 5 to the 2nd floor".
[0026] The broken-down sub-tasks are stored in a task queue, awaiting subsequent allocation.
[0027] Step 2: Task queue management; The task queue is the sole buffer for all tasks, ensuring the ordered storage of tasks in a multi-threaded environment. Its management rules are as follows: Task enqueueing: All newly submitted tasks are directly stored in the global queue and are not immediately assigned.
[0028] Task dequeue conditions: Tasks are only allowed to be retrieved from the global queue for allocation when the material transportation scheduling module determines that "there are no tasks to be executed for all AGVs".
[0029] Task status tracking: Records the number of tasks in the global queue and their current assignment status to ensure no tasks are missed.
[0030] Once a new task is submitted, it must wait in a queue until all currently assigned tasks are completed, regardless of when it enters the system, to avoid uneven load on the AGV due to concurrent conflicts.
[0031] Step 3: Distribute tasks evenly (round-robin scheduling); When the material transportation scheduling module detects "no task currently executing", it triggers the task allocation process in the global queue. The specific steps are as follows: Task retrieval: Take all unassigned sub-tasks from the global task queue in sequence until the queue is empty.
[0032] AGV list retrieval: Retrieves a list of all available AGVs in the current system (e.g., AGV_1, AGV_2, ..., AGV_N, where N is the total number of AGVs).
[0033] Round-robin allocation: Tasks are allocated to each AGV transport vehicle sequentially according to a round-robin strategy, ensuring that the difference in the number of tasks received by each AGV transport vehicle does not exceed 1. After allocation, each AGV transport vehicle stores the received tasks in its local task queue, waiting for execution.
[0034] Step 4: The unmanned transport vehicle receives the mission and begins operation; After task allocation, the material transportation scheduling module issues task instructions to the AGV transport vehicle. When the scheduling task begins, the AGV transport vehicle proceeds to the loading point to load goods. Simultaneously, the material transportation scheduling module issues a vehicle arrival instruction to the AGV transport vehicle, with request parameters including instruction ID, vehicle type, vehicle number, whether the loading point has been reached, and current coordinates. Upon arriving at the loading point, the AGV transport vehicle replies that it has received the instruction. It then enters the transfer area to load goods. After loading is complete, it sends a loading completion instruction, with request parameters including instruction ID, vehicle type, whether loading is complete, and current coordinates.
[0035] After loading, the AGV transport vehicle can go to the material transport platform. When executing task instructions, if it passes through a route marker, it sends information to the material transport scheduling module. Then, the material transport scheduling module sends the vehicle passing through the route marker instruction information to the central control module. The request parameters include instruction ID, vehicle type, whether to confirm passing through the marker, and coordinate position.
[0036] If the AGV encounters other transport equipment or obstacles on the road, it will stop and avoid them, waiting for the other transport equipment to pass completely. After avoiding the obstacle, the AGV will continue to the material transport platform. Upon arrival at the material transport platform, it will send an arrival command to the material transport scheduling module. The material transport scheduling module will then send the vehicle arrival command information to the central control module. The request parameters include the command ID, vehicle type, whether it has arrived at the platform, and current coordinates.
[0037] When an AGV (Automated Guided Vehicle) arrives at the material transport platform, if other vehicles are already going upstairs or performing tasks inside the building, it stops and waits for the first vehicle to complete its task and leave the automated elevator. Then, the AGV interacts with the automated elevator, enters its interior, and sends an entry command to the material transport scheduling module. The material transport scheduling module then sends a command to the central control module indicating that the vehicle has arrived at the automated elevator, requesting parameters including the command ID, vehicle number, and target automated elevator. After the AGV reaches the target floor and exits the elevator, it sends a command to the material transport scheduling module indicating that it has exited the elevator. The material transport scheduling module then sends a command to the central control module indicating that the vehicle has arrived and stopped at the target floor, requesting parameters including the command ID, vehicle type, vehicle number, vehicle ready status, and coordinates. Finally, the AGV proceeds to the designated unloading area on the specified floor to unload goods. After unloading, it sends an unloading completion command to the material transport scheduling module, which then sends a command to the central control module indicating that unloading is complete. Then, the material transportation scheduling module sends an empty return instruction to the AGV transport vehicle. The request parameters include the instruction ID, vehicle type, vehicle number, and arrival coordinates. The AGV transport vehicle returns to the automated guided elevator, interacts with it to descend the stairs, and leaves the floor to return to the starting point. Simultaneously, the material transportation scheduling module marks this task as "completed" in the local queue and removes it from the queue. It then immediately checks if there are any pending tasks in the local queue; if so, it automatically retrieves the next task for execution.
[0038] Throughout the entire task scheduling process, the AGV transport vehicle does not need to wait for the scheduler to actively intervene; it can continuously execute tasks as long as there are tasks in the local task queue, achieving a highly efficient "respond as soon as completion" operation mode. After the scheduling task is completed, the material transportation scheduling module will generate a task log by recording the relevant information of the AGV transport vehicle in the MySQL database. The task log will be obtained by executing a query statement through the QT program and displayed on the central control module system interface.
[0039] The embodiments described above are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essence of the present invention shall fall within the protection scope of the present invention.
Claims
1. A construction site material transport dispatch system, characterized by, The central control module, the material transportation scheduling module and the unmanned transportation carrier communicate with each other through MQTT protocol, the central control module publishes a task order, the material transportation scheduling module stores the received task order information in a Mysql database, and simultaneously replies to the central control module that the instruction is received; then it is judged whether task decomposition is needed, if yes, task decomposition is performed, otherwise, step 2 is directly entered; The central control module, the material transportation scheduling module and the unmanned transportation carrier communicate with each other, the central control module publishes a task order, the material transportation scheduling module stores the received task order information in a Mysql database, and simultaneously replies to the central control module that the instruction is received; then it is judged whether task decomposition is needed, if yes, task decomposition is performed, otherwise, step 2 is directly entered; 2. A construction site material transportation scheduling method using the construction site material transportation scheduling system according to claim 1, characterized by, The central control module, the material transportation scheduling module and the unmanned transportation carrier communicate with each other, the central control module publishes a task order, the material transportation scheduling module stores the received task order information in a Mysql database, and simultaneously replies to the central control module that the instruction is received; then it is judged whether task decomposition is needed, if yes, task decomposition is performed, otherwise, step 2 is directly entered; The central control module, the material transportation scheduling module and the unmanned transportation carrier communicate with each other, the central control module publishes a task order, the material transportation scheduling module stores the received task order information in a Mysql database, and simultaneously replies to the central control module that the instruction is received; then it is judged whether task decomposition is needed, if yes, task decomposition is performed, otherwise, step 2 is directly entered; The task decomposition method in step 1 is as follows: A large task is split into N small tasks according to the smallest execution unit; Each small task contains a unique identifier and description information; the description information includes vehicle type, vehicle information, cargo type, cargo information, starting point, end point and floor.
3. The construction site material transport dispatch method according to claim 2, wherein, The task queue management method in step 2 is as follows: Task entry: all newly submitted tasks are directly stored in the global queue and are not immediately assigned; Task exit condition: only when the material transportation scheduling module determines that "all AGVs have no tasks to execute", the task can be taken out from the global queue for assignment; 4. The construction site material transport dispatching method according to claim 2, characterized by, Task state tracking: record the number of tasks in the global queue and the current assignment state to ensure that there is no omission; After a new task is submitted, it needs to be queued and wait for all currently assigned tasks to be completed when it enters the material transportation scheduling module, so as to avoid concurrent conflicts leading to uneven load of AGV transport vehicles. In step 3, when the material transportation scheduling module detects that "there is no task execution", the task assignment process in the global queue is triggered, and the specific steps are as follows: Task extraction: all small tasks to be assigned are taken out from the global task queue one by one until the queue is empty; AGV list acquisition: acquire the list of all available AGVs; 5. The construction site material transport dispatch method according to claim 4, wherein, Polling distribution: tasks are distributed to each AGV transport vehicle in turn according to the polling strategy, ensuring that the difference in the number of tasks obtained by each AGV transport vehicle does not exceed 1; after distribution is completed, each AGV transport vehicle stores the received tasks in its local task queue and waits for execution.
6. The construction site material transport dispatching method according to claim 2, wherein, The specific process of step 4 is as follows: The AGV transport vehicle goes to the loading point according to the instruction, then enters the goods transfer area, cooperates with the unmanned forklift to load, and goes to the material transportation platform after loading is completed. If the route marker point is passed during the process, information is sent to the material transportation scheduling module, and then the material transportation scheduling module sends the vehicle passing the route marker point instruction information to the central control module. If the AGV transport vehicle encounters another transportation device or an obstacle on the road, it will avoid parking and wait for the other transportation device to pass completely; After avoiding, the AGV transport vehicle will continue to go to the material transportation platform. If there are other vehicles in the process of going upstairs or executing tasks in the building, it will stop and wait for the vehicle to execute the task and leave the unmanned elevator. Then the AGV transport vehicle interacts with the unmanned elevator, enters the inside of the unmanned elevator, rides the unmanned elevator to the target floor, drives out of the unmanned elevator and stops, and then the AGV transport vehicle goes to the designated unloading area on the floor to unload, returns to the unmanned elevator after unloading is completed, interacts with it to go downstairs and leave the floor and return to the starting point; Then the material transportation scheduling module marks the task of the AGV transport vehicle in the local queue as "completed" and removes it from the queue; then immediately check if there are tasks to be executed in the local queue, if yes, automatically take out the next task for execution; After the scheduling task is completed, the material transportation scheduling module forms a task log of the related information of the AGV transport vehicle executing the task recorded in the Mysql database, and displays the task log information on the system interface of the central control module.