A method and system for scheduling water conservancy construction equipment

Abstract

This invention relates to the field of construction resource scheduling technology, specifically to a method and system for scheduling water conservancy construction equipment. The method includes the following steps: acquiring site point cloud and soil data to construct an environmental resistance field; calculating a dynamic efficiency matrix by combining equipment dynamic parameters and the resistance field; generating an initial time sequence chain based on the efficiency matrix and calculating the overlapping volume of the equipment's three-dimensional spatial envelope; if overlap exists, adjusting the operation time according to priority to generate a conflict-free scheduling instruction set. In this invention, by constructing an equipment passage resistance model that integrates terrain slope and soil moisture content, the rated efficiency parameters of different machine models in specific operating areas are corrected in real time, solving the problem that static scheduling cannot adapt to environmental changes. Simultaneously, a spatiotemporal conflict detection logic based on the three-dimensional operating envelope surface is introduced, automatically generating priority avoidance or staggered operation instructions when overlapping of multiple machine operating trajectories is detected, thus realizing conflict-free collaborative operation of equipment clusters in complex water conservancy scenarios.

Description

Technical Field

[0001] This invention relates to the field of construction resource scheduling technology, and in particular to a method and system for scheduling water conservancy construction equipment. Background Technology

[0002] The field of construction resource scheduling technology involves the overall planning and dynamic allocation of machinery, human resources, and material flow in large-scale water conservancy projects. Traditional water conservancy construction equipment scheduling methods rely on manual experience to create static construction schedules, combine Gantt charts or network diagrams to arrange equipment arrival and operation times, coordinate machinery configurations at various work sites through regular scheduling meetings, and record equipment operating shifts and fuel consumption data using paper documents or basic spreadsheets.

[0003] However, existing technologies neglect the real-time constraints of complex terrain and sudden hydrological and meteorological conditions on the mobility of equipment in water conservancy projects. This makes it difficult for scheduling instructions generated based on ideal working conditions to adapt to slippery or soft soil working environments. Furthermore, there is a lack of dynamic avoidance and coordination mechanisms for multiple devices working in confined spaces. This results in frequent physical congestion or unplanned shutdowns of mechanical equipment on key working surfaces, making it difficult to maintain the continuous operating efficiency of equipment clusters in time-varying environments. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a method and system for scheduling water conservancy construction equipment.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a method for scheduling water conservancy construction equipment, comprising the following steps:

[0006] S1: Obtain elevation point cloud data and soil moisture content distribution map, construct a three-dimensional surface model using spatial interpolation algorithm, process the three-dimensional surface model, calculate the terrain slope value and surface bearing capacity coefficient, and generate an environmental resistance field by combining the terrain slope value and the surface bearing capacity coefficient with the traffic resistance calculation formula.

[0007] S2: Read the mechanical power parameters and track ground pressure, substitute the mechanical power parameters and track ground pressure into the environmental resistance field to perform dynamic simulation matching, calculate the maximum travel speed and effective digging efficiency, and construct a dynamic efficiency matrix based on the maximum travel speed and effective digging efficiency;

[0008] S3: Extract the engineering quantity requirements and work deadlines based on the construction task list, combine the dynamic efficiency matrix to plan the equipment operation sequence chain, establish a three-dimensional spatial envelope, perform intersection operations on the three-dimensional spatial envelopes of different equipment in the same time dimension, and calculate the overlapping volume;

[0009] S4: If the overlap volume is greater than zero, adjust the start time of the operation for the device operation timing chain until the overlap volume is zero, output a conflict-free scheduling instruction set and send it to the vehicle terminal for execution.

[0010] As a further aspect of the present invention, step S1 specifically comprises:

[0011] S11: Obtain elevation point cloud data and soil moisture content distribution map, call the Kriging space interpolation algorithm to perform gridding smoothing on the discrete elevation point cloud data to generate a basic surface elevation surface, extract moisture saturation features for each sampling point in the soil moisture content distribution map, and perform multi-source data superposition mapping operation in the three-dimensional spatial coordinate system to construct the three-dimensional surface model.

[0012] S12: For each grid node in the three-dimensional surface model, extract the partial derivative matrix in the orthogonal direction, determine the terrain slope value by calculating the angle between the normal vector and the horizontal plane, and at the same time, according to the preset soil elastoplastic constitutive mechanical relationship model, convert the soil moisture content at the node into the corresponding foundation compressive strength parameter, and calculate the surface bearing capacity coefficient.

[0013] S13: Combining the travel resistance calculation formula in the vehicle ground mechanics system, the component of gravity along the tangential direction of the slope caused by the terrain slope value and the track vertical settlement rolling resistance caused by the surface bearing capacity coefficient are nonlinearly weighted and superimposed. The superposition result is mapped to all nodes of the global construction coordinate system to generate the environmental resistance field.

[0014] As a further aspect of the present invention, step S2 specifically comprises:

[0015] S21: Read the mechanical power parameters and the track ground pressure ratio, establish the tangential friction shear force equation and normal dynamic settlement constraint conditions for the track teeth and ground surface contact interface, input the rated traction power parameters of the equipment to perform multi-rigid-body dynamics simulation matching, and output the continuous driving force and transient digging resistance torque.

[0016] S22: Using continuous driving force to overcome the corresponding tangential and normal combined resistance in the environmental resistance field, the maximum driving speed is calculated based on the principle of energy conservation, and the effective digging efficiency is calculated according to the inverse proportional decay relationship between the transient digging resistance torque and the rated output power of the equipment.

[0017] S23: Arrange the maximum driving speed and the effective excavation efficiency in a multi-dimensional matrix according to the two-dimensional spatial coordinate axis and the classification dimension of different working conditions. Record the working performance boundary values ​​at different positions in the grid of the entire working area to construct the dynamic work efficiency matrix.

[0018] As a further aspect of the present invention, step S3 specifically comprises:

[0019] S31: Extract the engineering quantity requirements and work deadlines based on the construction task list, combine the dynamic efficiency matrix, calculate the theoretical execution time for each independent sub-task under the current surface environment, and plan the equipment operation sequence chain according to the logical dependency relationship of construction operations and the backward heuristic search algorithm.

[0020] S32: For each task node in the equipment operation time sequence chain, for the equipment, extract the vehicle body dimensions and the maximum extension motion trajectory parameters of the robotic arm, establish a local follow-up three-dimensional coordinate system with the equipment chassis rotation center as the origin, and establish the three-dimensional spatial envelope by scanning the sweep space edge of the robotic arm in the full working range.

[0021] S33: Project the three-dimensional spatial envelope of all devices and their corresponding working time intervals into a unified four-dimensional spatiotemporal coordinate system, and use a polyhedron intersection detection algorithm to traverse all concurrent operation stages and calculate the overlap volume.

[0022] As a further aspect of the present invention, step S4 specifically comprises:

[0023] S41: If the overlap volume is greater than zero, it is determined that a spatial interference conflict event has occurred between the corresponding devices. The master-slave scheduling relationship of the conflicting devices is determined according to the critical path priority, and the start time of the operation of the device with higher priority and the predetermined path parameters remain unchanged.

[0024] S42: For subordinate devices with low priority on the critical path, introduce time delay adjustment variables into the conflicting task nodes of their device operation sequence chain, gradually adjust the operation start time backward or forward according to a fixed step size, and cyclically trigger the overlap volume calculation function until the overlap volume between each device is zero.

[0025] S43: When the overlap volume is zeroed, record the safe operation time node sequence and the corresponding driving and transfer path, perform data packet compression processing, generate the conflict-free scheduling instruction set, and send the conflict-free scheduling instruction set to the vehicle terminal for execution through the field wireless communication network.

[0026] As a further aspect of the present invention, the process of calculating the surface bearing capacity coefficient specifically includes:

[0027] The soil physical properties of each node in the three-dimensional surface model are obtained. The water sensitivity is quantified based on an empirical adjustment factor. The local slope influence is corrected using a nonlinear bearing capacity attenuation model to generate the surface bearing capacity coefficient, the formula of which is:

[0028] ;

[0029] in, Represents the surface bearing capacity coefficient, The reference constant representing the foundation bearing capacity under dry conditions. This represents the attenuation coefficient of a specific soil type's sensitivity to moisture. This represents the percentage of soil moisture content at the node. The dimensionless slope aspect gravity transfer compensation coefficient. The slope value representing the terrain at the node. This represents an exponential function with the natural constant as its base.

[0030] As a further aspect of the present invention, the process of establishing the tangential frictional shear force equation specifically includes:

[0031] The track ground pressure and spur geometry parameters are obtained. Combined with the Coulomb Mohr soil shear strength failure criterion, the dynamic shear displacement is calculated during track slippage using soil cohesion and internal friction angle parameters. A nonlinear exponential shear stress-displacement relationship curve is introduced, and the continuous shear stress distribution over the full contact area is calculated by integration to generate the tangential friction shear force equation.

[0032] As a further aspect of the present invention, the process of planning the equipment operation timing chain specifically includes:

[0033] From the construction task list, the prerequisite dependency constraint matrix is ​​extracted, the dynamic efficiency matrix is ​​traversed to match the equipment model with the highest comprehensive energy efficiency ratio, the vehicle path planning algorithm with time window is applied to solve the problem, the Pareto optimal solution set is calculated, and the equipment state transition time sequence nodes are extracted from the Pareto optimal solution set to generate the equipment operation time sequence chain.

[0034] As a further aspect of the present invention, the calculation process of the overlapping volume specifically includes:

[0035] The new coordinate pose parameters after the intervention of the time delay adjustment variable are obtained. Interference judgment is performed using the separation axis theorem algorithm. The device envelope polygon is eliminated. Boolean intersection operation is performed on the remaining three-dimensional geometry that is determined to have potential intersection. The polyhedral mesh topology is extracted. The closed space enclosed by the surface of the polyhedral mesh topology is integrated and the integral value is calculated. Based on the integral value, the overlapping volume is generated.

[0036] A water conservancy construction equipment scheduling system, the system being used to implement the above-mentioned water conservancy construction equipment scheduling method, the system comprising:

[0037] The environmental resistance field generation module is used to acquire elevation point cloud data and soil moisture distribution map, construct a three-dimensional surface model using spatial interpolation algorithm, process the three-dimensional surface model, calculate the terrain slope value and surface bearing capacity coefficient, process the terrain slope value and surface bearing capacity coefficient in combination with the traffic resistance calculation formula, and generate an environmental resistance field.

[0038] The dynamic efficiency matrix construction module is used to read mechanical power parameters and track ground pressure, substitute the mechanical power parameters and track ground pressure into the environmental resistance field for dynamic simulation matching, calculate the maximum travel speed and the effective digging efficiency, and construct a dynamic efficiency matrix based on the maximum travel speed and the effective digging efficiency.

[0039] The overlapping volume calculation module is used to extract the engineering quantity requirements and work deadlines based on the construction task list, plan the equipment operation time sequence chain in combination with the dynamic efficiency matrix, establish the three-dimensional spatial envelope, perform intersection operations on the three-dimensional spatial envelopes of different equipment in the same time dimension, and calculate the overlapping volume.

[0040] The scheduling instruction output module is used to adjust the start time of the operation for the device operation timing chain if the overlap volume is greater than zero, until the overlap volume is zero, output a conflict-free scheduling instruction set and send it to the vehicle terminal for execution.

[0041] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0042] In this invention, by constructing a model of equipment passage resistance that integrates terrain slope and soil moisture content, the rated efficiency parameters of different machine models in specific operating areas are corrected in real time, solving the problem that static scheduling cannot adapt to environmental changes. At the same time, a spatiotemporal conflict detection logic based on a three-dimensional operating envelope is introduced, which automatically generates priority avoidance or staggered peak instructions when multiple machine operating trajectories are identified as overlapping. This enables conflict-free collaborative operation of equipment clusters in complex water conservancy scenarios, significantly improving resource utilization and construction progress controllability. Attached Figure Description

[0043] Figure 1 This is a flowchart illustrating the overall process of the water conservancy construction equipment scheduling method of the present invention.

[0044] Figure 2 A detailed flowchart for generating the environmental resistance field for this invention;

[0045] Figure 3 A detailed flowchart for constructing the dynamic ergonomics matrix for this invention;

[0046] Figure 4 This is a flowchart illustrating the calculation of overlapping volume refinement in this invention.

[0047] Figure 5 A detailed flowchart for generating a conflict-free scheduling instruction set for this invention is provided. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the software-based technical solution is described in detail below with reference to system architecture diagrams and embodiments. It should be understood that the specific embodiments described herein are only for explaining the technical solutions of this invention and do not constitute a limitation on the scope of protection.

[0049] In the description of this invention, the system architecture relationships or data processing flows indicated by terms such as "layer," "module," "interface," "data flow," "client," and "server" are all defined based on the architecture diagram or flowchart corresponding to the embodiments. This way of describing is only used to clearly illustrate the logical relationships between the elements in the technical solution, and not to limit the physical deployment form. The term "multiple" includes two or more technical units, including but not limited to multiple data nodes, processing threads, service instances, or functional components and other scalable elements. The specific number is determined according to the actual business scenario and needs to be specifically specified.

[0050] Please see Figure 1 and Figure 2 This invention provides a technical solution: a method for scheduling water conservancy construction equipment, comprising the following steps:

[0051] S1: Obtain elevation point cloud data and soil moisture content distribution map, construct a three-dimensional surface model using spatial interpolation algorithm, process the three-dimensional surface model, calculate the terrain slope value and surface bearing capacity coefficient, and generate an environmental resistance field by combining the terrain slope value and surface bearing capacity coefficient with the traffic resistance calculation formula.

[0052] S11: Obtain elevation point cloud data and soil moisture content distribution map, call the Kriging space interpolation algorithm to perform gridding smoothing on the discrete elevation point cloud data to generate a basic surface elevation curve, extract moisture saturation features for each sampling point in the soil moisture content distribution map, and perform multi-source data overlay mapping operation in the three-dimensional spatial coordinate system to construct a three-dimensional surface model.

[0053] S12: For each grid node in the 3D surface model, extract the partial derivative matrix in the orthogonal direction, determine the terrain slope value by calculating the angle between the normal vector and the horizontal plane, and at the same time, according to the preset soil elastoplastic constitutive mechanical relationship model, convert the soil moisture content at the node into the corresponding foundation compressive strength parameter, and calculate the surface bearing capacity coefficient.

[0054] The process of calculating the surface bearing capacity coefficient specifically includes:

[0055] The soil physical properties of each node in the 3D surface model are obtained. Moisture sensitivity is quantified based on empirical adjustment factors. The influence of local slope is corrected using a nonlinear bearing capacity attenuation model to generate the surface bearing capacity coefficient, the formula of which is:

[0056] ;

[0057] in, Represents the surface bearing capacity coefficient. The reference constant representing the foundation bearing capacity under dry conditions. This represents the attenuation coefficient of a specific soil type's sensitivity to moisture. This represents the percentage of soil moisture content at the node. The dimensionless slope aspect gravity transfer compensation coefficient. This represents the terrain slope value at the node. This represents an exponential function with the natural constant as its base.

[0058] S13: Combining the travel resistance calculation formula in the vehicle ground mechanics system, the component of gravity along the tangential direction of the slope caused by the terrain slope value and the rolling resistance of track vertical settlement caused by the surface bearing capacity coefficient are nonlinearly weighted and superimposed. The superposition result is mapped to all nodes of the global construction coordinate system to generate an environmental resistance field.

[0059] The airborne lidar and distributed soil moisture sensor network at the water conservancy construction site were activated. The flying drone was controlled to perform orthogonal scanning at a cruising speed of 5 m / s and a relative flight altitude of 50 m, emitting laser pulses with a frequency of 100,000 Hz to collect the original point cloud covering the construction area. At the same time, the dielectric constant of the soil layer with a depth of 0.2 m to 0.5 m was read in real time by frequency domain reflectometer sensors arranged on 10 m by 10 m grid nodes, and converted into soil volume water content.

[0060] For elevation point cloud data containing millions of 3D coordinate points, a voxel downsampling filter is invoked, the voxel grid side length is set to 0.1m, the centroid coordinates of all points within each voxel are calculated to replace the original point set, and then a statistical outlier removal algorithm is applied to calculate the average Euclidean distance from each point to its 50 neighboring points, and the standard deviation multiplier threshold is set to 2.0 to remove floating noise points outside the global distance distribution.

[0061] For the cleaned discrete elevation point cloud data and the distribution map containing water content scalar values, a semivariance function graph with a maximum lag distance of 20m is constructed. The spatial autocorrelation structure is fitted using a spherical model, and the spatial variation characteristic parameters with a nugget constant of 0.5, a sill value of 4.2, and a range of 15m are solved by the maximum likelihood estimation method.

[0062] Based on the above fitting model, a linear equation system of Lagrange multipliers for Kriging interpolation is constructed to perform unbiased optimal estimation of the elevation values ​​of unknown grid nodes, generating a basic surface elevation surface with a resolution of 0.5m.

[0063] Physical data measured at each sampling point in the soil moisture distribution map are extracted, and the ratio of the current pore water volume to the total pore volume is calculated to quantify the water saturation characteristics. The saturation attribute is mapped to the corresponding elevation surface grid using a bilinear interpolation algorithm. Multi-source data superposition calculation of geometric structure and physical attribute data in the three-dimensional spatial coordinate system is completed to construct a three-dimensional surface model with dual attributes of elevation and moisture content.

[0064] For the completed 3D surface model containing 250,000 grid nodes, traverse each independent coordinate grid in the model.

[0065] For the currently selected center node, extract the elevation coordinates of its 8 neighboring grid nodes and construct a 3x3 finite difference orthogonal partial derivative kernel matrix.

[0066] In the orthogonal direction of the X-axis, the ratio of the elevation difference between the left and right adjacent nodes to the grid spacing is calculated using the Sobel operator, and the partial derivative in the X direction is extracted.

[0067] Similarly, extract the partial derivative in the Y-direction in the orthogonal direction of the Y-axis.

[0068] Based on the gradient vector of the tangent plane formed by the two orthogonal partial derivatives, the coordinates of the normal vector corresponding to the tangent plane are calculated. By taking the inverse cosine function of the Z-axis component of the normal vector and the total magnitude of the normal vector, the spatial angle between the normal vector and the standard absolute horizontal plane is determined. The value of this angle is directly labeled as the terrain slope value of the current node.

[0069] The soil moisture content of the current node of the 3D surface model is read in parallel. The pre-configured soil elastoplastic constitutive mechanical relationship model is called. This model is established based on the Drucker-Prager yield criterion. The input moisture content value is substituted into the stress-strain attenuation function to find and calculate the corresponding foundation compressive strength parameters.

[0070] By combining the terrain slope value and the foundation compressive strength parameter, the unique surface bearing capacity coefficient of this grid node is calculated and generated.

[0071] Soil physical properties at each node in the 3D surface model were obtained. Baseline data were collected through in-situ triaxial compression tests. Moisture sensitivity was quantified based on empirical adjustment factors. The influence of local slope was corrected using a nonlinear bearing capacity attenuation model to generate the surface bearing capacity coefficient. The calculation formula is as follows:

[0072] ;

[0073] in, Represents the surface bearing capacity coefficient;

[0074] The reference constant representing the foundation bearing capacity under dry conditions;

[0075] The attenuation coefficient represents the sensitivity of a specific soil type to water.

[0076] The percentage value of soil moisture content at the node;

[0077] Represents the dimensionless slope-gravity transfer compensation coefficient;

[0078] The slope value represents the terrain gradient at the node;

[0079] This represents an exponential function with the natural constant as its base.

[0080] Parameters in the above formula The final output value is used to characterize the upper limit of the ability of the current surface grid node to resist plastic deformation when subjected to the heavy pressure of tracked machinery.

[0081] parameter The specific value was determined by standard consolidated undrained shear test on the clayey silt at a depth of 0.5m at the construction site. Considering the initial compaction degree of the dam filling environment in the water conservancy project, the constant value was selected as 120.

[0082] parameter The bearing capacity attenuation curve was obtained by conducting gradient drip permeability tests in the relative humidity range of 40% to 90% and fitting the attenuation curve. For the current soil rich in montmorillonite, the attenuation coefficient was set to 0.03.

[0083] parameter The soil moisture content percentage at the current node was measured to be 20%, based on real-time data transmitted from a frequency domain reflectometer sensor buried 0.2m below the surface and calibrated with temperature compensation.

[0084] parameter Based on the setting of the load distribution ratio of the front and rear road wheels of the tracked vehicle in the longitudinal slope state, the value is set to 0.6 through static weighing calibration.

[0085] parameter The angle between the normal vector calculated from the aforementioned spatial partial derivative matrix and the backward extension of the absolute gravity is transformed. Considering the climbing limit of heavy machinery, the current node is calculated to be 5 (unit: degree).

[0086] The obtained parameters (Value is 120), Parameter (Value is 0.03), Parameter (Value is 20), Parameter (Value is 0.6) and parameter Substituting the value of 5 into the above formula, and calculating... Approximately 0.99619, The value is approximately 0.54881. After substituting this into the weighted logic, the final result is obtained. It is 137.58.

[0087] The result indicates that the current surface grid has moderate heavy load support conditions and has not reached the critical failure threshold (set to 80) that would cause severe track slippage or deep sinking. The result 137.58 will be used as the basic damping factor and substituted into the subsequent rolling resistance integral equation to determine the effective adhesion limit of track traction under this spatial coordinate.

[0088] The advantage of the formula is that by introducing a nonlinear combination of the slope aspect gravity transfer compensation coefficient and the exponential moisture decay term, it effectively corrects the defect of the traditional linear model, which has a bearing capacity prediction error of up to 35% when the moisture content exceeds 15%.

[0089] Table 1. Soil physical properties at the construction site

[0090] ;

[0091] Table 1 lists the key soil physical property parameters used to calculate the surface bearing capacity coefficient and their measurement channels, ensuring the accuracy and traceability of the calculation process.

[0092] The surface bearing capacity coefficient of 137.58 was extracted, and the ground contact length of the excavator track chassis (3.2m) and width (0.6m) were retrieved from the vehicle ground mechanics database to calculate the rolling resistance of the track against the soil due to vertical subsidence (set to 8000N).

[0093] Simultaneously, the terrain slope value of the node is read as 5 degrees, and the gravity component of the product of the device's own mass (set to 15000kg) and the gravitational acceleration (9.8m / s²) is calculated in the tangential direction along the slope.

[0094] The gravitational component was calculated to be 12811 N using trigonometric functions.

[0095] The gravity component value and the vertical sinking rolling resistance are nonlinearly weighted and superimposed, and the comprehensive resistance scalar value at this node position is obtained by directly adding them together, which is 20811N.

[0096] By traversing the entire three-dimensional surface model, the comprehensive resistance scalar values ​​calculated from all nodes are mapped to the global construction coordinate system matrix with the construction reference point as the origin, thereby generating an environmental resistance field covering the entire working area.

[0097] The aforementioned Kriging spatial interpolation algorithm refers to a geostatistical interpolation calculation process that uses data from known observation points to perform unbiased optimal estimation of unknown points based on spatial autocorrelation.

[0098] Please see Figure 1 and Figure 3 S2: Read the mechanical power parameters and track ground pressure, substitute the mechanical power parameters and track ground pressure into the environmental resistance field for dynamic simulation matching, calculate the maximum travel speed and effective digging efficiency, and construct a dynamic efficiency matrix based on the maximum travel speed and effective digging efficiency.

[0099] S21: Read the mechanical power parameters and track ground pressure, establish the tangential friction shear force equation and normal dynamic settlement constraint conditions for the track teeth and ground contact interface, input the rated traction power parameters of the equipment to perform multi-rigid-body dynamics simulation matching, and output the continuous driving force and transient digging resistance torque.

[0100] The process of establishing the equation for tangential frictional shear force specifically includes:

[0101] By obtaining the track ground pressure and track spur geometry parameters, and combining the Coulomb-Mohr soil shear strength failure criterion, the dynamic shear displacement is calculated during track slippage using soil cohesion and internal friction angle parameters. A nonlinear exponential shear stress-displacement relationship curve is introduced, and the continuous shear stress distribution over the full contact area is calculated by integration to generate the tangential friction shear force equation.

[0102] S22: Utilize the continuous driving force to overcome the corresponding tangential and normal combined resistance in the environmental resistance field, calculate the maximum driving speed based on the principle of energy conservation, and calculate the effective digging efficiency based on the inverse proportional decay relationship between the transient digging resistance torque and the rated output power of the equipment.

[0103] S23: The maximum travel speed and effective excavation efficiency are arranged and combined in a multi-dimensional matrix according to the two-dimensional spatial coordinate axis and the classification dimension of different working conditions. At different locations within the grid of the entire working area, the boundary values ​​of working performance are recorded to construct a dynamic efficiency matrix.

[0104] The system reads the rated mechanical traction power parameters (set to 50000W) and the track ground pressure ratio (set to 45kPa) returned by the chassis pressure sensor through the vehicle bus data interface.

[0105] The contact interface between the track teeth and the ground surface with a thickness of 0.3m was identified, and the Coulomb-Mohr soil shear strength failure criterion was applied for analysis.

[0106] Retrieve the soil cohesion parameters (set to 20 kPa) and internal friction angle parameters (set to 25 degrees) of the current soil layer from the construction exploration database.

[0107] The slip ratio of the equipment track in the environmental resistance field is set to be 5% to 20%. The slip ratio is input into the slip displacement differential equation, and the dynamic shear displacement of each micro-element region is calculated along the longitudinal length direction of the track in contact with the ground.

[0108] Based on this, a nonlinear exponential shear stress-displacement relationship curve model with exponential asymptotic characteristics is introduced. With an integration step size of 0.05m, double numerical integration is performed on the full contact area with a size of 3.2m by 0.6m. The distribution state vector of continuous shear stress on the entire contact zone is calculated by summing the results, and then the tangential friction shear force equation that accurately describes the friction interaction characteristics between the track and the ground surface is generated.

[0109] The maximum shear force extreme value calculated from the tangential friction shear force equation, along with the structural parameters of the equipment track suspension system containing 5 road wheels, 1 drive wheel and 1 idler wheel, and the rated traction power parameter of 50000W, are input into the multi-rigid-body dynamics simulation step based on the Lagrange multiplier method.

[0110] In the simulation environment, a one-sided normal dynamic settlement constraint condition between the track plate and the polygonal surface grid was established. The time step of the solver was set to 0.005s. The high-rigidity nonlinear differential-algebraic equation system was solved using the backward differential formula algorithm. After 1000 iterations, the model converged and output the numerical values ​​of the continuous driving force curve (mean extracted as 38000N) and the numerical values ​​of the transient excavation resistance torque curve for the excavation condition (peak extracted as 15000N·m).

[0111] The continuous driving force value of 38000N is read from the multi-rigid-body dynamics simulation output. It is used as a work source to overcome the tangential driving resistance (corresponding to the gravity component of 12811N) and the normal compaction combined resistance (corresponding to the rolling resistance of 8000N) calculated at the corresponding coordinate nodes in the environmental resistance field in the previous steps.

[0112] Based on the principles of work and energy conservation, the total combined resistance during driving is calculated to be 20811N.

[0113] It is determined that the current continuous driving force (38000N) is greater than the total driving resistance (20811N), and the conditions for continuous acceleration and driving are met.

[0114] Based on the mechanical transmission efficiency of the power transmission system (set to 0.85), the effective power output is calculated to be 42500W.

[0115] By dividing the effective power output by the total driving resistance, the maximum speed of the device under the current surface environment is calculated to be 2.04 m / s.

[0116] Meanwhile, the instantaneous digging resistance torque value of the positioning device when performing the digging task is 15000 N·m. The ratio of this value to the rated maximum slewing torque of the device (set to 20000 N·m) is substituted into the preset efficiency reduction transfer function.

[0117] According to the inverse proportional decay relationship, when the resistance torque reaches 75% of the equipment's torque bearing limit, the decay factor is triggered. After exponentially decreasing calculation, an effective excavation efficiency with a scalar range between 0 and 1 is generated. In this example, the calculated effective excavation efficiency is 0.68, indicating that the equipment can only exert 68% of its excavation capacity in the current high-cohesive soil environment.

[0118] Experimental data show that when the spatial resolution of the drag field is set to 0.5m and the time step of the dynamic simulation is refined to 0.005s, the accuracy of the above-mentioned velocity and efficiency calculations reaches 92%, which is 18% higher than that of traditional empirical estimation methods.

[0119] A two-dimensional spatial coordinate axis grid with dimensions of 1000 x 1000 covering the length and width of the construction site is established. On this basis, a working condition dimension axis is added, and five typical working conditions commonly encountered in water conservancy construction operations, namely earthwork excavation, site leveling, material transportation, backfilling and compaction, and unloaded transfer, are set as classification dimensions to form a multi-dimensional tensor data structure.

[0120] Using a multi-threaded parallel computing method, all grid nodes (a total of 1,000,000) on the two-dimensional spatial coordinate axis are traversed. The maximum driving speed scalar value and the effective mining efficiency scalar value corresponding to each node under the five classification dimensions are exhaustively calculated and matrix-arranged.

[0121] The calculated upper speed limit and lower efficiency limit are used as the working performance boundary values ​​and recorded in the data clusters corresponding to the grid coordinates and working condition index.

[0122] After scanning the entire work area, the data clusters of all nodes are combined into a complete three-dimensional floating-point matrix, which is the dynamic efficiency matrix. This matrix directly represents the ceiling of mechanical availability for any location and any type of work within the construction area.

[0123] The above-mentioned multi-rigid-body dynamics simulation steps refer to a numerical solution process that uses Lagrange mechanics theory to establish differential equations for a mechanical system consisting of multiple rigid components connected by kinematic pairs, in order to accurately calculate its force and motion state under complex constraints.

[0124] Please see Figure 1 and Figure 4 S3: Extract the engineering quantity requirements and work deadlines based on the construction task list, combine the dynamic efficiency matrix to plan the equipment operation sequence chain, establish a three-dimensional spatial envelope, perform intersection operations on the three-dimensional spatial envelopes of different equipment in the same time dimension, and calculate the overlapping volume.

[0125] S31: Extract the engineering quantity requirements and work deadlines based on the construction task list, combine them with the dynamic efficiency matrix, calculate the theoretical execution time for each independent sub-task under the current surface environment, and plan the equipment operation sequence chain according to the logical dependency relationship of construction operations and the backward heuristic search algorithm.

[0126] The process of planning the equipment operation sequence chain specifically includes:

[0127] From the construction task list, the prerequisite dependency constraint matrix is ​​extracted, the dynamic efficiency matrix is ​​traversed to match the equipment model with the highest comprehensive energy efficiency ratio, the vehicle path planning algorithm with time window is applied to solve the problem, the Pareto optimal solution set is calculated, and the equipment state transition time sequence nodes are extracted from the Pareto optimal solution set to generate the equipment operation time sequence chain.

[0128] S32: For each task node in the equipment operation sequence chain, extract the vehicle body dimensions and the maximum extension trajectory parameters of the robotic arm for the equipment. Establish a local follow-up three-dimensional coordinate system with the equipment chassis rotation center as the origin. Establish a three-dimensional spatial envelope by scanning the edge of the sweep space of the robotic arm in the full working range.

[0129] S33: Project the three-dimensional spatial envelope of all devices and their corresponding working time intervals into a unified four-dimensional spatiotemporal coordinate system, and use a polyhedron intersection detection algorithm to traverse all concurrent operation stages and calculate the overlap volume.

[0130] By accessing the engineering management database through the interface, the task node of the river widening project with the label T001 is retrieved using structured query language. The engineering quantity requirement (value is 8500 cubic meters of earthwork excavation) and the attached work deadline stamp (specified to be completed within 120 hours from the current system time) are extracted from the node.

[0131] Import the parsed parameters of each independent subtask into the dynamic efficiency matrix, and query the effective excavation efficiency and maximum travel speed of the coordinate area where the subtask is located.

[0132] Based on the total project volume of 8,500 cubic meters, divided by the rated excavation capacity per hour (e.g., 150 cubic meters / hour) mapped by a single piece of equipment in the dynamic efficiency matrix, and multiplied by the aforementioned effective excavation efficiency of 0.68, the actual excavation output rate of a single piece of equipment is 102 cubic meters / hour. Thus, the theoretical execution time required for this sub-task under the current surface environment is accurately calculated to be 83.33 hours.

[0133] Based on the logical dependency of the construction operations, which require earthwork excavation to precede bottom surface compaction and slope protection pouring, a directed acyclic graph data structure is constructed.

[0134] Extract the pre-dependency constraint matrix containing the in-degree and out-degree information of each subtask from the construction task list. Then, apply a backward heuristic search algorithm with time penalty weights to calculate the latest start time and the earliest completion time in reverse along the directed acyclic graph, starting from the task deadline timestamp.

[0135] During the search process, the equipment resource pool is traversed, and the basic parameters of the candidate equipment are compared with the dynamic efficiency matrix to filter and match the specified model of equipment with the highest comprehensive energy efficiency ratio (for example, selecting a tracked excavator with a rated power of 50,000W).

[0136] For a selected pool of devices, a mathematical model for a vehicle routing algorithm with time windows is established.

[0137] Initialize a population containing 100 individuals with chromosomes. Each chromosome represents a scheduling sequence of devices and task nodes. Set the crossover probability to 0.8 and the mutation probability to 0.1.

[0138] With the dual optimization objectives of minimizing theoretical execution time and minimizing the idle transfer distance of equipment, a non-dominated sorting genetic algorithm is used to solve the problem.

[0139] After 500 generations of population iteration and optimization, the Pareto optimal solution set containing multiple non-dominated solutions is calculated and output.

[0140] From the multidimensional target space of the solution set, select the compromise solution with the shortest Euclidean distance from the ideal origin, decompose the chromosome gene position of the decoded solution, extract the precise state transition timing nodes of the equipment entering working state, stopping working and transferring, connect them in timeline order, and generate the equipment operation timing chain to guide the deployment of the equipment.

[0141] Table 2 Comparison of Heuristic Search Tests for Construction Task Scheduling

[0142] ;

[0143] Table 2 lists the performance data of different scheduling search algorithms when handling the same task size. The Pareto optimization logic shows a significant advantage in solution quality and result distance.

[0144] Lock the specific task node with index number 1 in the equipment operation sequence chain, generate an instruction request and extract the body geometry parameters of the dispatched excavator, and obtain its length, width and height dimensions as 9.5m, 3.2m and 3.6m respectively.

[0145] Simultaneously, the maximum extension trajectory parameters of the excavator's robotic arm, including the boom, stick, and bucket, are extracted (including the maximum rotation angle boundary value of each joint being ±60 degrees and the maximum extension radius value being 11.5m).

[0146] A local dynamic three-dimensional coordinate system is constructed with the chassis rotation center of the tracked equipment as the relative origin in three-dimensional space.

[0147] Within the local servo 3D coordinate system, the link length and joint angle limit of the robotic arm are substituted into the positive kinematic equations. The joint step angle is set to 0.5 degrees. The coordinates of the vertices of the 3D spatial sweep volume of the robotic arm are exhaustively scanned within the entire working range (360-degree horizontal rotation and vertical limit pitch).

[0148] By combining the length, width, and height of the vehicle body to construct the circumscribed cuboid, a voxelization algorithm (with the voxel mesh size set to 0.1m cubic) is used to obtain the 3D convex hull of the vehicle body's outer bounding box and the edge vertices of the swept space. This establishes a 3D spatial envelope that fully covers the extreme operating boundary of the equipment, ensuring that the equipment will not exceed this envelope range under any posture.

[0149] After completing the spatial modeling of all individual equipment, the three-dimensional spatial envelopes of a total of 15 independent equipment and their respective corresponding working time intervals bound in the equipment operation time sequence chain (for example, the time interval of equipment A is from the 20th to the 45th hour of the absolute timestamp) are uniformly fused and projected into a four-dimensional spatiotemporal coordinate system (including X, Y, Z three-dimensional spatial coordinates and T-dimensional time coordinates) with the entire construction section as the reference benchmark.

[0150] The core logic of Gilbert-Johnson-Kirsey (GJK) convex collision detection in the polyhedron intersection detection algorithm is invoked to traverse all concurrent operation phases with overlapping time intervals.

[0151] In a four-dimensional coordinate system, time T is treated as an additional geometric compression dimension. When the projections of the time axes intersect, the Minkowski difference between the three-dimensional spatial envelope polyhedra of the corresponding devices is calculated.

[0152] If the origin is contained within the difference set simplex, then the polyhedral spaces are considered to intersect.

[0153] For the intersecting regions, perform Boolean volume integral operation on the intersecting polyhedrons to calculate and output the scalar value of the overlapping volume accurate to two decimal places.

[0154] The aforementioned non-dominated sorting genetic algorithm is a heuristic global search algorithm based on the principle of biological evolution. In multi-objective optimization problems, it divides the population into different non-dominated levels and combines crowding distance to maintain the diversity of solution sets.

[0155] Please see Figure 1 and Figure 5 S4: If the overlap volume is greater than zero, adjust the start time of the operation for the equipment operation timing chain until the overlap volume is zero, output a conflict-free scheduling instruction set and send it to the vehicle terminal for execution.

[0156] S41: If the overlap volume is greater than zero, it is determined that a spatial interference conflict event has occurred between the corresponding devices. The master-slave scheduling relationship of the conflicting devices is determined according to the critical path priority, and the start time of the operation of the device with higher priority and the predetermined path parameters remain unchanged.

[0157] S42: For subordinate devices with low priority on the critical path, introduce time delay adjustment variables into the conflict task nodes of their device operation sequence chain, gradually adjust the operation start time backward or forward according to a fixed step size, and cyclically trigger the overlap volume calculation function until the overlap volume between each device is zero.

[0158] The calculation process for the overlapping volume specifically includes:

[0159] The new coordinate pose parameters after the intervention of the time delay adjustment variable are obtained. Interference judgment is performed using the separation axis theorem algorithm. The device envelope polygon is removed. Boolean intersection operation is performed on the remaining three-dimensional geometry that is determined to have potential intersection. The polyhedral mesh topology is extracted. The closed space enclosed by the surface of the polyhedral mesh topology is integrated and the integral value is calculated. Based on the integral value, the overlapping volume is generated.

[0160] S43: When the overlap volume is zeroed, record the safe operation time node sequence and the corresponding driving and transfer path, perform data packet compression processing, generate a conflict-free scheduling instruction set, and send the conflict-free scheduling instruction set to the vehicle terminal for execution through the field wireless communication network.

[0161] Read the overlapping volume value returned by the four-dimensional polyhedron intersection detection algorithm and execute the condition judgment instruction.

[0162] If the measured overlap volume is strictly greater than zero (for example, if device 1 and device 2 are found to have an overlap volume of 8.5 cubic meters at the 24th hour of the time coordinate), then it is determined that a spatial interference conflict event will inevitably occur between the corresponding devices under the current preset scheduling sequence.

[0163] Immediately invoke the critical path method logic operation process, parse the engineering operation network diagram, and calculate the free float time of each equipment's task chain (i.e., the maximum allowable delay time without delaying the overall project duration).

[0164] The free float time of extraction device 1 is 0 hours (located on the critical path), and the free float time of device 2 is 12 hours.

[0165] The master-slave scheduling relationship of conflicting devices is determined by comparing the floating time values ​​and following the principle that the smaller the value, the higher the priority.

[0166] Device 1, with a float time of 0, is marked as a core device with higher priority, and device 2, with a float time of 12, is marked as a slave device.

[0167] In subsequent scheduling parameter modifications, the database write permissions of device 1 are forcibly locked to keep the job start time and the coordinate parameters of the predetermined path nodes of this higher priority device in an absolutely read-only state, so as to avoid causing delays in major nodes of the entire project.

[0168] For device 2, whose critical path priority is marked as subordinate, locate the third conflicting task node that triggers spatial interference in its own device operation sequence chain.

[0169] In the scheduling and computation memory stack, a special time delay adjustment variable is introduced into the start timestamp parameter bit of the third task node of device 2.

[0170] Set the initial iteration step size of this adjustment variable to 5 (unit: minutes).

[0171] According to a fixed step size, the start time of operation of device 2 is postponed by 5 minutes to generate a new temporal gene code, or the start time of operation is advanced within the allowable range of the total project period to perform temporal reorganization.

[0172] Subsequently, the new coordinate pose parameters corresponding to the new timestamp after the intervention of the time delay adjustment variable are input into the coordinate transformation matrix, and the three-dimensional interference judgment is performed by applying the separation axis theorem algorithm.

[0173] By calculating the surface normal vectors and the outer product of the edges of the two device envelope polyhedra, 15 potential separation axes are generated. The vertices of the three-dimensional geometric polygons of the devices are projected onto these 15 separation axes respectively. If the projection intervals on any axis do not overlap, the combination of the device envelope polygons that do not interfere with each other is discarded.

[0174] For the remaining 3D geometry that is determined to have potential intersections, perform a 3D mesh Boolean intersection operation.

[0175] The Sutherland-Hodgeman polygon clipping algorithm is used to cut out the polyhedral mesh topology of the intersecting parts, and the set of closed polygons enclosed by the surface of the topology is extracted.

[0176] The Gaussian divergence theorem is used to transform the volume integral in the closed space into the surface integral on the closed surface. The integral value is calculated with a microscale of 0.01m. Based on the final accumulated integral value, a new overlapping volume is generated.

[0177] If the calculated overlap volume is still greater than zero, the delay adjustment variable is increased cyclically (i.e., pushed to 10 minutes, 15 minutes, etc.), and the overlap volume calculation process is continuously triggered until the overlap volume scalar between all concurrent devices returns to zero.

[0178] Table 3 Iterative Parameters for Equipment Scheduling Conflict Resolution

[0179] ;

[0180] As shown in Table 3, the process data of the slave device after multiple iterations until the conflict is completely resolved is given after the introduction of a fixed step time delay adjustment variable.

[0181] After confirming that the overlap volume is in a zero state (i.e., the conflict state judgment value is 0) and maintaining this state for 3 consecutive detection cycles, lock all timing variables in the current global memory.

[0182] The sequence of safe operation time nodes after the adjustment and finalization of each piece of equipment (e.g., a list of 15 start-stop actions for each piece of equipment) is combined and spliced ​​with the corresponding travel and transfer route generated by the underlying path planning process (which includes a string of 25 waypoint coordinates composed of latitude, longitude and elevation).

[0183] The dictionary compression algorithm is applied to compress the combined large text-based scheduling instructions into data packets, reducing the file size to 30% of the original size and generating a compact, conflict-free scheduling instruction set file package.

[0184] Through the data bearer channel of the fifth-generation mobile communication wireless communication network deployed at the construction site, the message queue telemetry transmission protocol is invoked to send the conflict-free scheduling instruction set file packets point-to-point to the underlying vehicle-mounted edge computing control nodes of the corresponding work equipment for decoding and mechanical hardware execution.

[0185] Experimental data show that, with the time delay adjustment variable step size set to 5 minutes, the total time for generating and distributing the conflict-free instruction set is reduced to less than 1200 milliseconds, which improves the response efficiency by 68% compared with the traditional global re-search scheduling mechanism.

[0186] The aforementioned separating axis theorem algorithm is a collision detection algorithm that accurately determines whether two convex polygons physically overlap or interfere by finding an axis that can completely separate them on the projection.

[0187] A water conservancy construction equipment scheduling system, used to execute the above-mentioned water conservancy construction equipment scheduling method, the system comprising:

[0188] The environmental resistance field generation module is used to acquire elevation point cloud data and soil moisture distribution map, construct a three-dimensional surface model using spatial interpolation algorithm, process the three-dimensional surface model, calculate the terrain slope value and surface bearing capacity coefficient, process the terrain slope value and surface bearing capacity coefficient in combination with the traffic resistance calculation formula, and generate the environmental resistance field.

[0189] The dynamic efficiency matrix construction module is used to read mechanical power parameters and track ground pressure, substitute the mechanical power parameters and track ground pressure into the environmental resistance field for dynamic simulation matching, calculate the maximum travel speed and effective digging efficiency, and construct the dynamic efficiency matrix based on the maximum travel speed and effective digging efficiency.

[0190] The overlapping volume calculation module is used to extract the engineering quantity requirements and work deadlines based on the construction task list, combine the dynamic efficiency matrix to plan the equipment operation sequence chain, establish a three-dimensional spatial envelope, perform intersection calculations on the three-dimensional spatial envelopes of different equipment in the same time dimension, and calculate the overlapping volume.

[0191] The scheduling instruction output module is used to adjust the start time of the operation for the equipment operation timing chain if the overlap volume is greater than zero, until the overlap volume is zero, output a set of conflict-free scheduling instructions and send them to the vehicle terminal for execution.

[0192] The above embodiments illustrate preferred embodiments of the present invention. Any equivalent adjustments to the technical solution based on software engineering methods are within the scope of protection, including but not limited to: implementing algorithm logic using different programming languages, refactoring functional modules into services, adjusting data interaction protocols, and optimizing resource scheduling strategies. Any implementation scheme derived from reasonable modifications to the data processing flow, service call chain, or system architecture layer without departing from the core technology of the present invention should be considered within the protection scope defined by the technical solution of the present invention.

Claims

1. A method for scheduling water conservancy construction equipment, characterized in that, Includes the following steps: S1: Obtain elevation point cloud data and soil moisture content distribution map, construct a three-dimensional surface model using spatial interpolation algorithm, process the three-dimensional surface model, calculate the terrain slope value and surface bearing capacity coefficient, and generate an environmental resistance field by combining the terrain slope value and the surface bearing capacity coefficient with the traffic resistance calculation formula. S2: Read the mechanical power parameters and track ground pressure, substitute the mechanical power parameters and track ground pressure into the environmental resistance field to perform dynamic simulation matching, calculate the maximum travel speed and effective digging efficiency, and construct a dynamic efficiency matrix based on the maximum travel speed and effective digging efficiency; S3: Extract the engineering quantity requirements and work deadlines based on the construction task list, combine the dynamic efficiency matrix to plan the equipment operation sequence chain, establish a three-dimensional spatial envelope, perform intersection operations on the three-dimensional spatial envelopes of different equipment in the same time dimension, and calculate the overlapping volume; S4: If the overlap volume is greater than zero, adjust the start time of the operation for the device operation timing chain until the overlap volume is zero, output a conflict-free scheduling instruction set and send it to the vehicle terminal for execution.

2. The method for scheduling water conservancy construction equipment according to claim 1, characterized in that, The specific steps of S1 are as follows: S11: Obtain elevation point cloud data and soil moisture content distribution map, call the Kriging space interpolation algorithm to perform gridding smoothing on the discrete elevation point cloud data to generate a basic surface elevation surface, extract moisture saturation features for each sampling point in the soil moisture content distribution map, and perform multi-source data superposition mapping operation in the three-dimensional spatial coordinate system to construct the three-dimensional surface model. S12: For each grid node in the three-dimensional surface model, extract the partial derivative matrix in the orthogonal direction, determine the terrain slope value by calculating the angle between the normal vector and the horizontal plane, and at the same time, according to the preset soil elastoplastic constitutive mechanical relationship model, convert the soil moisture content at the node into the corresponding foundation compressive strength parameter, and calculate the surface bearing capacity coefficient. S13: Combining the travel resistance calculation formula in the vehicle ground mechanics system, the component of gravity along the tangential direction of the slope caused by the terrain slope value and the track vertical settlement rolling resistance caused by the surface bearing capacity coefficient are nonlinearly weighted and superimposed. The superposition result is mapped to all nodes of the global construction coordinate system to generate the environmental resistance field.

3. The method for scheduling water conservancy construction equipment according to claim 2, characterized in that, The specific steps of S2 are as follows: S21: Read the mechanical power parameters and the track ground pressure ratio, establish the tangential friction shear force equation and normal dynamic settlement constraint conditions for the track teeth and ground surface contact interface, input the rated traction power parameters of the equipment to perform multi-rigid-body dynamics simulation matching, and output the continuous driving force and transient digging resistance torque. S22: Using continuous driving force to overcome the corresponding tangential and normal combined resistance in the environmental resistance field, the maximum driving speed is calculated based on the principle of energy conservation, and the effective digging efficiency is calculated according to the inverse proportional decay relationship between the transient digging resistance torque and the rated output power of the equipment. S23: Arrange the maximum driving speed and the effective excavation efficiency in a multi-dimensional matrix according to the two-dimensional spatial coordinate axis and the classification dimension of different working conditions. Record the working performance boundary values ​​at different positions in the grid of the entire working area to construct the dynamic work efficiency matrix.

4. The method for scheduling water conservancy construction equipment according to claim 3, characterized in that, The specific steps of S3 are as follows: S31: Extract the engineering quantity requirements and work deadlines based on the construction task list, combine the dynamic efficiency matrix, calculate the theoretical execution time for each independent sub-task under the current surface environment, and plan the equipment operation sequence chain according to the logical dependency relationship of construction operations and the backward heuristic search algorithm. S32: For each task node in the equipment operation time sequence chain, for the equipment, extract the vehicle body dimensions and the maximum extension motion trajectory parameters of the robotic arm, establish a local follow-up three-dimensional coordinate system with the equipment chassis rotation center as the origin, and establish the three-dimensional spatial envelope by scanning the sweep space edge of the robotic arm in the full working range. S33: Project the three-dimensional spatial envelope of all devices and their corresponding working time intervals into a unified four-dimensional spatiotemporal coordinate system, and use a polyhedron intersection detection algorithm to traverse all concurrent operation stages and calculate the overlap volume.

5. The method for scheduling water conservancy construction equipment according to claim 4, characterized in that, The specific steps of S4 are as follows: S41: If the overlap volume is greater than zero, it is determined that a spatial interference conflict event has occurred between the corresponding devices. The master-slave scheduling relationship of the conflicting devices is determined according to the critical path priority, and the start time of the operation of the device with higher priority and the predetermined path parameters remain unchanged. S42: For subordinate devices with low priority on the critical path, introduce time delay adjustment variables into the conflicting task nodes of their device operation sequence chain, gradually adjust the operation start time backward or forward according to a fixed step size, and cyclically trigger the overlap volume calculation function until the overlap volume between each device is zero. S43: When the overlap volume is zeroed, record the safe operation time node sequence and the corresponding driving and transfer path, perform data packet compression processing, generate the conflict-free scheduling instruction set, and send the conflict-free scheduling instruction set to the vehicle terminal for execution through the field wireless communication network.

6. The method for scheduling water conservancy construction equipment according to claim 2, characterized in that, The process of calculating the surface bearing capacity coefficient specifically includes: The soil physical properties of each node in the three-dimensional surface model are obtained. The water sensitivity is quantified based on an empirical adjustment factor. The local slope influence is corrected using a nonlinear bearing capacity attenuation model to generate the surface bearing capacity coefficient, the formula of which is: ； in, Represents the surface bearing capacity coefficient, The reference constant representing the foundation bearing capacity under dry conditions. This represents the attenuation coefficient of a specific soil type's sensitivity to moisture. This represents the percentage of soil moisture content at the node. The dimensionless slope aspect gravity transfer compensation coefficient. The slope value representing the terrain at the node. This represents an exponential function with the natural constant as its base.

7. The method for scheduling water conservancy construction equipment according to claim 3, characterized in that, The process of establishing the tangential frictional shear force equation specifically includes: The track ground pressure and spur geometry parameters are obtained. Combined with the Coulomb Mohr soil shear strength failure criterion, the dynamic shear displacement is calculated during track slippage using soil cohesion and internal friction angle parameters. A nonlinear exponential shear stress-displacement relationship curve is introduced, and the continuous shear stress distribution over the full contact area is calculated by integration to generate the tangential friction shear force equation.

8. The method for scheduling water conservancy construction equipment according to claim 4, characterized in that, The process of planning the equipment operation sequence chain specifically includes: From the construction task list, the prerequisite dependency constraint matrix is ​​extracted, the dynamic efficiency matrix is ​​traversed to match the equipment model with the highest comprehensive energy efficiency ratio, the vehicle path planning algorithm with time window is applied to solve the problem, the Pareto optimal solution set is calculated, and the equipment state transition time sequence nodes are extracted from the Pareto optimal solution set to generate the equipment operation time sequence chain.

9. The method for scheduling water conservancy construction equipment according to claim 5, characterized in that, The calculation process for the overlapping volume specifically includes: The new coordinate pose parameters after the intervention of the time delay adjustment variable are obtained. Interference judgment is performed using the separation axis theorem algorithm. The device envelope polygon is eliminated. Boolean intersection operation is performed on the remaining three-dimensional geometry that is determined to have potential intersection. The polyhedral mesh topology is extracted. The closed space enclosed by the surface of the polyhedral mesh topology is integrated and the integral value is calculated. Based on the integral value, the overlapping volume is generated.

10. A water conservancy construction equipment scheduling system, characterized in that, The system is used to implement the water conservancy construction equipment scheduling method according to any one of claims 1-9, and the system includes: The environmental resistance field generation module is used to acquire elevation point cloud data and soil moisture distribution map, construct a three-dimensional surface model using spatial interpolation algorithm, process the three-dimensional surface model, calculate the terrain slope value and surface bearing capacity coefficient, process the terrain slope value and surface bearing capacity coefficient in combination with the traffic resistance calculation formula, and generate an environmental resistance field. The dynamic efficiency matrix construction module is used to read mechanical power parameters and track ground pressure, substitute the mechanical power parameters and track ground pressure into the environmental resistance field for dynamic simulation matching, calculate the maximum travel speed and the effective digging efficiency, and construct a dynamic efficiency matrix based on the maximum travel speed and the effective digging efficiency. The overlapping volume calculation module is used to extract the engineering quantity requirements and work deadlines based on the construction task list, plan the equipment operation time sequence chain in combination with the dynamic efficiency matrix, establish the three-dimensional spatial envelope, perform intersection operations on the three-dimensional spatial envelopes of different equipment in the same time dimension, and calculate the overlapping volume. The scheduling instruction output module is used to adjust the start time of the operation for the device operation timing chain if the overlap volume is greater than zero, until the overlap volume is zero, output a conflict-free scheduling instruction set and send it to the vehicle terminal for execution.

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