Construction equipment cluster adaptive cooperative control method based on dynamic coupling

Abstract

This invention belongs to the field of gear life assessment technology. It provides an adaptive collaborative control method and system for construction equipment clusters based on dynamic coupling. The method includes: real-time fault monitoring of intelligent tower cranes within each construction cluster group; identifying faulty tower cranes; and screening out faulty construction groups. In complex construction equipment clusters, where numerous intelligent tower cranes operate dispersedly, accurate location of the faulty tower crane avoids a comprehensive inspection of the entire cluster, preventing other equipment or personnel from continuing to rely on the faulty tower crane for operation, thus preventing further escalation of safety accidents caused by tower crane failure. The method also involves comparing and analyzing the faulty tower cranes within the faulty construction group with the replacement tower cranes within the intelligent tower crane cluster to determine a height-matched replacement tower crane. Timely identification of a height-matched replacement tower crane allows for rapid replacement of the faulty tower crane, restoring normal operation of the construction cluster group and improving the fault tolerance capability of the construction equipment cluster in the face of dynamic changes.

Description

Technical Field

[0001] This invention belongs to the field of gear life assessment technology, specifically an adaptive collaborative control method for construction equipment clusters based on dynamic coupling. Background Technology

[0002] In large-scale construction projects, the efficient and stable operation of construction equipment clusters is a key factor in ensuring the smooth progress of the project. Construction equipment clusters typically encompass various types of equipment, among which intelligent tower cranes, as crucial lifting equipment, undertake the critical task of hoisting building materials and components. Their operational status directly impacts the efficiency and safety of the entire construction process. However, current construction equipment clusters face numerous challenges in actual operation. On the one hand, due to the complex and ever-changing construction environment, intelligent tower cranes operate under high load and high intensity for extended periods, making them highly susceptible to various malfunctions. Once a tower crane malfunctions, if the faulty equipment cannot be located promptly and accurately, the entire construction cluster's operations will come to a standstill. On the other hand, after identifying the faulty tower crane, how to quickly select a highly suitable replacement tower crane from among numerous intelligent tower cranes to resume construction becomes an urgent problem to be solved.

[0003] In actual construction, the motion characteristics of the backup tower crane and the transport robot differ, including speed and acceleration. If they cannot achieve good matching during collaborative construction, and there is a mismatch in maximum acceleration capacity and stability of acceleration changes, adverse factors such as swaying and impacts can easily occur. These factors not only affect construction accuracy and reduce project quality, but may also threaten the safety of equipment and personnel. Moreover, most existing construction collaborative control methods lack real-time assessment and dynamic adjustment mechanisms for the degree of equipment collaboration, making it difficult to optimize control strategies in a timely manner according to actual construction conditions, resulting in insufficient adaptive collaborative control capabilities of construction equipment clusters.

[0004] To address this, the present invention provides an adaptive collaborative control method for construction equipment clusters based on dynamic coupling. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0006] The technical solution adopted by this invention to solve its technical problem is: An adaptive and cooperative control method for construction equipment clusters based on dynamic coupling includes: Real-time fault monitoring of intelligent tower cranes in each construction cluster group within the construction equipment cluster is conducted to identify faulty tower cranes and screen out the construction fault groups. Compare and analyze the faulty tower cranes in the faulty construction group with the replacement tower cranes in the intelligent tower crane cluster to determine the height-matched replacement tower cranes; The highly matched backup tower crane and the transport robot in the faulty construction team were used to conduct simulated construction analysis to evaluate the degree of coordination in the simulated construction. When the simulated construction coordination level assessment result is a low construction coordination signal, the coordination construction control quantity is obtained, and the height matching substitute tower crane is controlled and adjusted according to the substitute tower crane control quantity.

[0007] As a further aspect of the present invention, the analysis process for real-time fault monitoring of intelligent tower cranes within each construction cluster group of the construction equipment cluster is as follows: Set the tower crane operation monitoring cycle, divide the tower crane operation monitoring cycle into several operation monitoring points, and obtain the trajectory operation nodes of the intelligent tower crane at each operation monitoring point as trajectory operation coordinate points; By connecting the trajectory coordinates of the intelligent tower crane at each operational monitoring point using the time series obtained from the trajectory coordinates, the actual operational trajectory can be obtained. The actual operating trajectory is compared with the planned operating trajectory, and the local actual operating trajectory that overlaps with the planned operating trajectory is extracted as the overlapping operating trajectory.

[0008] As a further aspect of the present invention, the process of identifying faulty tower cranes and screening out construction failure groups is as follows: Obtain the proportion of the length of the overlapping running trajectory to the length of the planned running trajectory, and use it as the actual planning matching value; Connect the two endpoints of the actual running trajectory with a straight line, and use the slope calculation formula to calculate the slope of the endpoints to obtain the trend value of the actual running trajectory; Connect the two endpoints of the planned trajectory with a straight line, and use the slope calculation formula to calculate the slope of the endpoints to obtain the trend value of the planned trajectory. The difference between the actual trajectory trend value and the planned trajectory trend value is taken, and the absolute value is used to obtain the trajectory trend deviation value. The tower crane fault analysis value is obtained by calculating the ratio between the actual planning matching value and the trajectory trend deviation value. If the tower crane fault analysis value is greater than or equal to the tower crane fault analysis threshold, the analyzed intelligent tower crane is marked as a faulty tower crane, and the construction cluster group corresponding to the faulty tower crane is marked as a construction fault group.

[0009] As a further aspect of the present invention, the process of comparing and analyzing the faulty tower cranes in the faulty construction group with the replacement tower cranes in the intelligent tower crane cluster is as follows: Arbitrarily select a backup tower crane from the intelligent tower crane cluster as the construction backup tower crane, and extract the planned operation trajectory corresponding to the faulty tower crane itself as the backup operation reference trajectory; The substitute running trajectory is compared with the substitute running baseline trajectory, and the local substitute running trajectory that overlaps with the substitute running baseline trajectory is extracted as the substitute running overlap trajectory. The length of the overlapping trajectory of the substitute rule is taken as the proportion of the length of the baseline trajectory of the substitute rule, and used as the substitute rule matching value.

[0010] As a further aspect of the present invention, the process for determining the height-matching backup tower crane is as follows: The substitute trajectory and the substitute baseline trajectory are divided equally to obtain several substitute sub-trajectories and substitute baseline sub-trajectories; The substitute sub-trajectory and the substitute reference sub-trajectory are combined into multiple sub-trajectory analysis pairs. Within each sub-trajectory analysis pair, the endpoint coordinates of the substitute sub-trajectory and the substitute reference sub-trajectory are substituted into the slope calculation formula to obtain the substitute sub-slope and the substitute reference sub-slope. Substitute the slope of the substitute track and the slope of the substitute track into the Euclidean distance calculation formula to obtain the substitute track trend comparison value. Calculate the ratio between the substitute track matching value and the substitute track trend comparison value to obtain the tower crane substitute matching value. Select the construction substitute tower crane corresponding to the tower crane with the largest tower crane substitute matching value as the height matching substitute tower crane.

[0011] As a further aspect of the present invention, the process of simulating construction analysis between the highly matched backup tower crane and the transport robot within the faulty construction team is as follows: Set a simulated construction monitoring cycle, divide the simulated construction monitoring cycle equally to obtain several simulated construction monitoring points, and obtain the instantaneous speed of the high-matching substitute tower crane and the instantaneous speed of the transport robot at each simulated construction monitoring point, as the instantaneous speed of the substitute tower crane and the instantaneous speed of the transport robot; The instantaneous speed of the substitute tower crane at adjacent simulated construction monitoring points is subtracted and the time ratio between adjacent simulated construction monitoring points is calculated to obtain the acceleration of the substitute tower crane. The magnitudes of all substitute tower crane accelerations are compared, and the fastest substitute tower crane acceleration is selected as the upper limit acceleration of the substitute tower crane. The instantaneous transport speed at adjacent simulated construction monitoring points is subtracted and the transport acceleration is calculated by comparing the time ratio between adjacent simulated construction monitoring points. All transport accelerations are compared and the fastest transport acceleration is selected as the upper limit of transport acceleration. The upper limit acceleration of the substitute tower crane is compared with the upper limit acceleration of the transport. If the upper limit acceleration of the substitute tower crane is greater than the upper limit acceleration of the transport, the ratio of the upper limit acceleration of the transport to the upper limit acceleration of the substitute tower crane is calculated to obtain the upper limit acceleration matching value.

[0012] As a further aspect of the present invention, the evaluation process for simulating the degree of construction coordination is as follows: If the upper limit acceleration of the transport crane is greater than the upper limit acceleration of the substitute tower crane, then the ratio of the upper limit acceleration of the substitute tower crane to the upper limit acceleration of the transport crane is calculated to obtain the upper limit acceleration matching value. The difference between the acceleration of the substitute tower crane and the transportation acceleration corresponding to the same simulated construction monitoring point is calculated, and the absolute value is taken to obtain the acceleration difference analysis value. Calculate the standard deviation of all accelerated difference analysis values ​​to obtain the accelerated analysis standard deviation, and sum and mean all accelerated difference analysis values ​​to obtain the accelerated analysis mean. Substituting the accelerated analysis standard deviation and accelerated analysis mean into the coefficient of variation formula yields the accelerated analysis matching value. The ratio of the upper limit accelerated matching value to the accelerated analysis matching value is calculated to obtain the simulated construction coordination value. If the simulated construction coordination value is less than the simulated construction coordination threshold, it is displayed as a low-level construction coordination signal.

[0013] As a further aspect of the present invention, the process of obtaining the coordinated construction control quantity and adjusting the height-matching substitute tower crane according to the control quantity of the substitute tower crane is as follows: The coordinated construction control volume includes the accelerated adjustment of the upper limit of the substitute tower crane; If the upper limit acceleration of the substitute tower crane is greater than the upper limit acceleration of the transport, then the difference between the upper limit acceleration of the substitute tower crane and the upper limit acceleration of the transport is taken to obtain the upper limit acceleration adjustment amount of the substitute tower crane. The difference between the upper limit acceleration of the substitute tower crane and the upper limit acceleration adjustment amount of the substitute tower crane is taken to obtain the upper limit acceleration adjustment value of the substitute tower crane.

[0014] As a further aspect of the present invention, the process of obtaining the coordinated construction control quantity and adjusting the height-matching substitute tower crane according to the control quantity of the substitute tower crane is as follows: The coordinated construction control volume includes the accelerated adjustment of the transportation upper limit; If the upper limit acceleration of the transport crane is greater than the upper limit acceleration of the substitute tower crane, then the difference between the upper limit acceleration of the transport crane and the upper limit acceleration of the substitute tower crane is used to obtain the upper limit acceleration adjustment amount of the transport crane. The difference between the upper limit acceleration of the transport crane and the upper limit acceleration adjustment amount of the transport crane is used to obtain the upper limit acceleration adjustment value of the transport crane.

[0015] An adaptive and collaborative control system for construction equipment clusters based on dynamic coupling includes: Construction Fault Screening Module: Real-time fault monitoring of intelligent tower cranes in each construction cluster group within the construction equipment cluster, identifying faulty tower cranes, and screening out construction fault groups; Tower crane replacement matching module: compares and analyzes the faulty tower crane in the faulty construction group with the construction replacement tower crane in the intelligent tower crane cluster to determine the height-matched replacement tower crane; Construction Collaboration Simulation Module: This module simulates construction by matching a backup tower crane with a faulty construction team and analyzing the resulting transportation robots to assess the level of collaborative construction. Collaborative construction control module: When the simulated construction collaboration level assessment result is a low level of construction collaboration signal, the collaborative construction control quantity is obtained, and the height-matched substitute tower crane is controlled and adjusted according to the substitute tower crane control quantity.

[0016] The beneficial effects of this invention are as follows: 1. This invention performs real-time fault monitoring of intelligent tower cranes within each construction cluster group in a construction equipment cluster. It identifies faulty tower cranes and filters out faulty construction groups. In complex construction equipment clusters, there are numerous intelligent tower cranes operating in a dispersed manner. Accurately locating faulty tower cranes avoids a comprehensive inspection of the entire cluster, preventing other equipment or personnel from continuing to rely on the faulty tower crane for operation. This prevents the further escalation of safety accidents caused by tower crane failures. By comparing and analyzing the faulty tower cranes in the faulty construction group with the replacement tower cranes in the intelligent tower crane cluster, a height-matched replacement tower crane is identified. Timely identification of a height-matched replacement tower crane can quickly replace the faulty tower crane, restoring normal operation of the construction cluster group and improving the fault tolerance capability of dynamic changes within the construction equipment cluster.

[0017] 2. This invention simulates and analyzes the construction process of a highly matched backup tower crane and a transport robot within the faulty construction group, assessing the degree of coordination in the simulated construction. This clearly demonstrates the matching status of the backup tower crane and the transport robot in terms of maximum acceleration capability and acceleration change stability. This helps reduce adverse factors such as swaying and impact caused by equipment incoordination, thereby ensuring construction accuracy and improving project quality. When the simulated construction coordination assessment result is a low-degree coordination signal, a coordination control quantity is obtained. Based on the backup tower crane control quantity, the highly matched backup tower crane is controlled and adjusted. Continuous optimization and improvement of the adaptive control algorithm for the construction equipment cluster, along with analysis of data during the coordinated construction process, reveals problems and deficiencies in the control algorithm, allowing for adjustments and improvements. Attached Figure Description

[0018] The invention will now be further described with reference to the accompanying drawings.

[0019] Figure 1 This is a flowchart of the steps of the adaptive collaborative control method for construction equipment clusters based on dynamic coupling, as described in this invention. Figure 2 This is a flowchart of the determination steps in the adaptive collaborative control method for construction equipment clusters based on dynamic coupling in this invention. Figure 3 This is a flowchart of the module of the adaptive and collaborative control system for construction equipment clusters based on dynamic coupling, as described in this invention. Detailed Implementation

[0020] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0021] Example 1 The construction equipment cluster includes: an intelligent tower crane cluster, an autonomous transport robot fleet, and a collaborative excavation equipment group. Each intelligent tower crane and transport robot forms a construction cluster group within the equipment cluster. The intelligent tower crane cluster includes both active intelligent tower cranes and backup tower cranes. When an intelligent tower crane in a construction cluster experiences a temporary malfunction, a backup tower crane needs to be selected from the cluster. However, this may result in a mismatch between the backup tower crane and the temporarily malfunctioning tower crane in terms of trajectory deviation, or a mismatch between the backup tower crane and the transport robot corresponding to the temporarily malfunctioning tower crane in terms of maximum acceleration. Therefore, please refer to [further details needed]. Figure 1 - Figure 2 As shown in the embodiment of the present invention, the adaptive collaborative control method for construction equipment clusters based on dynamic coupling includes the following steps: Step 1: Conduct real-time fault monitoring of the intelligent tower cranes in each construction cluster group within the construction equipment cluster, identify the faulty tower cranes, and filter out the construction fault groups; In some embodiments, a tower crane operation monitoring cycle is set, and the tower crane operation monitoring cycle is equally divided into several operation monitoring points, wherein the duration between adjacent operation monitoring points is equal; The trajectory nodes of the intelligent tower crane at each operation monitoring point are obtained and transformed in two-dimensional space to serve as trajectory coordinate points; By connecting the trajectory coordinates of the intelligent tower crane at each operational monitoring point using the time series obtained from the trajectory coordinates, the actual operational trajectory can be obtained. The actual running trajectory is compared with the planned running trajectory, and the local actual running trajectory that overlaps with the planned running trajectory is extracted as the running overlap trajectory; Obtain the proportion of the length of the overlapping running trajectory to the length of the planned running trajectory, and use it as the actual planning matching value; Connect the two endpoints of the actual running trajectory with a straight line, and use the slope calculation formula to calculate the slope of the endpoints to obtain the trend value of the actual running trajectory; Similarly, connect the two endpoints of the planned trajectory with a straight line, and use the slope calculation formula to calculate the slope of the endpoints to obtain the trend value of the planned trajectory; The difference between the actual trajectory trend value and the planned trajectory trend value is taken, and the absolute value is used to obtain the trajectory trend deviation value. The tower crane fault analysis value is obtained by calculating the ratio between the actual planning matching value and the trajectory trend deviation value; It is understandable that the meaning of the tower crane failure analysis value is: an index that considers the degree of overlap in length and the degree of deviation in direction of the tower crane's operating trajectory. It reflects the degree of deviation between the actual operating state and the planned operating state of the tower crane. On the one hand, the trend value of the operating trajectory reflects the degree of overlap in length between the actual operating trajectory and the planned operating trajectory. On the other hand, the trend value of the actual operating trajectory reflects the degree of difference in trend direction between the actual operating trajectory and the planned operating trajectory. Specifically, if the tower crane failure analysis value is larger, it indicates that the degree of overlap in length and the degree of deviation in direction of the actual operating trajectory are smaller than those of the planned operating trajectory. If the tower crane failure analysis value is smaller, it indicates that the degree of overlap in length and the degree of deviation in direction of the actual operating trajectory are larger than those of the planned operating trajectory. If the tower crane fault analysis value is greater than or equal to the tower crane fault analysis threshold, it means that the actual operating trajectory of the tower crane is relatively close to the planned operating trajectory in terms of length overlap and directional trend deviation. The analyzed intelligent tower crane is marked as a faulty tower crane, and the construction cluster group corresponding to the faulty tower crane is marked as a construction fault group. If the tower crane fault analysis value is less than the tower crane fault analysis threshold, it indicates that the actual operating trajectory of the tower crane deviates significantly from the planned operating trajectory in terms of length overlap and directional trend. The analyzed intelligent tower crane will then be marked as a non-faulty tower crane.

[0022] Step 2: Compare and analyze the faulty tower cranes in the faulty construction group with the replacement tower cranes in the intelligent tower crane cluster to determine the height-matched replacement tower cranes; In some embodiments, a substitute tower crane is arbitrarily selected from the intelligent tower crane cluster as a construction substitute tower crane; Extract the planned operating trajectory of the construction backup tower crane itself as the backup operating trajectory; Extract the planned operating trajectory corresponding to the faulty tower crane itself as the backup planned operating baseline trajectory; The substitute running trajectory is compared with the substitute running baseline trajectory, and the local substitute running trajectory that overlaps with the substitute running baseline trajectory is extracted as the substitute running overlap trajectory. The length of the overlapping trajectory of the substitute rule line is obtained as the proportion of the length of the baseline trajectory of the substitute rule line, and is used as the substitute rule line matching value. The substitute trajectory and the substitute baseline trajectory are divided equally to obtain several substitute sub-trajectories and substitute baseline sub-trajectories; It should be noted that the number of substitute rule sub-trajectories and the number of substitute rule baseline sub-trajectories are equal; Sort the sub-trajectories of the substitute regular trajectory according to the division order to obtain the first substitute regular trajectory, the second substitute regular trajectory, ..., the nth substitute regular trajectory; Similarly, the substitute rule-following sub-trajectories on the substitute rule-following baseline trajectory are sorted according to the division order to obtain the first substitute rule-following baseline sub-trajectory, the second substitute rule-following baseline sub-trajectory, ..., the nth substitute rule-following baseline sub-trajectory; For example, the first-ranked substitute sub-trajectory and the substitute benchmark sub-trajectory are combined into a sub-trajectory analysis pair, the second-ranked substitute sub-trajectory and the substitute benchmark sub-trajectory are combined into a sub-trajectory analysis pair, and so on, the nth-ranked substitute sub-trajectory and the substitute benchmark sub-trajectory are combined into a sub-trajectory analysis pair; It should be noted that n represents both the total number of substitute rule sub-trajectories and the total number of substitute rule baseline sub-trajectories; Within the sub-trajectory analysis, the endpoint coordinates of the substitute regular sub-trajectory and the substitute regular reference sub-trajectory are substituted into the slope calculation formula to obtain the substitute regular sub-slope and the substitute regular reference sub-slope. Substitute the slope of the substitute pattern sub-track and the slope of the substitute pattern baseline sub-track into the Euclidean distance calculation formula to obtain the substitute pattern trend comparison value; The replacement matching value of the tower crane is obtained by comparing the replacement rule matching value with the replacement rule trend comparison value. It is understandable that the meaning of the tower crane substitute matching value is: an index that comprehensively considers the degree of overlap in trajectory length and the degree of deviation in trajectory trend between the substitute tower crane and the faulty tower crane. It is used to judge whether the substitute tower crane can effectively replace the faulty tower crane to ensure the smooth progress of construction tasks within the construction equipment cluster. On the one hand, the substitute matching value reflects the degree of overlap in length between the planned operating trajectory of the substitute tower crane and the planned operating trajectory of the faulty tower crane. On the other hand, the substitute trend comparison value reflects the degree of trend deviation in each sub-trajectory segment between the planned operating trajectory of the substitute tower crane and the planned operating trajectory of the faulty tower crane. Specifically, if the tower crane substitute matching value is larger, it means that the planned operating trajectory of the substitute tower crane and the planned operating trajectory of the faulty tower crane have a higher degree of overlap in length and a smaller deviation in operating trend in each sub-trajectory segment. If the tower crane substitute matching value is smaller, it means that the planned operating trajectory of the substitute tower crane and the planned operating trajectory of the faulty tower crane have a lower degree of overlap in length and a larger deviation in operating trend in each sub-trajectory segment. Compare the tower crane replacement matching values ​​of all construction substitute tower cranes, and select the construction substitute tower crane with the largest tower crane replacement matching value as the height matching substitute tower crane.

[0023] The specific solution in this embodiment is as follows: Real-time fault monitoring is performed on the intelligent tower cranes in each construction cluster within the construction equipment cluster to identify faulty tower cranes and screen out the construction fault groups. In complex construction equipment clusters, there are numerous intelligent tower cranes operating in a dispersed manner. Accurately locating the faulty tower crane can avoid a comprehensive inspection of the entire cluster and prevent other equipment or personnel from continuing to rely on the faulty tower crane for operation, thereby preventing the further escalation of safety accidents caused by tower crane failures. The faulty tower crane in the faulty construction group is compared and analyzed with the construction backup tower cranes in the intelligent tower crane cluster to determine a height-matched backup tower crane. Timely identification of a height-matched backup tower crane can quickly replace the faulty tower crane, restore the normal operation of the construction cluster group, and improve the fault tolerance capability of dynamic changes within the construction equipment cluster.

[0024] Example 2 like Figure 1 - Figure 2 As shown, this embodiment provides an adaptive collaborative control method for construction equipment clusters based on dynamic coupling, and also includes: Step 3: Conduct a simulated construction analysis of the highly matched replacement tower crane and the transport robot in the faulty construction team to evaluate the degree of coordination in the simulated construction. In some embodiments, a simulated construction monitoring period is set, and the simulated construction monitoring period is divided equally to obtain a number of simulated construction monitoring points, wherein the duration between adjacent simulated construction monitoring points is equal. The instantaneous speeds of the high-matching backup tower crane and the transport robot at each simulated construction monitoring point are obtained separately, serving as the instantaneous speeds of the backup tower crane and the transport robot, respectively. The instantaneous speed of the substitute tower crane at adjacent simulated construction monitoring points is subtracted and the time ratio between adjacent simulated construction monitoring points is calculated to obtain the acceleration of the substitute tower crane. The magnitudes of all substitute tower crane accelerations are compared, and the fastest substitute tower crane acceleration is selected as the upper limit acceleration of the substitute tower crane. Similarly, the instantaneous transport speed at adjacent simulated construction monitoring points is subtracted and the ratio of the time between adjacent simulated construction monitoring points is calculated to obtain the transport acceleration. All transport accelerations are compared, and the fastest transport acceleration is selected as the upper limit of transport acceleration. The upper limit acceleration of the backup tower crane is compared with the upper limit acceleration of the transport. If the upper limit acceleration of the backup tower crane is greater than the upper limit acceleration of the transport, the ratio of the upper limit acceleration of the transport to the upper limit acceleration of the backup tower crane is calculated to obtain the upper limit acceleration matching value. If the upper limit acceleration of the transport crane is greater than the upper limit acceleration of the substitute tower crane, then the ratio of the upper limit acceleration of the substitute tower crane to the upper limit acceleration of the transport crane is calculated to obtain the upper limit acceleration matching value. The difference between the acceleration of the substitute tower crane and the transportation acceleration corresponding to the same simulated construction monitoring point is calculated, and the absolute value is taken to obtain the acceleration difference analysis value. Calculate the standard deviation of all accelerated difference analysis values ​​to obtain the accelerated analysis standard deviation, and sum and mean all accelerated difference analysis values ​​to obtain the accelerated analysis mean. Substituting the accelerated analysis standard deviation and accelerated analysis mean into the coefficient of variation formula, we obtain the accelerated analysis matching value; The ratio of the upper limit accelerated matching value to the accelerated analysis matching value is calculated to obtain the simulated construction coordination value; It is understandable that the simulated construction coordination value represents two important aspects: the maximum acceleration capability of the substitute tower crane and the transportation robot, and the stability and consistency of acceleration changes throughout the entire construction cycle. On the one hand, the upper limit acceleration matching value reflects the degree of matching between the substitute tower crane and the transportation robot in terms of maximum acceleration capability, meaning that during construction, the maximum acceleration capability of the equipment determines its ability to respond and adjust quickly. On the other hand, the acceleration analysis matching value reflects the degree of dispersion of the difference between the acceleration of the substitute tower crane and the transportation robot at each simulated construction monitoring point. Specifically, if the simulated construction coordination value is larger, it indicates that the matching stability between the maximum acceleration capability and acceleration changes of the substitute tower crane and the transportation robot is higher; if the simulated construction coordination value is smaller, it indicates that the matching stability between the maximum acceleration capability and acceleration changes of the substitute tower crane and the transportation robot is lower. If the simulated construction coordination value is greater than or equal to the simulated construction coordination threshold, it indicates that the backup tower crane and the transport robot have a high degree of stability in matching maximum acceleration capability and acceleration change, which is displayed as a high degree of construction coordination signal. If the simulated construction coordination value is less than the simulated construction coordination threshold, it indicates that the matching stability between the substitute tower crane and the transport robot in terms of maximum acceleration capability and acceleration change is low, which is displayed as a low-degree construction coordination signal.

[0025] Step 4: When the simulated construction coordination level assessment result is a low construction coordination signal, obtain the coordination construction control quantity, and control and adjust the height-matched substitute tower crane according to the substitute tower crane control quantity; It should be noted that the coordinated construction control volume includes the accelerated adjustment volume of the upper limit of the substitute tower crane and the accelerated adjustment volume of the upper limit of transportation. For example, if the upper limit acceleration of the substitute tower crane is greater than the upper limit acceleration of the transport, the difference between the upper limit acceleration of the substitute tower crane and the upper limit acceleration of the transport is used to obtain the upper limit acceleration adjustment amount of the substitute tower crane, and the difference between the upper limit acceleration of the substitute tower crane and the upper limit acceleration adjustment amount of the supplementary tower crane is used to obtain the upper limit acceleration adjustment value of the substitute tower crane. If the upper limit acceleration of the transport crane is greater than the upper limit acceleration of the substitute tower crane, then the difference between the upper limit acceleration of the transport crane and the upper limit acceleration of the substitute tower crane is used to obtain the upper limit acceleration adjustment amount of the transport crane. The difference between the upper limit acceleration of the transport crane and the upper limit acceleration adjustment amount of the transport crane is used to obtain the upper limit acceleration adjustment value of the transport crane.

[0026] The specific solution in this embodiment is as follows: Simulated construction analysis is performed between the highly matched backup tower crane and the transport robot within the faulty construction group to assess the degree of coordination in the simulated construction. This clearly demonstrates the matching status of the backup tower crane and the transport robot in terms of maximum acceleration capability and acceleration change stability, helping to reduce adverse factors such as swaying and impact caused by equipment incoordination, thereby ensuring construction accuracy and improving project quality. When the simulated construction coordination assessment result is a low-degree coordination signal, the coordination construction control quantity is obtained. Based on the backup tower crane control quantity, the highly matched backup tower crane is controlled and adjusted. Continuous optimization and improvement of the adaptive control algorithm for the construction equipment cluster, through analysis of data during the coordinated construction process, can identify problems and deficiencies in the control algorithm, leading to adjustments and improvements to the algorithm.

[0027] Example 3 Based on the same inventive concept as the adaptive collaborative control method for construction equipment clusters based on dynamic coupling in the foregoing embodiments, such as Figure 2 As shown, this application provides an adaptive collaborative control system for construction equipment clusters based on dynamic coupling, wherein the system specifically includes: Construction Fault Screening Module: Real-time fault monitoring of intelligent tower cranes in each construction cluster group within the construction equipment cluster, identifying faulty tower cranes, and screening out construction fault groups; Tower crane replacement matching module: compares and analyzes the faulty tower crane in the faulty construction group with the construction replacement tower crane in the intelligent tower crane cluster to determine the height-matched replacement tower crane; Construction Collaboration Simulation Module: This module simulates construction by matching a backup tower crane with a faulty construction team and analyzing the resulting transportation robots to assess the level of collaborative construction. Collaborative construction control module: When the simulated construction collaboration level assessment result is a low level of construction collaboration signal, the collaborative construction control quantity is obtained, and the height-matched substitute tower crane is controlled and adjusted according to the substitute tower crane control quantity.

[0028] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An adaptive collaborative control method for construction equipment clusters based on dynamic coupling, characterized in that: include: Real-time fault monitoring of intelligent tower cranes in each construction cluster group within the construction equipment cluster is conducted to identify faulty tower cranes and screen out the construction fault groups. Compare and analyze the faulty tower cranes in the faulty construction group with the replacement tower cranes in the intelligent tower crane cluster to determine the height-matched replacement tower cranes; The highly matched backup tower crane and the transport robot in the faulty construction team were used to conduct simulated construction analysis to evaluate the degree of coordination in the simulated construction. When the simulated construction coordination level assessment result is a low construction coordination signal, the coordination construction control quantity is obtained, and the height matching substitute tower crane is controlled and adjusted according to the substitute tower crane control quantity.

2. The adaptive collaborative control method for construction equipment clusters based on dynamic coupling according to claim 1, characterized in that: The analysis process for real-time fault monitoring of intelligent tower cranes within each construction cluster group of the construction equipment cluster is as follows: Set the tower crane operation monitoring cycle, divide the tower crane operation monitoring cycle into several operation monitoring points, and obtain the trajectory operation nodes of the intelligent tower crane at each operation monitoring point as trajectory operation coordinate points; By connecting the trajectory coordinates of the intelligent tower crane at each operational monitoring point using the time series obtained from the trajectory coordinates, the actual operational trajectory can be obtained. The actual operating trajectory is compared with the planned operating trajectory, and the local actual operating trajectory that overlaps with the planned operating trajectory is extracted as the overlapping operating trajectory.

3. The adaptive collaborative control method for construction equipment clusters based on dynamic coupling according to claim 2, characterized in that: The process of identifying the faulty tower crane and filtering out the construction failure group is as follows: Obtain the proportion of the length of the overlapping running trajectory to the length of the planned running trajectory, and use it as the actual planning matching value; Connect the two endpoints of the actual running trajectory with a straight line, and use the slope calculation formula to calculate the slope of the endpoints to obtain the trend value of the actual running trajectory; Connect the two endpoints of the planned trajectory with a straight line, and use the slope calculation formula to calculate the slope of the endpoints to obtain the trend value of the planned trajectory. The difference between the actual trajectory trend value and the planned trajectory trend value is taken, and the absolute value is used to obtain the trajectory trend deviation value. The tower crane fault analysis value is obtained by calculating the ratio between the actual planning matching value and the trajectory trend deviation value. If the tower crane fault analysis value is greater than or equal to the tower crane fault analysis threshold, the analyzed intelligent tower crane is marked as a faulty tower crane, and the construction cluster group corresponding to the faulty tower crane is marked as a construction fault group.

4. The adaptive collaborative control method for construction equipment clusters based on dynamic coupling according to claim 1, characterized in that: The process of comparing and analyzing the faulty tower cranes in the faulty construction group with the replacement tower cranes in the intelligent tower crane cluster is as follows: Arbitrarily select a backup tower crane from the intelligent tower crane cluster as the construction backup tower crane, and extract the planned operation trajectory corresponding to the faulty tower crane itself as the backup operation reference trajectory; The substitute running trajectory is compared with the substitute running baseline trajectory, and the local substitute running trajectory that overlaps with the substitute running baseline trajectory is extracted as the substitute running overlap trajectory. The length of the overlapping trajectory of the substitute rule is taken as the proportion of the length of the baseline trajectory of the substitute rule, and used as the substitute rule matching value.

5. The adaptive collaborative control method for construction equipment clusters based on dynamic coupling according to claim 4, characterized in that: The process of determining the height of the replacement tower crane is as follows: The substitute trajectory and the substitute baseline trajectory are divided equally to obtain several substitute sub-trajectories and substitute baseline sub-trajectories; The substitute sub-trajectory and the substitute reference sub-trajectory are combined into multiple sub-trajectory analysis pairs. Within each sub-trajectory analysis pair, the endpoint coordinates of the substitute sub-trajectory and the substitute reference sub-trajectory are substituted into the slope calculation formula to obtain the substitute sub-slope and the substitute reference sub-slope. Substitute the slope of the substitute track and the slope of the substitute track into the Euclidean distance calculation formula to obtain the substitute track trend comparison value. Calculate the ratio between the substitute track matching value and the substitute track trend comparison value to obtain the tower crane substitute matching value. Select the construction substitute tower crane corresponding to the tower crane with the largest tower crane substitute matching value as the height matching substitute tower crane.

6. The adaptive collaborative control method for construction equipment clusters based on dynamic coupling according to claim 1, characterized in that: The process of simulating construction analysis by matching the backup tower crane with the transport robot in the faulty construction team is as follows: Set a simulated construction monitoring cycle, divide the simulated construction monitoring cycle equally to obtain several simulated construction monitoring points, and obtain the instantaneous speed of the high-matching substitute tower crane and the instantaneous speed of the transport robot at each simulated construction monitoring point, as the instantaneous speed of the substitute tower crane and the instantaneous speed of the transport robot; The instantaneous speed of the substitute tower crane at adjacent simulated construction monitoring points is subtracted and the time ratio between adjacent simulated construction monitoring points is calculated to obtain the acceleration of the substitute tower crane. The magnitudes of all substitute tower crane accelerations are compared, and the fastest substitute tower crane acceleration is selected as the upper limit acceleration of the substitute tower crane. The instantaneous transport speed at adjacent simulated construction monitoring points is subtracted and the transport acceleration is calculated by comparing the time ratio between adjacent simulated construction monitoring points. All transport accelerations are compared and the fastest transport acceleration is selected as the upper limit of transport acceleration. The upper limit acceleration of the substitute tower crane is compared with the upper limit acceleration of the transport. If the upper limit acceleration of the substitute tower crane is greater than the upper limit acceleration of the transport, the ratio of the upper limit acceleration of the transport to the upper limit acceleration of the substitute tower crane is calculated to obtain the upper limit acceleration matching value.

7. The adaptive collaborative control method for construction equipment clusters based on dynamic coupling according to claim 6, characterized in that: The assessment process for the level of collaborative construction simulation is as follows: If the upper limit acceleration of the transport crane is greater than the upper limit acceleration of the substitute tower crane, then the ratio of the upper limit acceleration of the substitute tower crane to the upper limit acceleration of the transport crane is calculated to obtain the upper limit acceleration matching value. The difference between the acceleration of the substitute tower crane and the transportation acceleration corresponding to the same simulated construction monitoring point is calculated, and the absolute value is taken to obtain the acceleration difference analysis value. Calculate the standard deviation of all accelerated difference analysis values ​​to obtain the accelerated analysis standard deviation, and sum and mean all accelerated difference analysis values ​​to obtain the accelerated analysis mean. Substituting the accelerated analysis standard deviation and accelerated analysis mean into the coefficient of variation formula yields the accelerated analysis matching value. The ratio of the upper limit accelerated matching value to the accelerated analysis matching value is calculated to obtain the simulated construction coordination value. If the simulated construction coordination value is less than the simulated construction coordination threshold, it is displayed as a low-level construction coordination signal.

8. The adaptive collaborative control method for construction equipment clusters based on dynamic coupling according to claim 1, characterized in that: The process of obtaining the coordinated construction control volume and adjusting the height of the backup tower crane based on the control volume is as follows: The coordinated construction control volume includes the accelerated adjustment of the upper limit of the substitute tower crane; If the upper limit acceleration of the substitute tower crane is greater than the upper limit acceleration of the transport, then the difference between the upper limit acceleration of the substitute tower crane and the upper limit acceleration of the transport is taken to obtain the upper limit acceleration adjustment amount of the substitute tower crane. The difference between the upper limit acceleration of the substitute tower crane and the upper limit acceleration adjustment amount of the substitute tower crane is taken to obtain the upper limit acceleration adjustment value of the substitute tower crane.

9. The adaptive collaborative control method for construction equipment clusters based on dynamic coupling according to claim 1, characterized in that: The process of obtaining the coordinated construction control volume and adjusting the height of the backup tower crane based on the control volume is as follows: The coordinated construction control volume includes the accelerated adjustment of the transportation upper limit; If the upper limit acceleration of the transport crane is greater than the upper limit acceleration of the substitute tower crane, then the difference between the upper limit acceleration of the transport crane and the upper limit acceleration of the substitute tower crane is used to obtain the upper limit acceleration adjustment amount of the transport crane. The difference between the upper limit acceleration of the transport crane and the upper limit acceleration adjustment amount of the transport crane is used to obtain the upper limit acceleration adjustment value of the transport crane.

10. An adaptive and collaborative control system for construction equipment clusters based on dynamic coupling, characterized in that: Includes the following modules: Construction Fault Screening Module: Real-time fault monitoring of intelligent tower cranes in each construction cluster group within the construction equipment cluster, identifying faulty tower cranes, and screening out construction fault groups; Tower crane replacement matching module: compares and analyzes the faulty tower crane in the faulty construction group with the construction replacement tower crane in the intelligent tower crane cluster to determine the height-matched replacement tower crane; Construction Collaboration Simulation Module: This module simulates construction by matching a backup tower crane with a faulty construction team and analyzing the resulting transportation robots to assess the level of collaborative construction. Collaborative construction control module: When the simulated construction collaboration level assessment result is a low level of construction collaboration signal, the collaborative construction control quantity is obtained, and the height-matched substitute tower crane is controlled and adjusted according to the substitute tower crane control quantity.

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