CN114580931A - Building construction machine group cooperative operation scheduling method, device and platform - Google Patents

Building construction machine group cooperative operation scheduling method, device and platform Download PDF

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CN114580931A
CN114580931A CN202210228047.8A CN202210228047A CN114580931A CN 114580931 A CN114580931 A CN 114580931A CN 202210228047 A CN202210228047 A CN 202210228047A CN 114580931 A CN114580931 A CN 114580931A
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construction
equipment
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余闯
林能发
付玲
于晓颖
刘延斌
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Abstract

The invention discloses a building construction machine group cooperative operation scheduling method, a device and a platform. The method is suitable for any execution equipment in a building construction machine group, and comprises the following steps: acquiring a target construction task scheduled by a task scheduling center, and planning a path according to the execution sequence of the target construction task to obtain a planned path; when the operation path of at least one execution device in the other execution devices conflicts with the planning path, determining that the device occupies the operation space according to the operation paths of the other execution devices; path planning is carried out again in the operation space outside the operation space occupied by the equipment to obtain a re-planned path; and executing the target construction task according to the re-planned path, and sending task execution condition information to the task scheduling center when the execution of the target construction task is finished. The invention can carry out cooperative operation scheduling on the building construction machine group, and improve the operation efficiency of the building construction machine group and the resource utilization rate of a building construction site.

Description

Building construction machine group cooperative operation scheduling method, device and platform
Technical Field
The invention relates to the technical field of building engineering, in particular to a building construction machine group cooperative operation scheduling method, device and platform.
Background
The construction site often has a plurality of tower machines, cranes, pump trucks, excavators and other equipment, and these different kinds of equipment constitute a construction machine group. Along with the continuous improvement of the intelligent degree of the single machine, the intelligent single machine can automatically operate according to a given construction task. In an actual building construction scene, different types of equipment often work together, and if the working paths of the different types of equipment are crossed, the problem of space resource conflict of the building construction scene is easy to occur. However, the existing job scheduling method only considers the job requirement of a single machine type device to schedule the operation of the single machine type device, does not consider the frequent conflict of space resources in a building construction scene, and still needs to schedule the operation of a plurality of machine type devices by manual coordination at present, thereby greatly limiting the job efficiency of a building construction cluster and the resource utilization rate of a building construction site.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a building construction machine group cooperative operation scheduling method, a device and a platform, which can carry out cooperative operation scheduling on the building construction machine group, and improve the operation efficiency of the building construction machine group and the resource utilization rate of a building construction site.
In order to solve the foregoing technical problem, in a first aspect, an embodiment of the present invention provides a method for scheduling cooperative work of a building construction machine group, where the method is applied to any execution device in the building construction machine group, and the method includes:
acquiring a target construction task scheduled by a task scheduling center, and planning a path according to the execution sequence of the target construction task to obtain a planned path;
when the operation path of at least one execution device in the rest execution devices conflicts with the planning path, determining that the device occupies the operation space according to the operation paths of the rest execution devices;
re-planning the path in the operation space outside the operation space occupied by the equipment to obtain a re-planned path;
and executing the target construction task according to the re-planned path, and sending task execution condition information to the task scheduling center when the target construction task is executed.
Further, the task scheduling center schedules a target construction task, specifically:
acquiring at least two construction task sets;
for each construction task set, respectively setting the priority of each construction task in the construction task set according to a predefined task priority setting strategy, and arranging each construction task in the construction task set according to the priority sequence;
and for each construction task set, selecting equipment from the model equipment set corresponding to the construction task set as executing equipment, selecting a construction task with the highest priority from the construction task set as a target construction task, and scheduling the target construction task to the executing equipment.
Further, before the obtaining of the at least two sets of construction tasks, the method further includes:
acquiring at least two model equipment sets;
and for each model equipment set, respectively setting the equipment level of each equipment in the model equipment set according to a predefined equipment level setting strategy, and arranging each equipment in the model equipment set according to the equipment level sequence.
Further, for each of the construction task sets, selecting a device from the model device set corresponding to the construction task set as an execution device specifically includes:
and for each construction task set, selecting equipment with the highest equipment level from the model equipment set corresponding to the construction task set as executing equipment.
Further, after the obtaining of the at least two sets of construction tasks, the method further includes:
for each construction task set, respectively screening equipment with execution parameters meeting the task parameters from a model equipment set corresponding to the construction task set according to the task parameters of each construction task in the construction task set to serve as executable equipment of the construction task, and generating an executable equipment list corresponding to each construction task; wherein the execution parameters include a job scope and/or a job capability.
Further, before the scheduling the target construction task to the execution device, the method further includes:
and judging whether the execution equipment is the executable equipment of the target construction task or not according to the executable equipment list corresponding to the target construction task, and if so, scheduling the target construction task to the execution equipment.
Further, the building construction machine group cooperative work scheduling method further includes:
and when judging that the execution equipment is not the executable equipment of the target construction task, continuously selecting the construction task with the highest remaining priority from the construction task set as a new target construction task, judging whether the execution equipment is the executable equipment of the new target construction task according to an executable equipment list corresponding to the new target construction task, and scheduling the new target construction task to the execution equipment if the execution equipment is the executable equipment of the new target construction task.
Further, the setting of the priority of each construction task in the construction task set according to a predefined task priority setting strategy specifically includes:
and for each construction task, at least one of execution time, equipment level and inter-task association degree of the construction task is integrated, and the priority of the construction task is set.
Further, the setting the device class of each device in the model device set according to a predefined device class setting policy includes:
for each device, setting the device grade of the device according to the execution parameters of the device; wherein the execution parameters include a job scope and/or a job capability.
Furthermore, each construction task in the construction task set belongs to the same construction task type.
Further, the path planning is performed according to the execution sequence of the target construction tasks to obtain a planned path, and specifically includes:
and planning a path by taking the shortest planned path of the target construction task as a planned target to obtain the planned path.
Further, the building construction machine group cooperative work scheduling method further includes:
and when the path planning is failed again, after the equipment occupies the operation space and is not occupied, executing the target construction task according to the planned path.
Further, the executing the target construction task according to the re-planned path further includes:
and when the target construction task is executed, if the obstacle is detected to exist on the re-planned path, the execution of the target construction task is interrupted, the current position is used as a path starting point, path planning is carried out again in a working space except a working space occupied by the obstacle, and the re-planned path is updated.
In a second aspect, an embodiment of the present invention provides a building construction machine group cooperative operation scheduling device, which is applicable to any execution device in a building construction machine group, and includes:
the path planning module is used for acquiring a target construction task scheduled by a task scheduling center and planning a path according to the execution sequence of the target construction task to obtain a planned path;
the space determining module is used for determining that the equipment occupies the operation space according to the operation paths of the other execution equipment when the operation path of at least one execution equipment in the other execution equipment conflicts with the planned path;
the path re-planning module is used for re-planning the path in the operation space outside the operation space occupied by the equipment to obtain a re-planned path;
and the task execution module is used for executing the target construction task according to the re-planned path and sending task execution condition information to the task scheduling center when the target construction task is executed.
Further, the task scheduling center includes:
the task acquisition module is used for acquiring at least two construction task sets;
the priority setting module is used for respectively setting the priority of each construction task in the construction task set according to a predefined task priority setting strategy for each construction task set and arranging each construction task in the construction task set according to the priority sequence;
and the task scheduling module is used for selecting a device from the model device set corresponding to the construction task set as an execution device for each construction task set, selecting a construction task with the highest priority from the construction task set as a target construction task, and scheduling the target construction task to the execution device.
Further, the task scheduling center further includes:
the equipment acquisition module is used for acquiring at least two machine type equipment sets before the at least two construction task sets are acquired;
and the level setting module is used for setting the equipment level of each equipment in the model equipment set according to a predefined equipment level setting strategy and arranging each equipment in the model equipment set according to the equipment level sequence.
Further, the task scheduling module is specifically configured to, for each of the construction task sets, select, as an execution device, a device with a highest device level from a model device set corresponding to the construction task set.
Further, the task scheduling center further includes:
the equipment screening module is used for screening equipment of which execution parameters meet the task parameters from the model equipment set corresponding to the construction task set as executable equipment of the construction task and generating an executable equipment list corresponding to each construction task according to the task parameters of each construction task in the construction task set respectively after the at least two construction task sets are obtained; wherein the execution parameters include a job scope and/or a job capability.
Further, the task scheduling module is further configured to, before the target construction task is scheduled to an execution device, determine whether the execution device is an executable device of the target construction task according to an executable device list corresponding to the target construction task, and schedule the target construction task to the execution device if the execution device is the executable device of the target construction task.
Further, the task scheduling module is further configured to, when it is determined that the execution device is not the executable device of the target construction task, continue to select the remaining construction tasks with the highest priority from the construction task set as new target construction tasks, and determine whether the execution device is the executable device of the new target construction tasks according to an executable device list corresponding to the new target construction tasks, and if so, schedule the new target construction tasks to the execution device.
Further, the priority setting module is specifically configured to, for each of the construction tasks, synthesize at least one of execution time, equipment level, and inter-task association degree of the construction task, and set the priority of the construction task.
Further, the level setting module is specifically configured to set, for each of the devices, a device level of the device according to an execution parameter of the device; wherein the execution parameters include a job scope and/or a job capability.
Furthermore, each construction task in the construction task set belongs to the same construction task type.
Further, the path planning module is specifically configured to perform path planning by using the shortest planned path of the target construction task as a planning target, so as to obtain the planned path.
Further, the task execution module is further configured to, when path planning fails again, wait for the equipment to occupy the working space and release occupation, and execute the target construction task according to the planned path.
Further, the task execution module is further configured to, when the target construction task is executed, interrupt execution of the target construction task if it is detected that an obstacle exists on the re-planned path, and perform path planning again in a working space other than the working space occupied by the obstacle with the current position as a path starting point, so as to update the re-planned path.
In a third aspect, an embodiment of the present invention provides a building construction machine group collaborative operation scheduling platform, including each execution device in a building construction machine group for executing the building construction machine group collaborative operation scheduling method described above, and the task scheduling center; the task scheduling center is respectively in communication connection with each execution device, and each execution device is respectively in communication connection with the rest execution devices.
The embodiment of the invention has the following beneficial effects:
the method comprises the steps of obtaining a target construction task scheduled by a task scheduling center, planning a path according to the execution sequence of the target construction task to obtain a planned path, determining the operation space occupied by equipment according to the operation paths of other execution equipment when the operation path of at least one execution equipment in the other execution equipment conflicts with the planned path, re-planning the path in the operation space except the operation space occupied by the equipment to obtain a re-planned path, executing the target construction task according to the re-planned path, and sending task execution condition information to the task scheduling center when the execution of the target construction task is completed to realize the cooperative operation scheduling of the building construction cluster. Compared with the prior art, when any execution device in the building construction machine group carries out path planning on the target construction task scheduled by the task scheduling center to obtain a planned path, judging the conflict situation between the planning path and the operation paths of the other execution devices, if the conflict situation exists, occupying the operation space outside the operation space by the devices, namely, the path planning is carried out again in the operation space not occupied by other execution equipment, the target construction task is executed according to the obtained re-planned path, so that each execution device in the building construction machine group can work cooperatively, thereby effectively avoiding the problem of frequent conflict caused by the operation of a plurality of different types of devices in a limited operation space, therefore, the building construction machine group can be cooperatively scheduled, and the working efficiency of the building construction machine group and the resource utilization rate of a building construction site are improved.
Drawings
Fig. 1 is a schematic flow chart of a method for scheduling cooperative work of a building construction machine group according to a first embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating a method for scheduling cooperative work of a building construction machine group according to a first embodiment of the present invention;
FIG. 3 is a flowchart illustrating exemplary task scheduling steps in a first embodiment of the present invention;
fig. 4 is a schematic structural diagram of a building construction machine group cooperative operation scheduling device according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of a building construction machine group cooperative work scheduling platform according to a third embodiment of the present invention.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, the step numbers in the text are only for convenience of explanation of the specific embodiments, and do not serve to limit the execution sequence of the steps.
As shown in fig. 1, a first embodiment provides a method for scheduling cooperative work in a building construction machine group, which is applied to any execution device in the building construction machine group, and includes steps S1 to S4:
s1, acquiring a target construction task scheduled by the task scheduling center, and planning a path according to the execution sequence of the target construction task to obtain a planned path;
s2, when the operation path of at least one execution device in the other execution devices conflicts with the planning path, determining that the device occupies the operation space according to the operation paths of the other execution devices;
s3, re-planning the path in the working space outside the working space occupied by the equipment to obtain a re-planned path;
and S4, executing the target construction task according to the re-planned path, and sending task execution condition information to the task scheduling center when the target construction task is executed.
It should be noted that the building construction machine group includes different types of devices such as a tower crane, a pump truck, an excavator, and the like, a device that obtains the target construction task scheduled by the task scheduling center is an execution device, and if the execution device to which the building construction machine group cooperative operation scheduling method is applied is a first execution device, the remaining execution devices are other execution devices in the building construction machine group except the first execution device.
As an example, in step S1, any execution device in the building construction group waits for receiving the target construction task scheduled by the task scheduling center, sets the execution sequence of the target construction task according to the actual building construction site operation situation when the target construction task is acquired, and performs path planning according to the execution sequence of the target construction task to obtain a planned path.
In step S2, the execution device receives the work paths of the other execution devices in the building construction machine group, and determines whether each work path conflicts with the planned path based on a collision pre-detection algorithm, for example, for each work path, a pair of path points is performed in advance from the starting point of the planned path, and if a possible collision is detected, the execution device corresponding to the work path is fixed at the collision point as a possible collision device. When the operation path conflicts with the planned path, the conflict situation is considered to exist, and the operation space occupied by the current construction site operation space by the execution equipment, namely the operation space occupied by the equipment, is determined according to the operation paths of the other execution equipment.
In step S3, a re-planned path is obtained by re-planning a path in accordance with the execution order of the target construction tasks in a working space other than the working space occupied by the equipment with respect to the construction site space.
In step S4, the execution device executes the target construction task according to the re-planned path, and transmits the re-planned path and/or the working space range to the remaining execution devices so that the remaining execution devices make avoidance. The execution equipment can send the re-planned path and/or the operation space range to the task scheduling center, the task scheduling center issues the re-planned path to each of the other execution equipment in a unified manner, and the re-planned path and/or the operation space range can also be sent to each of the other execution equipment respectively. When the target construction task is completed, the execution equipment sends task execution condition information to the task scheduling center, so that the task scheduling center can know the execution condition of the execution equipment on the target construction task and timely react.
In the embodiment, when a planned path is obtained by planning a path of a target construction task scheduled by a task scheduling center through any execution device in a building construction machine group, the conflict situation between the planned path and the operation paths of the rest of execution devices is judged, if the conflict situation exists, path planning is performed again in the operation space outside the operation space occupied by the devices, namely the operation space not occupied by the rest of execution devices, and the target construction task is executed according to the obtained re-planned path, so that each execution device in the building construction machine group can operate in a coordinated manner, the frequent conflict problem caused by the operation of a plurality of different types of devices in the limited operation space is effectively avoided, the building construction machine group can be scheduled in a coordinated manner, and the operation efficiency of the building construction machine group and the resource utilization rate of a building construction site are improved.
In an embodiment, the task scheduling center schedules a target construction task, specifically: acquiring at least two construction task sets; for each construction task set, respectively setting the priority of each construction task in the construction task set according to a predefined task priority setting strategy, and arranging each construction task in the construction task set according to the priority sequence; and for each construction task set, selecting equipment from the machine type equipment set corresponding to the construction task set as execution equipment, selecting the construction task with the highest priority from the construction task set as a target construction task, and scheduling the target construction task to the execution equipment.
In a preferred embodiment of this embodiment, each construction task in the construction task set belongs to the same construction task type.
It can be understood that the construction task set is divided according to the construction task type, such as a hoisting task set, a pumping task set, an excavating task set, and the like, and each device in the model device set corresponding to the construction task set is the same or different model devices according to the construction task type to which the construction task set belongs, for example, the hoisting task set may correspond to different model device sets such as a tower crane and a mobile crane, the pumping task set may correspond to only one model device set of a pump truck, and the excavating task set may correspond to only one model device set of an excavator, and the like.
As an example, considering that most of the construction tasks in the building construction scene are temporary tasks and the planning performance is not strong, at least two construction task sets input by a user can be obtained by the task scheduling center through the interactive terminal, and each construction task set comprises a plurality of construction tasks.
For example, a hoisting task set, a pumping task set, an excavation task set and the like input by a user are obtained, the hoisting task set is provided with a plurality of hoisting tasks, the pumping task set is provided with a plurality of pumping tasks, and the excavation task set is provided with a plurality of excavation tasks.
And respectively setting the priority of each construction task in each construction task set according to a predefined task priority setting strategy, arranging all the construction tasks in each construction task set according to the sequence of the priority from high to low or from low to high, generating a task priority list corresponding to each construction task set, and thus obtaining the task priority list corresponding to each construction task set.
For example, according to a predefined first task priority setting strategy, setting the priority of each hoisting task in a hoisting task set, arranging all hoisting tasks in the hoisting task set from high to low according to the priority, arranging the hoisting tasks with high priority in front and the hoisting tasks with low priority in back, generating a task priority list corresponding to the hoisting task set, according to a predefined second task priority setting strategy, setting the priority of each pumping task in a pumping task set, arranging all pumping tasks in the pumping task set from high to low according to the priority, arranging the pumping tasks with high priority in front and the pumping tasks with low priority in back, generating a task priority list corresponding to the pumping task set, and according to a predefined third task priority setting strategy, setting the priority of each mining task in the mining task set, and arranging all the excavation tasks in the excavation task set according to the sequence of the priorities from high to low, arranging the excavation tasks with high priorities in front of each other, arranging the excavation tasks with low priorities in back of each other, and generating a task priority list corresponding to the excavation task set.
And for each construction task set, selecting equipment from the machine type equipment set corresponding to the construction task set as execution equipment, selecting the construction task with the highest priority from the construction task set as a target construction task, and scheduling the target construction task to the execution equipment.
For example, a tower crane or a mobile crane is selected from a hoisting device set corresponding to a hoisting task set as a hoisting execution device, a hoisting task with the highest priority is selected from the hoisting task set as a target hoisting task, the target hoisting task is scheduled to the hoisting execution device, a pump truck is selected from a pumping device set corresponding to a pumping task set as a pumping execution device, a pumping task with the highest priority is selected from the pumping task set as a target pumping task, the target pumping task is scheduled to the pumping execution device, an excavator is selected from an excavating device set corresponding to an excavating task set as an excavating execution device, an excavating task with the highest priority is selected from the excavating task set as a target excavating task, and the target excavating task is scheduled to the excavating execution device.
After the target construction task is successfully scheduled to the execution equipment, continuously selecting another equipment from the model equipment set corresponding to the construction task set as new execution equipment, selecting the construction task with the highest remaining priority from the construction task set as a new target construction task, and scheduling the new target construction task to the new execution equipment until all the construction tasks in the construction task set are successfully scheduled.
For example, after the target hoisting task is successfully scheduled to the hoisting execution device, another tower crane or another mobile crane is continuously selected from the hoisting device set as a new hoisting execution device, the rest construction tasks with the highest priority are selected from the hoisting task set as new target hoisting tasks, the new target hoisting tasks are scheduled to the new hoisting execution device, after the target pumping tasks are successfully scheduled to the pumping execution device, another pump truck is continuously selected from the pumping device set as a new pumping execution device, the rest construction tasks with the highest priority are selected from the pumping task set as new target pumping tasks, the new target pumping tasks are scheduled to the new pumping execution device, after the target mining tasks are successfully scheduled to the mining execution device, another excavator is continuously selected from the mining device set as a new mining execution device, and selecting the construction task with the highest remaining priority from the excavation task set as a new target excavation task, and scheduling the new target excavation task to new excavation execution equipment.
In the embodiment, the machine type equipment set corresponds to the construction task set through the task scheduling center, tasks can be scheduled to different types of execution equipment according to different construction task sets, each construction task in each construction task set is set with priority according to a predefined task priority setting strategy, all the construction tasks in each construction task set are arranged according to the priority order, the highest-priority construction task corresponding to the execution equipment can be scheduled preferentially when the tasks are scheduled to the execution equipment of different types each time, the execution equipment of different types is guaranteed to execute the highest-priority construction task preferentially, and therefore coordinated operation scheduling can be performed on a building construction cluster, and the operation efficiency of the building construction cluster is improved.
In a preferred embodiment, before the obtaining at least two sets of construction tasks, the method further includes: acquiring at least two model equipment sets; and for each model equipment set, respectively setting the equipment level of each equipment in the model equipment set according to a predefined equipment level setting strategy, and arranging each equipment in the model equipment set according to the equipment level sequence.
As shown in fig. 2, as an example, before obtaining at least two sets of construction tasks, the task scheduling center obtains at least two sets of model equipment, each of which has several pieces of equipment, for a current building construction scenario.
For example, a hoisting device set, a pumping device set, an excavating device set and the like on a building construction site are obtained, the hoisting device set is provided with a plurality of tower cranes and/or mobile cranes, the pumping device set is provided with a plurality of pump trucks, and the excavating device set is provided with a plurality of excavators.
For each model device set, respectively setting the device grade of each device in the model device set according to a predefined device grade setting strategy, arranging all devices in the model device set according to the sequence of the device grades from high to low or from low to high, and generating a model device list corresponding to the model device set, thereby obtaining the model device list corresponding to each model device set.
For example, the integrated hoisting device concentrates execution parameters such as the operation range and the operation capability of all tower cranes and/or mobile cranes, sets the device grade of each tower crane and/or mobile crane in the hoisting device set, arranges all tower cranes and/or mobile cranes in the hoisting device set according to the sequence from high to low of the device grade, arranges the tower cranes or mobile cranes with high device grade in front, arranges the tower cranes or mobile cranes with low device grade in back, generates a hoisting device list corresponding to the hoisting device set, integrates the operation parameters such as the operation range and the operation capability of all pump trucks in the pumping device set, sets the device grade of each pump truck in the pumping device set, arranges all pump trucks in the pumping device set according to the sequence from high to low of the device grade, arranges the pump trucks with high device grade in front, and after the pump trucks with low equipment levels are arranged, generating a pumping equipment list corresponding to the pumping equipment set, integrating the execution parameters such as the operation range, the operation capacity and the like of all the excavators in the excavating equipment set, setting the equipment levels of all the excavators in the excavating equipment set, arranging all the excavators in the excavating equipment set according to the sequence from high equipment levels to low equipment levels, arranging the excavators with high equipment levels in front, arranging the excavators with low equipment levels in back, and generating the excavating equipment list corresponding to the excavating equipment set.
In a preferred implementation manner of this embodiment, for each construction task set, selecting a device from a machine type device set corresponding to the construction task set as an execution device specifically includes: and for each construction task set, selecting equipment with the highest equipment level from the model equipment set corresponding to the construction task set as executing equipment.
In this embodiment, the device level is set for each device in each model device set according to the predefined device level setting policy, and all devices in each model device set are arranged according to the device level sequence, so that the device with the highest task execution capacity can be preferentially selected as the execution device during task scheduling, which is beneficial to further improving the operation efficiency of the building construction machine group.
In a preferred embodiment, after the obtaining at least two sets of construction tasks, the method further includes: for each construction task set, respectively screening equipment of which the execution parameters meet the task parameters from a model equipment set corresponding to the construction task set according to the task parameters of each construction task in the construction task set to serve as executable equipment of the construction task, and generating an executable equipment list corresponding to each construction task; the execution parameters comprise a work range and a work capacity.
As shown in fig. 2 to 3, for each construction task set, according to task parameters of each construction task in the construction task set, the task parameters of the construction task include a construction starting point position, a construction ending point position, and the like, devices whose execution parameters satisfy the task parameters are screened from the model device set corresponding to the construction task set, and the execution parameters of the devices include a working range, a working capacity, and the like, all the screened devices are added to an executable device list corresponding to the construction task as executable devices of the construction task, so as to generate an executable device list corresponding to each construction task.
For example, the task parameters of the hoisting task are as follows: hoisting starting point position A1(xa1, ya1, za1), hoisting end point position B1(xb1, yb1, zb1) and load W1, wherein the task parameters of the pumping task are as follows: and the pumping position is described as x ═ xs (t), y ═ ys (t), z ═ zs (t), the tower crane and/or the mobile crane with the hoisting task execution capacity are automatically calculated by combining the operation range, the load capacity and other execution parameters of each tower crane and/or mobile crane in the hoisting equipment set, the tower cranes and/or the mobile cranes are added to the executable equipment list corresponding to the hoisting task as executable equipment of the hoisting task, the pump trucks with the pumping task execution capacity are automatically calculated according to the operation range and other execution parameters of each pump truck in the pumping equipment set, and the pump trucks are added to the executable equipment list corresponding to the pumping task as executable equipment of the pumping task.
In a preferred implementation manner of this embodiment, before the scheduling the target construction task to the execution device, the method further includes: and judging whether the execution equipment is the executable equipment of the target construction task or not according to the executable equipment list corresponding to the target construction task, and if so, scheduling the target construction task to the execution equipment.
Illustratively, for each construction task set, selecting a device from the model device set corresponding to the construction task set as an execution device, selecting a construction task with the highest priority from the construction task set as a target construction task, traversing an executable device list corresponding to the target construction task, judging whether the selected execution device is an executable device of the target construction task, if the execution device exists in the executable device list corresponding to the target construction task, regarding the execution device as the executable device of the target construction task, scheduling the target construction task to the execution device, after the target construction task is successfully scheduled to the execution device, continuing to select a new execution device from the model device set for task scheduling until all construction tasks in the construction task set corresponding to the model device set are successfully scheduled.
In the embodiment, the task scheduling center screens the executable equipment corresponding to each construction task from the machine type equipment set corresponding to each construction task set according to the task parameters of each construction task in each construction task set, generates the executable equipment list corresponding to each construction task, and schedules the target construction task to the execution equipment when the selected execution equipment is judged to be the executable equipment of the target construction task, so that the execution equipment can be ensured to normally operate according to the target construction task, and the operation efficiency of the building construction machine group is further improved.
In a preferred embodiment of this embodiment, the method for scheduling collaborative work of a building construction machine group further includes: and when the execution equipment is judged not to be the executable equipment of the target construction task, continuing to select the construction task with the highest remaining priority from the construction task set as a new target construction task, judging whether the execution equipment is the executable equipment of the new target construction task according to an executable equipment list corresponding to the new target construction task, and scheduling the new target construction task to the execution equipment if the execution equipment is judged to be the executable equipment of the new target construction task.
In the embodiment, the task scheduling center judges whether the execution equipment is the executable equipment of the target construction task before scheduling the target construction task to the execution equipment, so that the execution equipment can be ensured to effectively execute the target construction task, and when the execution equipment is judged not to be the executable equipment of the target construction task, the execution equipment can be ensured to be put into construction operation, and the operation efficiency of a construction cluster is further improved.
In a preferred embodiment, the setting the priority of each construction task in the construction task set according to a predefined task priority setting policy includes: and for each construction task, at least one of execution time, equipment level and inter-task association degree of the construction task is synthesized, and the priority of the construction task is set.
As an example, the task scheduling center may generate the hoisting task priority list and the pumping task priority list according to the following task priority setting policies.
Aiming at a hoisting task set, the hoisting task priority is L1, L2, L3 and L4 from high to low, and a first task priority setting strategy is as follows:
l1: the hoisting task which needs to be executed immediately is executed at the first time after the tower crane executes the current hoisting task;
l2: according to the operation principle of the tower cranes of a high tower by a low tower, a heavy load by a no-load tower and a main tower by a passenger tower, selecting the tower cranes which can execute the hoisting task with less quantity as the high tower or the main tower and have heavier hoisting load as the hoisting task with higher priority (the task requiring higher requirements on the execution tower cranes);
l3: according to the operation principle of the tower cranes of the low tower for the high tower, the idle load for the heavy load and the passenger tower for the main tower, selecting the tower cranes which can execute the hoisting task as the low tower or passenger tower and the task with lighter hoisting load as the hoisting task with the lower priority;
l4: tasks with lower urgency requirements on the execution time of hoisting tasks are executed when the tower crane is idle.
For the pumping task set, the pumping task priorities are L1, L2, L3 and L4 from high to low, and the first task priority setting strategy is as follows:
l1: according to the requirement of control of a construction site, a pumping task needs to be executed immediately;
l2: a pumping task associated with the completed hoisting task;
l3: pumping tasks without influence on subsequent operation flows;
l4: a pumping task associated with an incomplete hoisting task;
it should be noted that the priority number and the task priority setting strategy may be adjusted and modified according to at least one of the execution time, the equipment level, and the inter-task association degree of the construction task.
In a preferred embodiment, the setting, according to a predefined device class setting policy, the device classes of the devices in the model device set respectively includes: for each device, setting the device grade of the device according to the execution parameters of the device; wherein the execution parameters include job scope and/or job capability.
As an example, for each model device set, according to a predefined device class setting policy, for example, considering execution parameters such as the operation range, the operation capability, and the like of all devices in the model device set, the device classes of the devices in the model device set are respectively set, all devices in the model device set are arranged in the order from high to low or from low to high according to the device classes, and a model device set corresponding to the model device set is generated, so as to obtain a model device set corresponding to each model device set.
For example, the integrated hoisting device concentrates execution parameters such as the operation range and the operation capability of all tower cranes and/or mobile cranes, sets the device grade of each tower crane and/or mobile crane in the hoisting device set, arranges all tower cranes and/or mobile cranes in the hoisting device set according to the sequence from high to low of the device grade, arranges the tower cranes or mobile cranes with high device grade in front, arranges the tower cranes or mobile cranes with low device grade in back, generates a hoisting device list corresponding to the hoisting device set, integrates the operation parameters such as the operation range and the operation capability of all pump trucks in the pumping device set, sets the device grade of each pump truck in the pumping device set, arranges all pump trucks in the pumping device set according to the sequence from high to low of the device grade, arranges the pump trucks with high device grade in front, and after the pump trucks with low equipment levels are arranged, generating a pumping equipment list corresponding to the pumping equipment set, integrating the execution parameters such as the operation range, the operation capacity and the like of all the excavators in the excavating equipment set, setting the equipment levels of all the excavators in the excavating equipment set, arranging all the excavators in the excavating equipment set according to the sequence from high equipment levels to low equipment levels, arranging the excavators with high equipment levels in front, arranging the excavators with low equipment levels in back, and generating the excavating equipment list corresponding to the excavating equipment set.
In a preferred embodiment, the path planning is performed according to the execution sequence of the target construction tasks to obtain a planned path, and specifically includes: and planning the path by taking the shortest planned path of the target construction task as a planning target to obtain the planned path.
Illustratively, the executing device equates the path planning problem to a Traveling Salesman Problem (TSP), and according to the execution sequence of the target construction tasks, each subtask is sequentially executed in sequence from an initial position O, the last subtask is executed to go from the end position of the last subtask to the starting position of the next subtask, and after all subtasks are executed, the executing device returns to the initial position O, and during the execution period, all subtasks are executed only once, and the shortest planned path is solved. The solving operation of the shortest planned path is specifically as follows:
first, the path length dx from the end position of the last subtask to the start position of the next subtask is calculated.
Secondly, calculating the length dy of the execution path for completing the current subtask; it should be noted that the length of the task path for which no effective path can be planned is infinite.
Thirdly, forming a task path length storage list g [ N +1], wherein the total number of the subtasks is N, namely:
Figure BDA0003536900680000161
in the above formula, d00＝dii＝dNN＝0；d0iIs equal to the path length from the initial position O to the starting position of the ith subtask, plus the path length for executing the ith subtask, multiplied by the weight P corresponding to the priorityL(the higher the priority L, the smaller the weight), i.e. d0i＝(dx0i+dy0i)PL；di0Indicating the path length back to the initial position O after the ith sub-task has been executed.
And fourthly, selecting a corresponding intelligent algorithm to calculate the shortest planning length according to the quantity of the subtasks, and realizing task execution sequence planning based on the shortest path algorithm, wherein the intelligent algorithm can be a dynamic planning algorithm, a genetic algorithm and an ant colony algorithm.
In the embodiment, the path planning problem is equivalent to a traveler problem by the execution equipment, and the shortest planned path of the target construction task is taken as a planning target for path planning, so that the execution time of the execution equipment on the target construction task can be effectively shortened, the occupation of the operation space range of the execution equipment is removed more quickly, and the operation efficiency of a building construction machine group and the resource utilization rate of a building construction site are further improved.
In a preferred embodiment, the method for scheduling collaborative work of a building construction machine group further includes: and when the path planning is failed again, after the equipment occupies the operation space and is not occupied, executing the target construction task according to the planned path.
As an example, when any execution device fails to plan a path again, it needs to wait for other execution devices to complete their corresponding target construction tasks, so that the occupied working space of the devices is removed, and then the corresponding target construction tasks are executed according to the original planned path.
In a preferred embodiment, the performing the target construction task according to the re-planned path further includes: and when the target construction task is executed, if the obstacle is detected to exist on the re-planned path, the execution of the target construction task is interrupted, the current position is used as a path starting point, path planning is carried out again in a working space except for the working space occupied by the obstacle, and the re-planned path is updated.
As an example, the execution device performs obstacle detection in real time during the execution of the target construction task, if an obstacle is detected to exist on the re-planned path, the execution of the target construction task is interrupted, the current position is used as a path starting point, a working space occupied by the obstacle in the working space of the current building construction site is determined according to the detected position of the obstacle, namely the working space occupied by the obstacle, path planning is performed again in the working space except the working space occupied by the obstacle, the re-planned path is updated, the target construction task is continuously executed according to the updated re-planned path, and the updated re-planned path and/or the working space range is sent to the other execution devices.
In the embodiment, the obstacle detection is carried out in the execution process of the target construction task, and the path planning is carried out again in the operation space except the operation space occupied by the obstacle when the obstacle exists, so that the operation safety of the execution equipment can be ensured, the operation path of the execution equipment can be adjusted by combining the obstacle detection result and the current task execution progress, and the operation efficiency of a building construction machine group and the resource utilization rate of a building construction site can be further improved.
Based on the same inventive concept as the first embodiment, a second embodiment provides a building construction machine group cooperative work scheduling device as shown in fig. 4, which is suitable for any execution device in a building construction machine group, and includes: the path planning module 21 is configured to obtain a target construction task scheduled by the task scheduling center, and perform path planning according to an execution sequence of the target construction task to obtain a planned path; the space determining module 22 is configured to determine, when the operation path of at least one of the remaining execution devices conflicts with the planned path, an operation space occupied by the device according to the operation paths of the remaining execution devices; the path re-planning module 23 is configured to re-plan a path in a working space outside the working space occupied by the device to obtain a re-planned path; and the task execution module 24 is configured to execute the target construction task according to the re-planned path, and send task execution condition information to the task scheduling center when the target construction task is completed.
In a preferred embodiment, the task scheduling center comprises: the task acquisition module is used for acquiring at least two construction task sets; the priority setting module is used for respectively setting the priority of each construction task in the construction task set according to a predefined task priority setting strategy and arranging each construction task in the construction task set according to the priority sequence; and the task scheduling module is used for selecting a device from the model device set corresponding to the construction task set as an execution device for each construction task set, selecting the construction task with the highest priority from the construction task set as a target construction task, and scheduling the target construction task to the execution device.
In a preferred embodiment, the task scheduling center further includes: the equipment acquisition module is used for acquiring at least two machine type equipment sets before the at least two construction task sets are acquired; and the level setting module is used for setting the equipment level of each equipment in the model equipment set according to a predefined equipment level setting strategy and arranging each equipment in the model equipment set according to the equipment level sequence.
In a preferred embodiment, the task scheduling module is specifically configured to, for each construction task set, select, as an execution device, a device with a highest device level from a model device set corresponding to the construction task set.
In a preferred embodiment, the task scheduling center further includes: the equipment screening module is used for screening equipment of which the execution parameters meet the task parameters from the model equipment set corresponding to the construction task set as executable equipment of the construction task and generating an executable equipment list corresponding to each construction task according to the task parameters of each construction task in the construction task set after the at least two construction task sets are obtained; wherein the execution parameters include a job scope and/or a job capability.
In a preferred embodiment, the task scheduling module is further configured to, before scheduling the target construction task to the execution device, determine whether the execution device is an executable device of the target construction task according to the executable device list corresponding to the target construction task, and schedule the target construction task to the execution device if the execution device is an executable device of the target construction task.
In a preferred embodiment, the task scheduling module is further configured to, when it is determined that the execution device is not an executable device of the target construction task, continue to select a remaining construction task with a highest priority from the construction task set as a new target construction task, and determine whether the execution device is an executable device of the new target construction task according to an executable device list corresponding to the new target construction task, and if so, schedule the new target construction task to the execution device.
In a preferred embodiment, the priority setting module is specifically configured to, for each construction task, set the priority of the construction task by integrating at least one of the execution time, the equipment level, and the inter-task association degree of the construction task.
In a preferred embodiment, the level setting module is specifically configured to set, for each device, a device level of the device according to an execution parameter of the device; wherein the execution parameters include a job scope and/or a job capability.
In a preferred embodiment, each of the set of construction tasks belongs to the same construction task type.
In a preferred embodiment, the path planning module is specifically configured to perform path planning by using the shortest planned path of the target construction task as a planning target, so as to obtain a planned path.
In a preferred embodiment, the task execution module is further configured to, when the path planning is failed again, wait for the equipment to occupy the working space and release the occupied space, and execute the target construction task according to the planned path.
In a preferred embodiment, the task execution module is further configured to, when the target construction task is executed, interrupt execution of the target construction task if it is detected that an obstacle exists on the re-planned path, and perform path planning again in a working space outside a working space occupied by the obstacle with the current position as a path starting point, so as to update the re-planned path.
Based on the same inventive concept as the first embodiment, a third embodiment provides a building construction machine group cooperative work scheduling platform as shown in fig. 5, which includes each execution device 31 in the building construction machine group for executing the building construction machine group cooperative work scheduling method according to the first embodiment, and a task scheduling center 32; the task scheduling center 32 is communicatively connected to each of the execution devices 31, and each of the execution devices 31 is communicatively connected to each of the other execution devices 31.
In the embodiment, the task scheduling center 32 is respectively in communication connection with each execution device 31, each execution device 31 is respectively in communication connection with the other execution devices 31, and a building construction machine group cooperative operation scheduling platform is built, so that the task scheduling center 32 can be used as an upper decision center to master information of personnel, equipment, scenes, materials and the like on a building construction site, the functions of building construction machine group construction task input and management, building construction machine group dynamic optimization configuration, construction task scheduling and the like are mainly realized, the real-time communication is carried out with a device end networking, namely, a communication network among the execution devices 31 in the building construction machine group, the point-to-point issuing of a target construction task is realized, the execution devices 31 are used as task execution ends, and the functions of multi-construction task execution sequence planning, construction process decision, collision-free operation planning, automatic control of the devices and the like are mainly realized, the method can quickly sense scene changes around the equipment, plan a task execution path, automatically control equipment construction, and timely upload task execution conditions to the task scheduling center 32, realize cooperative operation scheduling of the building construction machine group, and improve the operation efficiency of the building construction machine group and the resource utilization rate of a building construction site.
In summary, the embodiment of the present invention has the following advantages:
the method comprises the steps of obtaining a target construction task scheduled by a task scheduling center, planning a path according to the execution sequence of the target construction task to obtain a planned path, determining the operation space occupied by equipment according to the operation paths of other execution equipment when the operation path of at least one execution equipment in the other execution equipment conflicts with the planned path, re-planning the path in the operation space except the operation space occupied by the equipment to obtain a re-planned path, executing the target construction task according to the re-planned path, and sending task execution condition information to the task scheduling center when the execution of the target construction task is completed to realize the cooperative operation scheduling of the building construction cluster. According to the embodiment of the invention, when a planned path is obtained by planning the path of the target construction task scheduled by the task scheduling center through any execution device in the building construction machine group, the conflict situation between the planned path and the operation paths of the rest execution devices is judged, if the conflict situation exists, the path planning is carried out again in the operation space outside the operation space occupied by the devices, namely the operation space not occupied by the rest execution devices, and the target construction task is executed according to the obtained re-planned path, so that each execution device in the building construction machine group can operate in a coordinated manner, the frequent conflict problem caused by the operation of a plurality of different types of devices in the limited operation space is effectively avoided, the building construction machine group can be scheduled in a coordinated manner, and the operation efficiency of the building construction machine group and the resource utilization rate of the building construction site are improved.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that all or part of the processes of the above embodiments may be implemented by hardware related to instructions of a computer program, and the computer program may be stored in a computer readable storage medium, and when executed, may include the processes of the above embodiments. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

Claims (27)

1. A building construction machine group cooperative operation scheduling method is characterized in that the method is suitable for any execution device in a building construction machine group, and comprises the following steps:
acquiring a target construction task scheduled by a task scheduling center, and planning a path according to the execution sequence of the target construction task to obtain a planned path;
when the operation path of at least one execution device in the rest execution devices conflicts with the planned path, determining that the device occupies the operation space according to the operation paths of the rest execution devices;
re-planning the path in the operation space outside the operation space occupied by the equipment to obtain a re-planned path;
and executing the target construction task according to the re-planned path, and sending task execution condition information to the task scheduling center when the target construction task is executed.
2. The method for scheduling cooperative work of a building construction machine group according to claim 1, wherein the task scheduling center schedules a target construction task, specifically:
acquiring at least two construction task sets;
for each construction task set, respectively setting the priority of each construction task in the construction task set according to a predefined task priority setting strategy, and arranging each construction task in the construction task set according to the priority sequence;
and for each construction task set, selecting equipment from the model equipment set corresponding to the construction task set as execution equipment, selecting a construction task with the highest priority from the construction task set as a target construction task, and scheduling the target construction task to the execution equipment.
3. The method for scheduling cooperative work in a construction machine group according to claim 2, wherein before said acquiring at least two sets of construction tasks, the method further comprises:
acquiring at least two model equipment sets;
and for each model equipment set, respectively setting the equipment level of each equipment in the model equipment set according to a predefined equipment level setting strategy, and arranging each equipment in the model equipment set according to the equipment level sequence.
4. The method according to claim 3, wherein for each of the construction task sets, selecting a device from a model device set corresponding to the construction task set as an execution device comprises:
and for each construction task set, selecting equipment with the highest equipment level from the model equipment set corresponding to the construction task set as executing equipment.
5. The method for scheduling cooperative work in a construction machine group according to claim 2, further comprising, after said acquiring at least two sets of construction tasks:
for each construction task set, respectively screening equipment with execution parameters meeting the task parameters from a model equipment set corresponding to the construction task set according to the task parameters of each construction task in the construction task set to serve as executable equipment of the construction task, and generating an executable equipment list corresponding to each construction task; wherein the execution parameters include a job scope and/or a job capability.
6. The method for scheduling cooperative work in a construction machine group according to claim 5, wherein before scheduling the target construction task to an execution device, the method further comprises:
and judging whether the execution equipment is the executable equipment of the target construction task or not according to the executable equipment list corresponding to the target construction task, and if so, scheduling the target construction task to the execution equipment.
7. The method for scheduling cooperative work of a construction machine group according to claim 6, further comprising:
and when judging that the execution equipment is not the executable equipment of the target construction task, continuously selecting the construction task with the highest remaining priority from the construction task set as a new target construction task, judging whether the execution equipment is the executable equipment of the new target construction task according to an executable equipment list corresponding to the new target construction task, and scheduling the new target construction task to the execution equipment if the execution equipment is the executable equipment of the new target construction task.
8. The method according to claim 2, wherein the setting of the priority of each construction task in the construction task set according to a predefined task priority setting policy comprises:
and for each construction task, at least one of execution time, equipment level and inter-task association degree of the construction task is integrated, and the priority of the construction task is set.
9. The method for scheduling cooperative work of a building construction machine group according to claim 3, wherein the setting of the device class of each device in the machine type device set according to a predefined device class setting policy comprises:
for each device, setting the device grade of the device according to the execution parameters of the device; wherein the execution parameters include job scope and/or job capability.
10. The method according to claim 2, wherein each of the construction tasks in the construction task set belongs to the same construction task type.
11. The method for scheduling cooperative work of a building construction machine group according to claim 1, wherein the path planning is performed according to the execution sequence of the target construction tasks to obtain a planned path, and specifically comprises:
and planning the path by taking the shortest planned path of the target construction task as a planning target to obtain the planned path.
12. The method for scheduling cooperative work of a construction machine group according to claim 1, further comprising:
and when the path planning is failed again, after the equipment occupies the operation space and is not occupied, executing the target construction task according to the planned path.
13. The method for scheduling cooperative work in a construction machine group according to claim 1, wherein the executing the target construction task according to the re-planned path further comprises:
and when the target construction task is executed, if the obstacle is detected to exist on the re-planned path, the target construction task is interrupted to be executed, the current position is used as a path starting point, path planning is carried out again in a working space except a working space occupied by the obstacle, and the re-planned path is updated.
14. A building construction machine group cooperative operation scheduling device is characterized in that the device is suitable for any execution equipment in a building construction machine group, and comprises:
the path planning module is used for acquiring a target construction task scheduled by a task scheduling center and planning a path according to the execution sequence of the target construction task to obtain a planned path;
the space determining module is used for determining that the equipment occupies the operation space according to the operation paths of the other execution equipment when the operation path of at least one execution equipment in the other execution equipment conflicts with the planned path;
the path re-planning module is used for re-planning the path in the operation space outside the operation space occupied by the equipment to obtain a re-planned path;
and the task execution module is used for executing the target construction task according to the re-planned path and sending task execution condition information to the task scheduling center when the target construction task is executed.
15. The construction machine group cooperative work scheduling apparatus according to claim 14, wherein the task scheduling center includes:
the task acquisition module is used for acquiring at least two construction task sets;
the priority setting module is used for respectively setting the priority of each construction task in the construction task set according to a predefined task priority setting strategy for each construction task set and arranging each construction task in the construction task set according to the priority sequence;
and the task scheduling module is used for selecting a device from the model device set corresponding to the construction task set as an execution device for each construction task set, selecting a construction task with the highest priority from the construction task set as a target construction task, and scheduling the target construction task to the execution device.
16. The building construction machine group cooperative work scheduling apparatus according to claim 15, wherein the task scheduling center further comprises:
the equipment acquisition module is used for acquiring at least two machine type equipment sets before the at least two construction task sets are acquired;
and the level setting module is used for setting the equipment level of each equipment in the model equipment set according to a predefined equipment level setting strategy and arranging each equipment in the model equipment set according to the equipment level sequence.
17. The building construction machine group cooperative work scheduling apparatus according to claim 16, wherein the task scheduling module is specifically configured to, for each of the construction task sets, select, as the execution device, a device at a highest device level from a model device set corresponding to the construction task set.
18. The building construction machine group cooperative work scheduling apparatus according to claim 15, wherein the task scheduling center further includes:
the equipment screening module is used for screening equipment of which execution parameters meet the task parameters from the model equipment set corresponding to the construction task set as executable equipment of the construction task and generating an executable equipment list corresponding to each construction task according to the task parameters of each construction task in the construction task set respectively after the at least two construction task sets are obtained; wherein the execution parameters include a job scope and/or a job capability.
19. The building construction machine group cooperative job scheduling device according to claim 18, wherein the task scheduling module is further configured to determine whether the execution device is an executable device of the target construction task according to an executable device list corresponding to the target construction task before the target construction task is scheduled to the execution device, and schedule the target construction task to the execution device if the execution device is the executable device of the target construction task.
20. The building construction machine group cooperative work scheduling apparatus according to claim 19, wherein the task scheduling module is further configured to, when it is determined that the execution device is not an executable device of the target construction task, continue to select the remaining construction task with the highest priority from the construction task set as a new target construction task, determine whether the execution device is an executable device of the new target construction task according to an executable device list corresponding to the new target construction task, and schedule the new target construction task to the execution device if the execution device is the executable device of the new target construction task.
21. The building construction machine group cooperative work scheduling apparatus according to claim 15, wherein the priority setting module is specifically configured to set the priority of the construction task by integrating at least one of an execution time, an equipment level, and an inter-task association degree of the construction task for each of the construction tasks.
22. The building construction machine group cooperative work scheduling apparatus according to claim 16, wherein the level setting module is specifically configured to set, for each of the devices, a device level of the device according to an execution parameter of the device; wherein the execution parameters include a job scope and/or a job capability.
23. The building construction machine group task scheduling device of claim 15, wherein each of the construction tasks in the construction task set belongs to a same construction task type.
24. The building construction machine group cooperative work scheduling device according to claim 14, wherein the path planning module is specifically configured to perform path planning by using a shortest planned path of the target construction task as a planning target, so as to obtain the planned path.
25. The building construction machine group cooperative work scheduling device according to claim 14, wherein the task execution module is further configured to, when the path planning is failed again, execute the target construction task according to the planned path after waiting for the equipment to occupy the working space and release the occupation.
26. The building construction machine group cooperative work scheduling device according to claim 14, wherein the task execution module is further configured to, when the target construction task is executed, interrupt execution of the target construction task if it is detected that an obstacle exists on the re-planned path, re-plan the path in a working space other than a working space occupied by the obstacle with the current position as a path starting point, and update the re-planned path.
27. A building construction machine group cooperative operation dispatching platform is characterized by comprising execution devices in a building construction machine group for executing the building construction machine group cooperative operation dispatching method according to any one of claims 1 to 13 and a task dispatching center;
the task scheduling center is respectively in communication connection with each execution device, and each execution device is respectively in communication connection with the rest execution devices.
CN202210228047.8A 2022-03-08 2022-03-08 Building construction machine group cooperative operation scheduling method, device and platform Pending CN114580931A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117440023A (en) * 2023-12-19 2024-01-23 南京昊天路桥工程有限公司 Roadbed project construction data processing method and system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117440023A (en) * 2023-12-19 2024-01-23 南京昊天路桥工程有限公司 Roadbed project construction data processing method and system
CN117440023B (en) * 2023-12-19 2024-02-23 南京昊天路桥工程有限公司 Roadbed project construction data processing method and system

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