CN109934510B - Automatic construction flow scheduling method and system, working machine and storage medium - Google Patents
Automatic construction flow scheduling method and system, working machine and storage medium Download PDFInfo
- Publication number
- CN109934510B CN109934510B CN201910220822.3A CN201910220822A CN109934510B CN 109934510 B CN109934510 B CN 109934510B CN 201910220822 A CN201910220822 A CN 201910220822A CN 109934510 B CN109934510 B CN 109934510B
- Authority
- CN
- China
- Prior art keywords
- construction
- data
- unit
- planning
- task
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The disclosure relates to a construction flow automatic scheduling method, a construction flow automatic scheduling system, a working machine and a storage medium. The automatic construction flow scheduling method comprises the following steps: acquiring construction state data; receiving construction task data; converting the construction task data into construction instructions according to the construction state data; and controlling the working machine to complete corresponding actions according to the construction instructions. The method can automatically control the unmanned operation equipment to complete all construction tasks according to the construction task data and the construction state data without any manual intervention.
Description
Technical Field
The disclosure relates to the field of engineering machinery, in particular to a construction process automatic scheduling method, a construction process automatic scheduling system, a working machine and a storage medium.
Background
For traditional engineering machinery, construction can be completed by means of manual intervention. However, the traditional construction method has the defects of low efficiency, high labor intensity, high danger coefficient and the like.
Disclosure of Invention
In view of the above technical problems, the present disclosure provides a method, a system, a working machine, and a storage medium for automatically scheduling a construction process, which can control an unmanned operation device to complete all construction tasks without any manual intervention.
According to one aspect of the disclosure, a construction flow automatic scheduling method is provided, which includes:
acquiring construction state data;
receiving construction task data;
converting the construction task data into construction instructions according to the construction state data;
and controlling the working machine to complete corresponding actions according to the construction instructions.
In some embodiments of the present disclosure, the acquiring the construction state data includes:
acquiring original state data of a working machine and a working environment, wherein the original state data comprises at least one item of working machine state data, navigation positioning data and environment perception data;
and processing the original state data to generate construction state data.
In some embodiments of the present disclosure, the processing the raw state data, and generating the construction state data includes:
judging the effectiveness of the original state data;
and processing the effective original state data to generate construction state data.
In some embodiments of the present disclosure, the receiving construction task data comprises:
receiving, analyzing and storing construction task data, wherein the construction task data is a set with operation units as elements, and the operation machine forms an operation unit according to data required by completing construction operation of an operation point.
In some embodiments of the present disclosure, the method for automatically scheduling a construction process further includes:
when the work machine is restarted after the work machine construction is interrupted, the work machine continues to operate from the state in which it was interrupted.
In some embodiments of the present disclosure, the method for automatically scheduling a construction process further includes:
during operation of the work machine, critical data relating to the entire work process is stored.
In some embodiments of the disclosure, the converting the construction task data into the construction instructions according to the construction state data includes:
updating the construction task data according to the key data;
finishing motion planning, path planning or track planning according to the construction task data to generate a planning result;
and converting the planning result into a construction instruction according to the construction state data.
In some embodiments of the present disclosure, the construction tasks are discrete tasks, continuous tasks, and hybrid tasks, wherein the hybrid tasks have both discrete and continuous features.
In some embodiments of the disclosure, for discrete tasks, the converting the construction task data into construction instructions according to the construction state data includes:
judging whether the construction task is finished or not according to the key data;
under the condition that the construction task is not completely executed, judging whether the current operation unit is completely executed or not according to the key data;
and under the condition that the execution of the current operation unit is finished, updating the data of the current operation unit and controlling the operation machine to complete the reset operation.
In some embodiments of the disclosure, for discrete tasks, the converting the construction task data into construction instructions according to the construction state data further comprises:
under the condition that the current operation unit is not completely executed, judging whether the operation machine needs to perform corresponding actions according to the construction task data and the construction state data;
judging whether a planning result is effective or not under the condition that the working machine needs to take corresponding actions;
under the condition that the planning result is effective, converting the planning result into a construction instruction according to the construction state data;
and under the condition that the planning result is invalid, finishing motion planning, path planning or track planning according to the construction task data, generating a planning result, and then executing the step of converting the planning result into a construction instruction according to the construction state data.
In some embodiments of the disclosure, for consecutive tasks, the converting the construction task data into construction instructions according to the construction state data includes:
judging whether the construction task is finished or not according to the key data;
under the condition that the construction task is not completely executed, updating the data of the current operation unit;
finishing motion planning, path planning or track planning according to the construction task data to generate a planning result sequence;
selecting an optimal planning result from the planning result sequence according to the construction state data;
and generating a construction instruction according to the selected planning result.
In some embodiments of the disclosure, for a hybrid task, the converting the construction task data into construction instructions according to the construction state data includes:
judging whether the construction task is finished or not according to the key data;
under the condition that the construction task is not completed, judging whether the working machine enters a buffer unit according to the key data, wherein the buffer unit is arranged between two adjacent working units of the mixed task;
sending a reset instruction under the condition that the working machine enters the buffer unit, and judging whether a past variable of the data of the working unit is empty or not;
extracting a past variable value to a present variable in the case where a past variable of the job unit data is not empty;
finishing motion planning, path planning or track planning according to the construction state data and the operation unit data in the current variable, and generating a planning result sequence;
selecting an optimal planning result from the planning result sequence according to the construction state data;
and generating a construction instruction according to the selected planning result.
In some embodiments of the disclosure, for a hybrid task, the converting the construction task data into the construction instructions according to the construction state data further includes:
storing the remaining data of the current variable into the past variable when the past variable of the job unit data is empty;
acquiring the subsequent operation unit data of the current variable, and storing the subsequent operation unit data of the current variable into a future variable;
judging whether the execution of the operation unit corresponding to the current variable is finished or not according to the key data;
and under the condition that the execution of the operation unit corresponding to the current variable is not finished, executing the step of judging whether the operation machine enters the buffer unit or not according to the key data.
In some embodiments of the disclosure, for a hybrid task, the converting the construction task data into the construction instructions according to the construction state data further includes:
clearing data of past variables under the condition that the execution of the operation unit corresponding to the current variable is finished;
judging whether the future variable is not empty;
under the condition that the future variable is not empty, storing the value of the future variable into the current variable, and then executing the step of finishing motion planning, path planning or track planning according to the construction state data and the operation unit data in the current variable;
under the condition that the future variable is empty, executing the step of acquiring the subsequent operation unit data of the current variable;
when the working machine does not enter the buffer unit, a step of determining whether the future variable is not empty is performed.
According to another aspect of the present disclosure, there is provided a construction process automatic scheduling system, including:
the data sensing module is used for acquiring construction state data;
the autonomous operation module is used for receiving construction task data; converting the construction task data into construction instructions according to the construction state data; and controlling the working machine to complete corresponding actions according to the construction instructions.
In some embodiments of the present disclosure, the automatic construction process scheduling system is configured to perform operations for implementing the automatic construction process scheduling method according to any one of the embodiments.
According to another aspect of the present disclosure, there is provided a construction process automatic scheduling system, including:
a memory to store instructions;
and the processor is used for executing the instruction to enable the automatic construction process scheduling system to execute the operation of implementing the automatic construction process scheduling method according to any one of the embodiments.
According to another aspect of the present disclosure, a working machine is provided, which includes the automatic construction process scheduling system according to any one of the above embodiments.
According to another aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the instructions, when executed by a processor, implement the construction process control method according to any one of the above embodiments.
The method can automatically control the unmanned operation equipment to complete all construction tasks according to the construction task data and the construction state data without any manual intervention.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram of some embodiments of the disclosed construction process automatic scheduling method.
FIG. 2 is a schematic diagram of other embodiments of a construction process control method according to the present disclosure.
Fig. 3 is a schematic diagram of further embodiments of the disclosed construction process automatic scheduling method.
FIG. 4 is a schematic illustration of still further embodiments of the disclosed construction process control method.
FIG. 5 is a schematic diagram of some embodiments of a construction flow automatic scheduling system of the present disclosure.
FIG. 6 is a schematic diagram of a data awareness module in some embodiments of the present disclosure.
FIG. 7 is a schematic diagram of an autonomous operation module in some embodiments of the present disclosure.
FIG. 8 is a schematic diagram of a decision sub-module in some embodiments of the present disclosure.
FIG. 9a is a schematic diagram of an alternative embodiment of an automated construction flow scheduling system according to the present disclosure.
Fig. 9b is a schematic diagram of further embodiments of the disclosed method for automatic scheduling of a construction process.
FIG. 10a is a schematic illustration of yet further embodiments of the disclosed work flow automated scheduling system.
FIG. 10b is a schematic illustration of yet further embodiments of the disclosed construction process control method.
FIG. 11a is a schematic illustration of yet further embodiments of the disclosed work flow automated scheduling system.
Fig. 11b is a schematic diagram of further embodiments of the disclosed method for automatically scheduling a construction process.
FIG. 12 is a schematic diagram of an alternate embodiment of an automated construction flow scheduling system according to the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Fig. 1 is a schematic diagram of some embodiments of the disclosed construction process automatic scheduling method. Preferably, the present embodiment may be performed by a construction flow automatic scheduling system. The method comprises the following steps:
and step 11, acquiring construction state data.
In some embodiments of the present disclosure, step 11 may comprise:
In some embodiments of the present disclosure, the work machine may be an unmanned machine, wherein the unmanned machine is a machine that can autonomously schedule all basic actions to complete a construction job without human intervention after the unmanned machine is configured by a user.
In some embodiments of the present disclosure, the entire work process of a work machine may be considered to complete work for a series of target points, which may be referred to as work points, with the aggregate of all work points comprising the work environment.
In some embodiments of the present disclosure, the construction process has two levels of meaning: firstly, in the construction process, the operation machine has the transformation effect on the operation environment; secondly, in the construction process, the feedback effect of the working environment to the working machine exists. The construction process is just a process of achieving balance between the operation machine and the operation environment on the premise of meeting the construction quality judgment standard. Thus, the construction process is a gaming process between the work machine and the work environment.
And step 112, processing the original state data to generate construction state data.
In some embodiments of the present disclosure, step 112 may comprise: judging the effectiveness of the original state data; and processing the effective original state data to generate construction state data.
And step 12, receiving construction task data.
In some embodiments of the present disclosure, step 12 may comprise: receiving, analyzing and storing construction task data, wherein the construction task data is a set with operation units as elements, and the operation machine forms an operation unit according to data required by completing construction operation of an operation point.
In some embodiments of the present disclosure, a work unit refers to a work unit formed by data required for completing a construction work at a certain work point, which may include position information of the work point and a construction quality evaluation criterion.
In some embodiments of the present disclosure, a subset of the units of work also constitute one unit of work.
In some embodiments of the present disclosure, a construction task is a set of work units as elements: first, a construction task may include a plurality of work units; secondly, the construction task can be regarded as a well-ordered set established on the working environment.
In some embodiments of the present disclosure, the method for automatically scheduling a construction process may further include: during operation of the work machine, critical data relating to the entire work process is stored.
And step 13, converting the construction task data into construction instructions according to the construction state data.
In some embodiments of the present disclosure, the construction task may be a discrete task, a continuous task, and a hybrid task, wherein the hybrid task has both discrete and continuous features.
In some embodiments of the present disclosure, a construction task may be considered an ordered set built on a work environment, which is a collection of work points. The process of generating a construction task from a work environment may be referred to as a serialization process. The serialization process generally contains two elements: first, a process of generating a unit of work from a single work point (set); second, a process of generating a construction task by a working unit (set). Through the serialization process, the working environment can generate three forms of construction tasks, namely discrete tasks, continuous tasks and mixed tasks.
In some embodiments of the present disclosure, the discrete tasks are two important features: firstly, the intersection of all the operation units is an empty set; second, there is no other new work unit between two adjacent work units. When the operation machine completes construction of the task, all the operation units are completed in sequence according to a certain sequence so as to complete the whole construction task.
In some embodiments of the present disclosure, the continuous task corresponds to a discrete task, which also has two important features: first, the intersection between the various units of work is not empty; second, any given two units of work must have a new unit of work in between. When the operation machine completes the construction of the task, the construction of the current operation unit can not be completed forever, so that the operation machine only needs to pay attention to whether the whole construction process is finished or not.
In some embodiments of the present disclosure, the hybrid task, from a global perspective, has the characteristics of a discrete task, whereas, from a local perspective, i.e., for each of the units of work therein, it also has the characteristics of a continuous task. From its own characteristics, the working machine inevitably has both discrete type and continuous type characteristics when completing construction for such a construction task.
In some embodiments of the present disclosure, step 13 may comprise:
and step 131, updating the construction task data according to the key data.
In some embodiments of the present disclosure, step 131 may comprise: and updating the current operation unit according to the key data.
And step 132, finishing motion planning, path planning or track planning according to the construction task data to generate a planning result.
And step 133, converting the planning result into a construction instruction according to the construction state data.
And step 14, controlling the working machine to complete corresponding actions according to the construction instructions.
In some embodiments of the present disclosure, the method for automatically scheduling a construction process may further include: when the work machine is restarted after the work machine construction is interrupted, the work machine continues to operate from the state in which it was interrupted.
Based on the construction process automatic scheduling method provided by the embodiment of the disclosure, after the operation machine receives the construction task data, the operation machine can be controlled to automatically complete construction without any manual intervention, so that an operator is released from heavy and dangerous construction work.
The automatic construction process scheduling method disclosed by the embodiment of the disclosure can enable equipment (operation machine) to realize digital construction, and compared with the traditional construction mode, the digital construction mode can greatly improve the construction efficiency.
In the above embodiment of the present disclosure, if the equipment (working machine) interrupts the construction due to an emergency, after the equipment is restarted, the equipment can continue to operate from the state where the equipment was interrupted as long as the construction task data is received again, and thus the above embodiment of the present disclosure can also improve the construction efficiency.
Fig. 2 is a schematic diagram of another embodiment of the automatic construction flow scheduling method of the present disclosure. Preferably, the present embodiment may be performed by a construction flow automatic scheduling system. For discrete tasks, the automatic construction flow scheduling method can comprise the following steps:
and step 20, finishing the initialization process and receiving construction task data.
And step 22, judging whether the current operation unit is executed completely according to the key data. When the execution of the current operation unit is finished, executing step 23; otherwise, if the current operation unit is not executed completely, step 24 is executed.
And step 23, updating the data of the current operation unit and controlling the operation machine to complete the reset operation.
And 25, judging whether the planning result is effective or not. In case the planning result is valid, step 27 is executed; otherwise, in case the planning result is invalid, step 26 is performed.
And 27, converting the planning result into a construction instruction according to the construction state data.
And step 28, controlling the working machine to complete corresponding actions according to the construction instructions.
In step 29, it is determined whether the movement of the working machine is completed. When the work implement movement is finished, step 24 is executed; otherwise, in the case where the work machine movement is not finished, step 28 is executed.
Fig. 3 is a schematic diagram of further embodiments of the disclosed construction process automatic scheduling method. Preferably, the present embodiment may be performed by a construction flow automatic scheduling system. For continuous tasks, the automatic construction flow scheduling method can comprise the following steps:
and step 30, finishing the initialization process and receiving construction task data.
And step 34, selecting an optimal planning result from the planning result sequence according to the construction state data.
And step 35, generating a construction instruction according to the selected planning result.
Fig. 4 is a schematic diagram of further embodiments of the disclosed construction process automatic scheduling method. Preferably, the present embodiment may be performed by a construction flow automatic scheduling system. For a mixed task, the automatic construction flow scheduling method can comprise the following steps:
And 402, judging whether the working machine enters a buffer unit according to the key data, wherein the buffer unit is arranged between two adjacent working units of the mixed task. In the case where the working machine enters the buffer unit, a reset instruction is sent, and step 403 is executed; otherwise, in the case where the working machine does not enter the buffer unit, step 407 is executed.
In step 403, it is determined whether the past variable of the job unit data is empty. If the past variable of the job unit data is empty, storing the remaining data of the present variable into the past variable, and executing step 404; otherwise, in the case where the past variable of the job unit data is not empty, the past variable value is extracted to the present variable, and step 408 is executed.
And step 404, acquiring the data of the subsequent operation unit of the current variable, and storing the data of the subsequent operation unit of the current variable into a future variable.
At step 406, the data in the past variables is cleared.
And step 408, finishing motion planning, path planning or track planning according to the construction state data and the operation unit data in the current variable.
And 409, selecting an optimal planning result from the planning result sequence according to the construction state data.
And step 410, generating a construction instruction according to the selected planning result.
According to the construction process automatic scheduling method disclosed by the embodiment, after the construction task data is received, the scheduling of the construction process can be automatically completed according to the construction task data and the construction state data without any manual intervention, so that digital construction is realized. After the construction process is interrupted, the equipment (the working machine) can continue to work from the interrupted state after being restarted.
FIG. 5 is a schematic diagram of some embodiments of a construction flow automatic scheduling system of the present disclosure. As shown in fig. 5, the automatic construction flow scheduling system may include a data-aware module 51 and an autonomous operation module 52, wherein:
and the data sensing module 51 is used for acquiring construction state data.
In some embodiments of the present disclosure, the data awareness module 51 may be configured to obtain raw state data of the work machine and the work environment, where the raw state data includes at least one of work machine state data, navigation positioning data, and environment awareness data; and processing the original state data to generate construction state data.
An autonomous operation module 52 for receiving construction task data; converting the construction task data into construction instructions according to the construction state data; and controlling the working machine to complete corresponding actions according to the construction instructions.
In some embodiments of the present disclosure, autonomous working module 52 may be configured to parse and store the resulting construction task data; converting the construction task data into construction instructions according to the construction state data; storing key data related to the whole construction process in the operation process of equipment (operation machine); and controlling equipment to complete corresponding actions according to the construction instructions.
In some embodiments of the disclosure, the automatic construction process scheduling system is configured to perform operations for implementing the automatic construction process scheduling method according to any of the embodiments described above (e.g., any of fig. 1 to 4).
Based on the construction process automatic scheduling system provided by the embodiment of the disclosure, after receiving the construction task data, the mechanical equipment (operating machine) provided with the construction process automatic scheduling system can automatically complete the scheduling of the construction process according to the construction task data and the construction state data without any manual intervention, thereby realizing digital construction. Meanwhile, after the construction process is interrupted, the equipment can continue to work from the interrupted state after being restarted. The construction process automatic scheduling system of the embodiment of the disclosure is composed of a data sensing module and an autonomous operation module, and is simple in structure, low in cost and easy to implement.
FIG. 6 is a schematic diagram of a data awareness module in some embodiments of the present disclosure. As shown in fig. 6, the data-aware module (e.g., the data-aware module 51 of the embodiment of fig. 5) may include a collection sub-module 511, a fusion sub-module 512, and a push sub-module 513, where:
the collecting sub-module 511 is configured to obtain raw state data of the working machine and the working environment, where the raw state data may include state data of the device itself, navigation positioning data, and environment sensing data.
And the fusion submodule 512 is used for carrying out validity judgment and processing on the original data from the acquisition submodule and generating construction state data.
In some embodiments of the present disclosure, the construction state data is an efficient form of data that can be used by the autonomous working module to reflect the state of the working machine and the working environment in real time.
In some embodiments of the present disclosure, the fusion submodule 512 may include a data diagnosis unit and a data fusion unit, wherein: the data diagnosis unit is used for judging the effectiveness of the original data from the acquisition submodule; and the data fusion unit is used for processing the effective original state data from the acquisition submodule to obtain construction state data.
And the pushing submodule 513 is used for pushing the construction state data to the autonomous operation module for use.
FIG. 7 is a schematic diagram of an autonomous operation module in some embodiments of the present disclosure. As shown in fig. 7, the autonomous operation module (e.g., the autonomous operation module 52 of the embodiment of fig. 5) may include an input submodule 521, a decision submodule 522, an execution submodule 523, and a storage submodule 524, wherein:
and the input submodule 521 is used for receiving, analyzing and storing the construction task data.
In some embodiments of the present disclosure, the input sub-module 521 may complete receiving of the construction task data through a wireless network, a USB interface, or other communication methods.
The decision submodule 522 is used for updating the currently executed construction task data according to the construction state data and completing task decision; and converting the construction task data into construction instructions according to the construction state data to finish behavior decision.
The execution submodule 523 is configured to receive the construction instruction from the decision submodule and control the device to complete a corresponding action.
In some embodiments of the present disclosure, the execution submodule 523 may include a hydraulic system and an electrical control system of the work machine.
And the storage submodule 524 is used for storing key data related to the whole construction process during the operation process of the equipment.
In some embodiments of the present disclosure, the critical data may provide a reference for maintenance work of the equipment (work machine); the key data can also assist in realizing the memory function of the construction progress.
FIG. 8 is a schematic diagram of a decision sub-module in some embodiments of the present disclosure. As shown in fig. 8, the decision submodule (e.g., the decision submodule 522 of the fig. 7 embodiment) may include a recursion unit 5221, a planning unit 5222 and a scheduling unit 5223, wherein:
a recursion unit 5221, which is used to update the current operation unit according to the critical data in the storage submodule.
The planning unit 5222 is configured to complete motion planning, path planning, or trajectory planning according to the construction task data, generate a planning result, and send the planning result to the scheduling unit 5223.
The scheduling unit 5223 is configured to convert the planning result from the planning unit into a construction instruction according to the construction state data, and send the construction instruction to the execution submodule.
FIG. 9a is a schematic diagram of an alternative embodiment of an automated construction flow scheduling system according to the present disclosure. Fig. 9a also shows a schematic diagram of the data flow and the control flow of the automatic construction flow scheduling system of the present disclosure. The automatic construction flow scheduling system of fig. 9a may complete the automatic scheduling of the construction flow for discrete tasks.
As shown in fig. 9a, the automatic construction process scheduling system may include a data awareness module 51 and an autonomous operation module, wherein the autonomous operation module may include an input submodule 521, a decision submodule, an execution submodule 523 and a storage submodule 524, and the decision submodule may further include a recursion unit 5221, a planning unit 5222 and a scheduling unit 5223.
The sequence number 1 in fig. 9a represents the data stream transmission process of the input sub-module for receiving the construction task data.
The sequence number 2 in fig. 9a represents the data streaming process in which the recursion unit reads the critical data from the storage submodule.
The sequence number 3 in fig. 9a represents the data stream transmission process in which the recursion unit sends the update result of the data of the current job unit to the scheduling unit.
The reference number 4 in fig. 9a represents the control flow transmission process of the recursion unit sending a reset instruction to the execution submodule.
The sequence number 5 in fig. 9a represents the data stream transmission process in which the scheduling unit reads the construction task data from the input sub-module.
In fig. 9a, the serial number 6 represents the data stream transmission process of the construction state data pushed by the data sensing module read by the scheduling unit.
The reference number 7 in fig. 9a represents the control flow transmission process in which the scheduling unit sends the planning instruction to the planning unit.
The sequence number 8 in fig. 9a represents the data stream transmission process in which the planning unit reads the construction task data from the input submodule.
In fig. 9a, the serial number 9 represents the data stream transmission process of the construction state data pushed by the data sensing module read by the planning unit.
The number 10 in fig. 9a represents the data stream transmission process in which the planning unit sends the planning result to the scheduling unit.
The reference number 11 in fig. 9a represents the control flow transmission process of the scheduling unit sending the construction instruction to the execution submodule.
Fig. 9b is a schematic diagram of further embodiments of the disclosed method for automatic scheduling of a construction process. Preferably, this embodiment can be performed by the automatic construction flow scheduling system (e.g., the automatic construction flow scheduling system of fig. 9 a) of the present disclosure. For discrete tasks, the automatic construction flow scheduling method can comprise the following steps:
And 903, judging whether the construction task is finished or not by the recursion unit according to the key data in the storage submodule, if so, finishing all construction processes, and otherwise, turning to step 904.
And 904, judging whether the current operation unit is executed or not by the recursion unit according to the key data in the storage submodule, if so, entering 905, and otherwise, entering 907.
And 908, judging whether the working machine needs to perform corresponding actions according to the obtained construction task data and construction state data by the scheduling unit, if so, entering a step 909, and otherwise, returning to the step 902.
And step 911, the planning unit completes the motion planning according to the construction task data and the construction state data, and executes the data stream transmission process represented by the serial number 10 in fig. 9a (the planning unit sends the planning result to the scheduling unit).
And 913, controlling the equipment to generate corresponding actions by the execution submodule according to the construction instruction.
FIG. 10a is a schematic illustration of yet further embodiments of the disclosed work flow automated scheduling system. Fig. 10a also shows a schematic diagram of the data flow and the control flow of the automatic construction flow scheduling system of the present disclosure. The automatic construction flow scheduling system of fig. 10a may complete automatic scheduling of a construction flow for consecutive tasks.
As shown in fig. 10a, the automatic construction flow scheduling system may include a data awareness module 51 and an autonomous operation module, wherein the autonomous operation module may include an input submodule 521, a decision submodule, an execution submodule 523 and a storage submodule 524, and the decision submodule may further include a recursion unit 5221, a planning unit 5222 and a scheduling unit 5223.
The sequence number 1 in fig. 10a represents the data stream transmission process of the input sub-module for receiving the construction task data.
The sequence number 2 in fig. 10a represents the data streaming process in which the recursion unit reads the critical data from the storage submodule.
The sequence number 3 in fig. 10a represents the data stream transmission process in which the recursion unit sends the update result of the data of the current job unit to the planning unit.
The sequence number 4 in fig. 10a represents the data stream transmission process in which the planning unit reads the construction task data from the input submodule.
The number 5 in fig. 10a represents the data stream transmission process in which the planning unit sends the planning result sequence to the scheduling unit.
In fig. 10a, the serial number 6 represents the data stream transmission process of the construction state data pushed by the data sensing module read by the scheduling unit.
The reference number 7 in fig. 10a represents a control flow transmission process in which the scheduling unit sends a construction instruction to the execution submodule.
Fig. 10b is a schematic diagram of further embodiments of the disclosed method for automatic scheduling of a construction process. Preferably, this embodiment can be performed by the automatic construction flow scheduling system (e.g., the automatic construction flow scheduling system of fig. 10 a) of the present disclosure. For continuous tasks, the automatic construction flow scheduling method can comprise the following steps:
And 103, judging whether the construction task is finished or not by the recursion unit according to the key data in the storage submodule, if so, finishing all construction processes, and otherwise, turning to the step 104.
And step 104, the recursion unit completes the updating of the data of the current operation unit and executes the data stream transmission process represented by the sequence number 3 in fig. 10a (the recursion unit sends the updating result of the data of the current operation unit to the planning unit).
And 106, finishing motion planning by the planning unit according to the construction task data, generating a planning result sequence and executing a data stream transmission process represented by the sequence number 5 in the figure 10a (the planning unit sends the planning result sequence to the scheduling unit).
And 108, selecting the optimal planning result from the planning result sequence by the scheduling unit according to the construction state data.
And step 110, the execution sub-module controls the equipment to generate corresponding actions according to the construction instructions and returns to the step 102.
FIG. 11a is a schematic illustration of yet further embodiments of the disclosed work flow automated scheduling system. Fig. 11a also shows a schematic diagram of the data flow and the control flow of the automatic construction flow scheduling system of the present disclosure. The automatic construction flow scheduling system of FIG. 11a may complete automatic scheduling of a construction flow for a hybrid task.
As shown in fig. 11a, the automatic construction flow scheduling system may include a data awareness module 51 and an autonomous operation module, wherein the autonomous operation module may include an input submodule 521, a decision submodule, an execution submodule 523 and a storage submodule 524, and the decision submodule may further include a recursion unit 5221, a planning unit 5222 and a scheduling unit 5223.
The sequence number 1 in fig. 11a represents the data stream transmission process of the input sub-module for receiving the construction task data.
The sequence number 2 in fig. 11a represents the data streaming process in which the recursion unit reads the critical data from the storage submodule.
The reference number 3 in fig. 11a represents the control flow transmission process in which the recursion unit sends a reset instruction to the scheduling unit.
The sequence number 4 in fig. 11a represents the data stream transmission process in which the scheduling unit stores the remaining data in its present variable into the past variable.
The sequence number 5 in fig. 11a represents the data stream transmission process in which the scheduling unit extracts the data in its past variables to the present variables.
The sequence number 6 in fig. 11a represents the data stream transmission process in which the scheduling unit reads the data of the job unit following its present variable from the input submodule and stores it in the future variable.
The reference number 7 in fig. 11a represents a control flow transmission process in which the recursion unit sends a past variable clear instruction to the scheduling unit.
The sequence number 8 in fig. 11a represents the data stream transmission process in which the scheduling unit extracts the data in its future variables to the present variable.
The reference numeral 9 in fig. 11a represents a control flow transmission process in which the scheduling unit sends a planning instruction to the planning unit.
The reference number 10 in fig. 11a represents the data stream transmission process where the scheduling unit sends the data in its present variable to the planning unit.
In fig. 11a, a serial number 11 represents a data stream transmission process of the construction state data pushed by the data sensing module read by the planning unit.
The reference number 12 in fig. 11a represents the data stream transmission process in which the planning unit sends the planning result sequence to the scheduling unit.
In fig. 11a, a serial number 13 represents a data stream transmission process of the construction state data pushed by the data sensing module read by the scheduling unit.
The reference number 14 in fig. 11a represents the control flow transmission process of the scheduling unit sending the construction instruction to the execution submodule.
Fig. 11b is a schematic diagram of further embodiments of the disclosed method for automatically scheduling a construction process. Preferably, this embodiment can be performed by the automatic construction flow scheduling system (e.g., the automatic construction flow scheduling system of fig. 11 a) of the present disclosure. For a mixed task, the automatic construction flow scheduling method can comprise the following steps:
And 113, judging whether the construction task is finished or not by the recursion unit according to the key data in the storage submodule, if so, finishing all construction processes, and otherwise, turning to step 114.
And step 122, the planning unit completes the motion planning according to the operation unit data and the construction state data, generates a planning result sequence and executes the data stream transmission process represented by the sequence number 12 in fig. 11a (the planning unit sends the planning result sequence to the scheduling unit).
And step 123, executing the data stream transmission process represented by the sequence number 13 in fig. 11a (the scheduling unit reads the construction state data pushed by the data sensing module), and selecting an optimal planning result from the planning result sequence.
And step 124, the scheduling unit generates a construction instruction according to the selected planning result and executes a control flow transmission process represented by the sequence number 14 in fig. 11a (the scheduling unit sends the construction instruction to the execution submodule).
And step 125, the execution submodule controls the equipment to generate corresponding actions according to the construction instruction, and the step 112 is returned.
The automatic construction process scheduling system of the embodiment of the disclosure can control equipment to automatically complete all construction tasks without any manual intervention. Meanwhile, once an emergency (fuel shortage, damage of components such as a sensor, data error and the like) occurs, the construction is often required to be interrupted, and accordingly, the automatic construction flow scheduling system of the embodiment of the disclosure can enable the operation machine to continue to work from the interrupted state after being restarted.
FIG. 12 is a schematic diagram of an alternate embodiment of an automated construction flow scheduling system according to the present disclosure. As shown in fig. 12, the construction flow automatic scheduling system may include a memory 58 and a processor 59, wherein:
a memory 58 for storing instructions.
A processor 59, configured to execute the instructions, so that the construction process automatic scheduling system performs operations of implementing the construction process automatic scheduling method according to any one of the embodiments described above (for example, any one of fig. 1 to 4, 9b, 10b, and 11 b).
Based on the construction process automatic scheduling system provided by the embodiment of the disclosure, after the construction task data is received, the operation machine can be controlled to automatically complete construction without any manual intervention, so that an operator is released from heavy and dangerous construction work.
The automatic construction process scheduling system provided by the embodiment of the disclosure can enable the operation machine to realize digital construction, and compared with the traditional construction mode, the digital construction mode can greatly improve the construction efficiency.
Based on the automatic construction flow scheduling system provided by the embodiment of the disclosure, if the operation machine interrupts construction due to an emergency, after the operation machine is restarted, the operation machine can continue to work from the state where the operation machine was interrupted as long as the construction task data is received again, so that the construction efficiency can be improved.
According to another aspect of the present disclosure, a work machine is provided, which includes the automatic construction process scheduling system according to any one of the embodiments (for example, any one of fig. 5-8, 9a, 10a, 11a and 12).
Based on the operation machine provided by the embodiment of the disclosure, the automatic construction flow scheduling system provided by the embodiment of the disclosure is installed, and after the construction task data is received, the operation machine can automatically complete the scheduling of the construction flow according to the construction task data and the construction state data without any manual intervention, so that the digital construction is realized. After the construction process is interrupted, the operation machine can continue to work from the interrupted state after being restarted.
According to another aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the instructions, when executed by a processor, implement the automatic construction flow scheduling method according to any one of the above embodiments (for example, any one of fig. 1 to 4, 9b, 10b, and 11 b).
Based on the computer-readable storage medium provided by the above-mentioned embodiment of the present disclosure, after the working machine receives the construction task data, the automatic construction flow scheduling method can control the working machine to automatically complete the construction without any manual intervention, thereby releasing the operator from heavy and dangerous construction work.
The automatic construction process scheduling method disclosed by the embodiment of the disclosure can enable equipment (operation machine) to realize digital construction, and compared with the traditional construction mode, the digital construction mode can greatly improve the construction efficiency.
In the above embodiment of the present disclosure, if the equipment (working machine) interrupts the construction due to an emergency, after the equipment is restarted, the equipment can continue to operate from the state where the equipment was interrupted as long as the construction task data is received again, and thus the above embodiment of the present disclosure can also improve the construction efficiency.
The automatic construction process scheduling System described above may be implemented as an Embedded System (Embedded System), an industrial computer (IPC), an on-board computer, a general-purpose processor, a Programmable Logic Controller (PLC), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or any suitable combination thereof for performing the functions described herein.
Thus far, the present disclosure has been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware to implement the above embodiments, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disk, or the like.
The description of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the disclosure and the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (11)
1. A construction process automatic scheduling method is characterized by comprising the following steps:
acquiring construction state data;
receiving construction task data;
converting the construction task data into construction instructions according to the construction state data;
controlling the working machine to complete corresponding actions according to the construction instructions;
the automatic construction flow scheduling method further comprises the following steps:
storing key data related to the whole construction process in the operation process of the operation machine;
wherein, according to the construction state data, converting the construction task data into the construction instruction comprises:
updating the construction task data according to the key data;
finishing motion planning, path planning or track planning according to the construction task data to generate a planning result;
converting the planning result into a construction instruction according to the construction state data;
the construction task is a mixed task, wherein the mixed task has a discrete characteristic and a continuous characteristic at the same time; for the hybrid task, the converting the construction task data into the construction instruction according to the construction state data comprises:
judging whether the construction task is finished or not according to the key data;
under the condition that the construction task is not completed, judging whether the working machine enters a buffer unit according to the key data, wherein the buffer unit is arranged between two adjacent working units of the mixed task;
sending a reset instruction under the condition that the working machine enters the buffer unit, and judging whether a past variable of the data of the working unit is empty or not;
extracting a past variable value to a present variable in the case where a past variable of the job unit data is not empty;
finishing motion planning, path planning or track planning according to the construction state data and the operation unit data in the current variable, and generating a planning result sequence;
selecting an optimal planning result from the planning result sequence according to the construction state data;
and generating a construction instruction according to the selected planning result.
2. The automatic construction process scheduling method according to claim 1, wherein the acquiring of the construction state data comprises:
acquiring original state data of a working machine and a working environment, wherein the original state data comprises at least one item of working machine state data, navigation positioning data and environment perception data;
and processing the original state data to generate construction state data.
3. The automatic construction process scheduling method according to claim 2, wherein the processing the raw state data to generate the construction state data comprises:
judging the effectiveness of the original state data;
and processing the effective original state data to generate construction state data.
4. The automatic construction flow scheduling method according to any one of claims 1 to 3, wherein the receiving construction task data comprises:
receiving, analyzing and storing construction task data, wherein the construction task data is a set with operation units as elements, and the operation machine forms an operation unit according to data required by completing construction operation of an operation point.
5. The automatic construction flow scheduling method according to any one of claims 1 to 3, further comprising:
when the work machine is restarted after the work machine construction is interrupted, the work machine continues to operate from the state in which it was interrupted.
6. The automatic construction flow scheduling method according to any one of claims 1 to 3, wherein for a hybrid job, the converting construction job data into construction instructions according to construction state data further comprises:
storing the remaining data of the current variable into the past variable when the past variable of the job unit data is empty;
acquiring the subsequent operation unit data of the current variable, and storing the subsequent operation unit data of the current variable into a future variable;
judging whether the execution of the operation unit corresponding to the current variable is finished or not according to the key data;
and under the condition that the execution of the operation unit corresponding to the current variable is not finished, executing the step of judging whether the operation machine enters the buffer unit or not according to the key data.
7. The automatic construction flow scheduling method according to claim 6, wherein for a hybrid job, the converting construction job data into construction instructions according to construction state data further comprises:
clearing data of past variables under the condition that the execution of the operation unit corresponding to the current variable is finished;
judging whether the future variable is not empty;
under the condition that the future variable is not empty, storing the value of the future variable into the current variable, and then executing the step of finishing motion planning, path planning or track planning according to the construction state data and the operation unit data in the current variable;
under the condition that the future variable is empty, executing the step of acquiring the subsequent operation unit data of the current variable;
when the working machine does not enter the buffer unit, a step of determining whether the future variable is not empty is performed.
8. An automatic construction flow scheduling system, comprising:
the data sensing module is used for acquiring construction state data;
the autonomous operation module is used for receiving construction task data; converting the construction task data into construction instructions according to the construction state data; controlling the working machine to complete corresponding actions according to the construction instructions;
the autonomous operation module comprises a storage submodule and a decision submodule, wherein the decision submodule comprises a recursion unit, a planning unit and a scheduling unit, and the autonomous operation module comprises:
the storage submodule is used for storing key data related to the whole construction process in the operation process of the equipment;
the recursion unit is used for updating the current operation unit according to the key data in the storage submodule;
the planning unit is used for finishing motion planning, path planning or track planning according to the construction task data, generating a planning result and sending the planning result to the scheduling unit;
the scheduling unit is used for converting the planning result from the planning unit into a construction instruction according to the construction state data;
the construction task is a mixed task, wherein the mixed task has a discrete characteristic and a continuous characteristic at the same time;
for the mixed task, the recursion unit is used for storing key data in the sub-module to judge whether the execution of the construction task is finished or not, and judging whether the operation machine enters the buffer unit or not according to the key data under the condition that the execution of the construction task is not finished, wherein the buffer unit is arranged between two adjacent operation units of the mixed task and sends a reset instruction to the scheduling unit; a scheduling unit for judging whether the past variable is empty or not, and extracting the past variable value to the present variable when the past variable of the job unit data is not empty; the planning unit is used for finishing motion planning, path planning or track planning according to the construction task data and generating a planning result sequence; and the scheduling unit is used for selecting an optimal planning result from the planning result sequence according to the construction state data and generating a construction instruction according to the selected planning result.
9. An automatic construction flow scheduling system, comprising:
a memory to store instructions;
a processor configured to execute the instructions to cause the automatic construction flow scheduling system to perform operations to implement the automatic construction flow scheduling method according to any one of claims 1 to 7.
10. A working machine characterized by comprising the automatic construction flow scheduling system according to claim 8 or 9.
11. A computer-readable storage medium storing computer instructions which, when executed by a processor, implement the method of automatic scheduling of a construction flow according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910220822.3A CN109934510B (en) | 2019-03-22 | 2019-03-22 | Automatic construction flow scheduling method and system, working machine and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910220822.3A CN109934510B (en) | 2019-03-22 | 2019-03-22 | Automatic construction flow scheduling method and system, working machine and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109934510A CN109934510A (en) | 2019-06-25 |
| CN109934510B true CN109934510B (en) | 2021-11-09 |
Family
ID=66988043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910220822.3A Active CN109934510B (en) | 2019-03-22 | 2019-03-22 | Automatic construction flow scheduling method and system, working machine and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109934510B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104536345A (en) * | 2014-12-17 | 2015-04-22 | 万向钱潮股份有限公司 | Multitask control method based on vehicle electrical control system |
| CN105956739A (en) * | 2016-04-19 | 2016-09-21 | 上海交通大学 | Three-dimensional simulating system for scheduling demonstration and algorithm verification of automated guided vehicle |
| CN107165154A (en) * | 2017-05-23 | 2017-09-15 | 徐工集团工程机械有限公司 | Dynamic compaction machinery automatic control system, method and dynamic compaction machinery |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9841749B2 (en) * | 2014-04-01 | 2017-12-12 | Bot & Dolly, Llc | Runtime controller for robotic manufacturing system |
-
2019
- 2019-03-22 CN CN201910220822.3A patent/CN109934510B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104536345A (en) * | 2014-12-17 | 2015-04-22 | 万向钱潮股份有限公司 | Multitask control method based on vehicle electrical control system |
| CN105956739A (en) * | 2016-04-19 | 2016-09-21 | 上海交通大学 | Three-dimensional simulating system for scheduling demonstration and algorithm verification of automated guided vehicle |
| CN107165154A (en) * | 2017-05-23 | 2017-09-15 | 徐工集团工程机械有限公司 | Dynamic compaction machinery automatic control system, method and dynamic compaction machinery |
Non-Patent Citations (1)
| Title |
|---|
| 强夯机自动起升与强夯系统研究;唐建林等;《建筑机械化》;20190228(第02期);第30-32页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109934510A (en) | 2019-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111091200A (en) | Updating method, system, agent, server and storage medium of training model | |
| CN102317044B (en) | Industrial robot system | |
| CN111194452A (en) | Motion prediction system and motion prediction method | |
| KR102229859B1 (en) | Operation management method, apparatus and system using machine learning and transfer learning | |
| CN109933019B (en) | Industrial control system, supporting device thereof, control supporting method thereof, and storage medium | |
| CN108897676B (en) | Flight guidance control software reliability analysis system and method based on formalization rules | |
| CN110834963A (en) | Black light operation management system and method for stacker-reclaimer in bulk material yard | |
| Cheng et al. | Harnessing evolutionary computation to enable dynamically adaptive systems to manage uncertainty | |
| CN116512273A (en) | Intelligent motion control method and system for inspection robot | |
| CN109934510B (en) | Automatic construction flow scheduling method and system, working machine and storage medium | |
| CN105900025A (en) | Control device, development device, and development program | |
| CN110796266A (en) | Method, device and storage medium for implementing reinforcement learning based on public information | |
| EP3961327B1 (en) | Assembly assistance device and method | |
| CN106371448A (en) | Motion optimization based self-instruction generating method for imaging satellite | |
| KR101827124B1 (en) | System and Method for recognizing driving pattern of driver | |
| KR20210075358A (en) | Smart factory operation analysis system and method | |
| Li et al. | Least-cost planning sequence estimation in labelled Petri nets | |
| CN111219733B (en) | Apparatus for managing combustion optimization and method thereof | |
| CN114518761A (en) | Object processing method, device, computer equipment and storage medium | |
| Raamets et al. | Development of process optimization model for autonomous mobile robot used in production logistics | |
| CN116776751B (en) | Intelligent decision algorithm model design development auxiliary system | |
| CN113327423B (en) | Behavior tree-based lane detection method and device and server | |
| Berruet et al. | A component based approach for the design of FMS control and supervision | |
| CN110263927B (en) | Cooperative operation system of intelligent model | |
| Zhang et al. | Parameter adaptation by case-based mission-planning of outdoor autonomous mobile robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |