CN110733982A - multi-tower crane transfer scheduling method and system - Google Patents
multi-tower crane transfer scheduling method and system Download PDFInfo
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- CN110733982A CN110733982A CN201911325138.8A CN201911325138A CN110733982A CN 110733982 A CN110733982 A CN 110733982A CN 201911325138 A CN201911325138 A CN 201911325138A CN 110733982 A CN110733982 A CN 110733982A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
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Abstract
The invention provides multi-tower crane transfer scheduling methods and systems, wherein the system uses the scheduling methods, the methods comprise the steps of respectively determining tower cranes covering a transport starting point and a transport end point, determining sequence of tower cranes which can be sequentially plugged from the transport starting point to the transport end point as a transport route, acquiring a connection path, connection time and connection energy among the tower cranes which are sequentially plugged on the transport route, eliminating the connected parties from consideration when the connected parties in two plugged tower cranes are used as main connected parties in the previous connection process when the sequence of tower cranes which can be sequentially plugged is determined, calculating the total connection path, total connection time, total connection energy and total connection times on each transport route, and obtaining the shortest path length, the minimum connection times, the fastest arrival time and the minimum energy consumption energy after comparison so as to provide decision reference for tower crane transfer.
Description
Technical Field
The invention relates to the technical field of constructional engineering, in particular to a method and a system for multi-tower crane transfer scheduling.
Background
Tower crane is the common jack-up haulage equipment in building site, need set up a plurality of tower cranes to construct according to the area size in building site, along with assembly type structure's development, the demand of tower crane also increases gradually, and the construction is the common condition in building site for many towers hangs. At present, there is no clear scheduling logic and mode in the construction process of the multi-tower crane, simple scheduling arrangement is generally carried out in the construction process, the optimal strategy is not strictly calculated, avoidance and waiting are more considered between tower cranes, and the condition of low utilization rate exists. Along with the development of operation forms for saving resources and improving construction efficiency, the multi-tower crane transferring and dispatching system can provide guarantee for high-efficiency operation of the multi-tower crane in a complex building construction environment.
Disclosure of Invention
In view of the above, the present invention provides methods and systems for transferring and scheduling multiple tower cranes, to solve the above problems, specifically:
the invention provides a multi-tower crane transfer scheduling method in an aspect, which comprises the following steps
Respectively determining tower cranes covering a carrying starting point and a carrying terminal point;
respectively determining the sequence of tower cranes which can be sequentially connected from a conveying starting point to a conveying end point and the formed conveying routes, and acquiring a connection path, connection time and connection energy among tower cranes which are sequentially connected on each conveying route, wherein when the sequence of tower cranes which can be sequentially connected is determined, when a connected party in two connected tower cranes is used as a main connected party in the previous connection process, the connected party is removed and is not considered as the connected party;
and calculating the total connection path, total connection time, total connection energy and total connection times on each carrying route, and comparing to obtain the shortest path length, the minimum connection times, the fastest arrival time and the minimum energy consumption energy so as to provide decision reference for tower crane transportation.
Preferably, the following operating steps are carried out:
s1, respectively determining M starting point tower cranes covering a conveying starting point and N end point tower cranes covering a conveying end point, wherein M, N are positive integers;
s2, taking the mth starting point tower crane as a main connection party, taking a tower crane capable of being connected with the mth starting point tower crane as a connected party, and calculating a connection path, connection energy and connection time consumed when the mth starting point tower crane is connected with the connected party, wherein M belongs to M;
s3, changing the connected party which is connected and carried in the step S2 into a new main connected party, determining a tower crane which is not used as the main connected party and can be connected with the new main connected party as a new connected party, and calculating a connection path, connection energy and connection time consumed when the new main connected party is connected with the new connected party;
s4, repeatedly executing S3 until a new connected party is of the N terminal-point tower cranes, and calculating a connection path, connection energy and connection time consumed when the new main connected party and the nth terminal-point tower crane are connected, wherein N belongs to N;
and S5, taking the connection route from the tower crane at the mth starting point to the tower crane at the nth end point as a carrying route, respectively calculating a total connection route, total connection energy, total connection time and total connection times on each carrying route, and comparing to obtain the shortest path length, the minimum connection times, the fastest arrival time and the minimum energy consumption energy so as to provide decision reference for tower crane transfer.
Preferably, the step S1 includes:
s11, acquiring the position and the working state of each tower crane in an engineering field in real time by using a sensor arranged on the tower crane;
s12, determining M starting point tower cranes for conveying starting points and N end point tower cranes for conveying end points according to the positions and the working states of the tower cranes on site.
Preferably, the step S2 includes:
s21, acquiring the three-dimensional sizes and corresponding coordinates of all objects according to the 3D design model of the engineering field;
and S22, based on the positions and the working states of the tower cranes on the site and the three-dimensional sizes and corresponding coordinates of all the objects, determining a tower crane capable of being connected with the mth starting point tower crane as a main connection party, determining a tower crane capable of being connected with the mth starting point tower crane as a connected party, and calculating a connection path, connection energy and connection time consumed when the mth starting point tower crane is connected with the connected party.
Preferably, the step S3 includes:
s31, after the connection with the connected party is completed by taking the mth starting point tower crane as the main connected party, changing the currently carried connected party into a new main connected party;
s32, after the M starting point tower cranes or the tower cranes which are used as main connecting parties are removed, determining a tower crane which can be connected with a new main connecting party and using the tower crane as a new connected party based on the positions and the working states of the tower cranes on site and the three-dimensional sizes and corresponding coordinates of all objects;
and S33, calculating a connection path, connection energy and connection time consumed when the new main connection party and the new connected party are connected.
Preferably, the step S4 includes:
s41, when multiple times of connection are needed for carrying, removing the main connection party after connection is completed, setting the connected party after connection as a new main connection party, and determining a tower crane capable of being connected with the new main connection party as a new connected party;
s42, calculating connection energy and connection time consumed by each connection;
s43, repeating the steps S41-S42 until the connected party is of the N terminal-point tower cranes, and calculating a connection path, connection energy and connection time consumed when the current new connected party is connected with the nth terminal-point tower crane.
Preferably, the step S5 includes:
s51, taking a connection route which is gradually connected to the nth tower crane by the mth starting point tower crane as a carrying route;
s52, solving a total connection path on each carrying route according to the connection path on each carrying route, solving the total connection frequency on each carrying route according to the connection frequency on each carrying route, solving the total connection energy on each carrying route according to the connection energy on each carrying route, solving the total connection time on each carrying route according to the time consumed by the connection of the two tower cranes on each carrying route, and comparing to obtain the shortest path length, the minimum connection frequency, the fastest arrival time and the minimum energy consumption energy for the transportation of the tower cranes to provide decision reference.
Preferably, in the step S52, when the connected tower crane on the route is selected to be transferred to the preset connection point in advance in the carrying process, the total transfer time of the connected tower crane takes the maximum consumed time for transferring the connected tower crane on the route to the preset connection point.
Preferably, when the conveyance route is interrupted during the conveyance, the steps S1-S5 are re-executed.
The second aspect of the invention discloses an multi-tower crane transfer scheduling system, which carries by adopting a plurality of tower cranes arranged on a construction site, and further comprises computer equipment for carrying out data processing by adopting the method described in any to obtain a total connection path, total connection time, total connection energy and total connection times on each carrying route, and obtain the shortest path length, the minimum connection times, the fastest arrival time and the minimum energy consumption energy for providing decision reference for tower crane transfer.
Preferably, the system further comprises: the data acquisition unit is used for acquiring the position and the working state of the tower crane and comprises a hoisting weight sensor and/or an amplitude sensor and/or a height sensor and/or a torque sensor and/or a wind speed sensor and/or an angle sensor which are arranged at the tower crane.
Preferably, the communication mode between the computer equipment and the data acquisition unit adopts wireless transmission.
Preferably, the computer device includes an optimal route determining module, configured to analyze and calculate an optimal route according to preset weights of four route dimensions, i.e., shortest route length, minimum connection times, fastest arrival time, and minimum energy consumption.
According to the technical scheme, the optimal selection and the optimal path are provided for the multi-tower crane transfer scheduling, the current extensive scheduling transfer is improved, the reasonable scheduling and the route planning are carried out, and the operation efficiency is improved.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings, the drawings described below are merely embodiments of the present disclosure, and other drawings may be derived therefrom by those of ordinary skill in the art without the exercise of inventive faculty.
FIG. 1 is a flow chart of a method for dispatching a multi-tower crane transfer according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an arrangement of a tower crane in an engineering site according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a shortest path for multi-tower crane transit scheduling according to an embodiment of the present invention;
fig. 4 is a schematic diagram of multiple paths for a multi-tower crane transfer schedule according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are partial embodiments of of the present invention, rather than all embodiments.
As used in this specification and the appended claims, the singular forms "", "the", and "the" are intended to include the plural forms as well, and "the" plurality " generally includes at least two, but does not exclude at least unless the context clearly indicates otherwise.
It should be understood that the term "and/or" is used herein only to describe kinds of association relationships that describe association objects, meaning that there may be three kinds of relationships, for example, a and/or B, and may mean that there are three cases of a alone, a and B together, and B alone.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises an series of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system.
Because the existing multi-tower crane construction process has no clear scheduling logic and mode, simple scheduling arrangement is generally carried out in the construction process, the optimal strategy of rigorous calculation is not adopted, avoidance and waiting are more considered among tower cranes, and the condition of low utilization rate exists.
The invention discloses an multi-tower crane transfer scheduling method which comprises the steps of firstly respectively determining tower cranes covering a transport starting point and a transport end point, then respectively determining sequence of tower cranes which can be sequentially plugged from the transport starting point to the transport end point and a formed transport route, obtaining a connection path, connection time and connection energy among the tower cranes which are sequentially plugged on the transport route, performing planning preliminary screening for optimizing the connection route among the tower cranes, wherein when the sequence of the tower cranes which can be sequentially plugged is determined, when the connected party in the two tower cranes which are sequentially plugged is used as a main connected party in the previous connection process, the tower cranes are directly rejected and are not considered as new connected parties, and finally calculating the total energy of the connection path, the total connection time, the connection time and the total connection time on each transport route according to the statistical data of the length of the tower cranes on each route and the tower crane, comparing the total energy consumption, the time consumption and the connection time between the tower cranes on each route, and obtaining the minimum total energy consumption and the total energy of the transport route which is supplied for the minimum.
As shown in fig. 1, the specific planning calculation process of the method includes:
s1, respectively determining M starting point tower cranes covering a conveying starting point and N end point tower cranes covering a conveying end point, wherein M, N are positive integers;
s2, taking the mth starting point tower crane as a main connection party, taking a tower crane capable of being connected with the mth starting point tower crane as a connected party, and calculating a connection path, connection energy and connection time consumed when the mth starting point tower crane is connected with the connected party, wherein M belongs to M;
s3, changing the connected party which is connected and carried in the step S2 into a new main connected party, determining a tower crane which is not used as the main connected party and can be connected with the new main connected party as a new connected party, and calculating a connection path, connection energy and connection time consumed when the new main connected party is connected with the new connected party;
s4, repeatedly executing S3 until a new connected party is of the N terminal-point tower cranes, and calculating a connection path, connection energy and connection time consumed when the new main connected party and the nth terminal-point tower crane are connected, wherein N belongs to N;
and S5, taking the connection route from the mth starting-point tower crane to the nth end-point tower crane as a carrying route, respectively calculating a total connection route, total connection energy, total connection time and total connection times on each carrying route, finally comparing and obtaining a shortest connection route, a most time-saving carrying route, a most energy-saving carrying route and a least connection times carrying route, and providing decision reference for tower crane transfer.
, when determining the tower cranes of the transport starting point and the transport end point, acquiring the position and the working state of each tower crane of the engineering site in real time by using the sensors arranged on the tower cranes, respectively acquiring the tower cranes capable of being transported at the transport starting point and the transport end point, and acquiring the three-dimensional sizes and corresponding coordinates of all objects by combining a 3D design model of the engineering site (the 3D design model can also be replaced by 4D, 5D or other design models) based on the position and the working state of each tower crane of the site, and when carrying out the connection of the step, determining the tower crane capable of being connected with the mth starting point as a main connection party, and calculating the connection path, connection energy and connection time consumed when the mth starting point tower crane is connected with the connected party.
When the cargo from the transfer starting point to the transfer end point cannot be completed by only transfers, the transfer is performed at the next transfers.
At the time of the second docking: after the tower crane with the mth starting point is taken as a main connecting party to complete connection with the connected party, changing the currently carried connected party into a new main connecting party; after M determined starting point tower cranes or tower cranes which are already used as main connecting parties are removed, determining a tower crane which can be connected with a new main connecting party and taking the tower crane as a new connected party based on the position and the working state of each tower crane on the site and the three-dimensional sizes and corresponding coordinates of all objects; and then calculating a connection path, connection energy and connection time consumed when the new main connection party and the new connected party are connected. In this process of plugging into, because M starting point tower cranes may have a plurality ofly, the condition of plugging into also can exist between the starting point tower crane, for avoiding the used repeatedly starting point tower crane, rejects M starting point tower cranes as the route of screening in order to optimize the starting point tower crane of plugging into when plugging into for the second time. When the connection energy between the starting-point tower cranes is less or the time consumption is less, the starting-point tower cranes which are already used as main connection parties can be selected and removed, the starting-point tower cranes which are not connected are also calculated, and the situation that the optimal result cannot be obtained due to selection omission is avoided.
When the tower crane needs to be transferred for multiple times, the main connection party after the transfer is finished is removed, the transferred party after the transfer is set as a new main connection party, the tower crane capable of being transferred with the new main connection party is determined as a new transferred party, the transfer energy and transfer time consumed by each transfer are calculated, the determination process of the main connection party and the transferred party is repeatedly executed, the transfer path, the transfer energy and the transfer time are calculated, the transfer times are counted, and the transfer path, the transfer energy and the transfer time consumed when the current new transferred party is transferred with the nth terminal point are calculated until the transferred party is of the tower cranes with the N terminal points.
When calculating a total connection path, total connection energy consumption and total connection time, taking a connection path from the tower crane with the m starting point to the n tower crane in a successive connection mode as a carrying path; and solving a total connection path on each carrying route according to the connection path on each carrying route, solving the total connection times on each carrying route according to the connection times on each carrying route, solving the total connection energy on each carrying route according to the connection energy on each carrying route, and solving the total connection time on each carrying route according to the time consumed by the connection of the two tower cranes on each carrying route. Obtaining routes by comparing the total paths, the total energy, the total time and the total connection times which are consumed on each route and acquired in the process, namely: shortest total path to dock, least total time to dock, least total energy to dock, and least total number of docks. Preferably, when the connected tower crane on the route is transferred to the preset connection point in advance in the carrying process, the total transfer time of the connected tower crane is the maximum consumed time for transferring the connected tower crane to the preset connection point on the route.
And , when the carrying route is interrupted in the actual carrying process, recalculating by adopting the route calculation process to avoid the stagnation of the carrying caused by tower crane faults and other factors.
Example 1
As shown in fig. 2, in specific embodiments of the present invention, methods for tower crane transfer scheduling are disclosed, in the method, 6 tower cranes arranged on a construction site are used as an example, circles in the drawing respectively represent the carrying ranges of the corresponding tower cranes, the intersection of the circles indicates that two tower cranes can be connected, and only this example is used for the further step, the method is also applicable to the case of multiple tower cranes, and the method includes the following specific processes:
according to the 3D design model of the construction site facility, the three-dimensional sizes and the coordinate positions of all objects are obtained; and acquiring the current positions and working states (including information such as hoisting weight, amplitude, moment, wind speed, angle and the like) of all tower cranes in the construction site in real time according to the installed sensors of the tower cranes.
Respectively determining the number of tower cranes covering the positions of a starting point and an end point, wherein the starting point tower crane serving as a transport starting point in the scene provided by the invention is a tower crane 1, and the end point tower crane serving as a transport end point is a tower crane 6;
analyzing the tower crane which can be connected with the tower crane 1, and calculating the energy consumption W and the time T caused by the connection of different tower cranes with the tower crane 1, wherein the tower crane 1 becomes a main connecting party and the energy consumption and the time consumed by the main connecting party are generated by including a conveying object, the corresponding tower crane which can be connected becomes a connected party and the energy consumption and the time consumed by the corresponding tower crane mainly refer to the energy consumption W required by the tower crane to convey the object to a lower connecting pointaTime TaEnergy consumption W required for tower crane to transfer to current connection placebTime Tb；
The tower crane which can be connected with the tower crane 1 on the construction site related in the invention is provided with the tower crane 4 and the tower crane 2, and the energy consumption required by the connection of the tower crane 1 and the tower crane 4 is W respectivelya-1-4Time Ta-1-4The energy consumption required by the connection of the tower crane 4 and the tower crane 1 is W respectivelyb-4-1Time Tb-4-1(ii) a The energy consumption required by the connection of the tower crane 1 and the tower crane 2 is W respectivelya-1-2Time Ta-1-2The energy consumption required by the connection of the tower crane 2 and the tower crane 1 is W respectivelyb-2-1Time Tb-2-1；
The energy consumed by the route tower crane 1 → 4 is as follows: wa-1-4+Wb-4-1Time is Ta-1-4+Tb-4-1；
The energy consumed by the route tower crane 1 → 2 is as follows: wa-1-2+Wb-2-1Time is Ta-1-2+Tb-2-1。
And analyzing the tower crane which can be plugged downstream of the tower crane which can be plugged in the step , calculating energy consumption W and time T caused by the plugging of different tower cranes, wherein the tower crane for conveying objects to the plugging position is the current main plugging square, at the moment, the tower crane which can be plugged in the step comprises a tower crane 5 and a tower crane 2, and the tower crane which can be plugged in the tower crane 2 comprises a tower crane 4, a tower crane 5 and a tower crane 3.
When the tower crane 4 is the main connection side of the current route, the energy consumption required by the connection of the tower crane 4 and the tower crane 5 is W respectivelya-4-5Time Ta-4-5Tower ofThe energy consumption required by the connection of the crane 5 and the tower crane 4 is respectively Wb-5-4Time Tb-5-4(ii) a The energy consumption required by the connection of the tower crane 4 and the tower crane 2 is W respectivelya-4-2Time Ta-4-2The energy consumption required by the connection of the tower crane 2 and the tower crane 4 is W respectivelyb-2-4Time Tb-2-4；
When the tower crane which can be connected with the tower crane 2 has the tower crane, the energy consumption and the time are calculated by referring to the calculation mode.
At this time, the current routable route and the energy consumption are as follows:
the energy consumed by the route tower crane 1 → 4 → 5 is as follows: wa-1-4+Wb-4-1+Wa-4-5+Wb-5-4Time is Ta-1-4+Tb-4-1+Ta-4-5+Tb-5-4;
The energy consumed by the route tower crane 1 → 4 → 2 is as follows: wa-1-4+Wb-4-1+Wa-4-2+Wb-2-4Time is Ta-1-4+Tb-4-1+Ta-4-2+Tb-2-4;
The energy consumed by the route tower crane 1 → 2 → 4 is as follows: wa-1-2+Wb-2-1+Wa-2-4+Wb-4-2Time is Tb-1-2+Tb-2-1+Ta-2-4+Tb-4-2;
The energy consumed by the route tower crane 1 → 2 → 5 is as follows: wa-1-2+Wb-2-1+Wa-2-5+Wb-5-2Time is Tb-1-2+Tb-2-1+Ta-2-5+Tb-5-2;
The energy consumed by the route tower crane 1 → 2 → 3 is as follows: wa-1-2+Wb-2-1+Wa-2-3+Wb-3-2Time is Tb-1-2+Tb-2-1+Ta-2-3+Tb-3-2。
And combining the determined routes, continuously replacing the main junction party, and determining the junction party. At the moment, the tower crane can be connected at the downstream of the tower crane, the energy consumption W and the time T caused by connection of different tower cranes are calculated, and the tower crane for conveying an object to the connection position is the current main connection party.
Go up step tower crane that can plug into tower crane 5 and can plug into has tower crane 4, tower crane 2, tower crane 3, tower crane 6, and tower crane that tower crane 2 can plug into has tower crane 1, tower crane 4, tower crane 5, tower crane 3, and tower crane that tower crane 4 can plug into has tower crane 5 and tower crane 2.
If the existing tower crane is used in the planning of the previous step, the planning of the path of the tower crane is considered to enter the complex situation, the complication of the path of the tower crane with other factors and sounds is not eliminated, only the angle that the number of the tower cranes is the minimum can be seen, the path connected to the routes 5 and 3 of the tower cranes can meet the requirement of reaching the end point by using the tower crane 6, namely the path with the minimum number of the tower cranes, but the path with the minimum number of the tower cranes, which is not the path with the minimum energy consumption and the shortest goods time, still needs to be analyzed continuously, when the phenomenon that the used tower cranes are used appears in a certain path during transportation, the situation is not optimal from the aspects of time consumption and energy consumption, and the analysis.
By adopting the method for eliminating the tower crane capable of being connected with the main connecting party in the mode, all the lines of the tower crane 6 connected with each connecting line are selected. The optimal energy-consuming path and the optimal time-consuming path can be quickly selected by the energy-consuming and time-consuming values of the different paths. The part (without a corresponding calculation formula) of the total path for calculating the connection is obtained by progressive accumulation, namely, the total path is obtained by summing the paths of the two tower cranes during the connection. By comparing the paths 2 and 3, the optimal time-consuming path with the minimum number of tower cranes and the optimal time-consuming path with the minimum number of tower cranes can be obtained.
As shown in fig. 3-4, the shortest path problem mentioned above is further illustrated in , when an object needs to be moved from point a to point B, the object can be transported through various paths by a plurality of different tower cranes.
Considering the straight-line distance between two points, in combination with the actual obstacle, the following operations are required:
1. the tower crane 1 firstly lifts an object from the position A, moves the object to a position with the height of H1 and translates the object to a second position;
2. at the moment, the tower crane 2 catcher lifts the object and moves the object to a third position with the height of H3;
3. hoisting the object to a fourth position H6 by a tower crane 5, translating to a fifth position, and then hoisting to the fifth position;
4. and finally, hoisting the object to the position B by a tower crane 6.
The path is shortest in position in the horizontal direction, but displacement in the vertical direction has a reciprocating path due to obstacle crossing. When the height of the obstacle during the moving process exceeds the position height of A, B, the transfer has reciprocating action in the vertical direction. Obviously, the straight-line distance between two points in the transfer process of the tower crane is not an optimal strategy. Therefore, the invention provides the shortest connection path, the most time-saving carrying route, the most energy-saving carrying route and the least connection time carrying route for reference and alternative selection.
The invention also discloses an multi-tower crane transfer scheduling system which is used for carrying by adopting a plurality of tower cranes arranged on site, and comprises computer equipment for processing data by adopting the multi-tower crane transfer scheduling method to obtain a total connection path, total connection time, total connection energy and total connection times on each carrying route, and obtaining the shortest path length, the minimum connection times, the fastest arrival time and the minimum energy consumption energy after comparison so as to provide decision reference for tower crane transfer.
, the system also includes a data acquisition unit for acquiring the position and working state of the tower crane, including a crane weight sensor, an amplitude sensor, a height sensor, a moment sensor, a wind speed sensor and an angle sensor, which are arranged on the tower crane.
In other optional examples, in addition to single-factor optimization in practical application, comprehensive optimal decision needs to be considered, at this time, weights of dimensions such as path length, energy consumption, time consumption, occupied tower crane resource number and the like in the optimal decision are set through a system to obtain a customized optimal path, namely, the weights of different optimal routes are preset, a computer device makes a decision after analyzing the weights, optimal routes are provided for carrying, the remaining optimal routes of other dimensions can be sequenced in sequence as alternatives in , intelligent automatic decision can be realized, and the step of artificial decision is omitted.
Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that the present disclosure is not limited to the precise arrangements, instrumentalities, or instrumentalities described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (12)
1, multi-tower crane transfer scheduling method, characterized in that, the method includes
Respectively determining tower cranes covering a carrying starting point and a carrying terminal point;
respectively determining the sequence of tower cranes which can be sequentially connected from a conveying starting point to a conveying end point and the formed conveying routes, and acquiring a connection path, connection time and connection energy among tower cranes which are sequentially connected on each conveying route, wherein when the sequence of tower cranes which can be sequentially connected is determined, when a connected party in two connected tower cranes is used as a main connected party in the previous connection process, the connected party is removed and is not considered as the connected party;
and calculating the total connection path, total connection time, total connection energy and total connection times on each carrying route, and comparing to obtain the shortest path length, the minimum connection times, the fastest arrival time and the minimum energy consumption energy so as to provide decision reference for tower crane transportation.
2. The method for dispatching and transporting a multi-tower crane according to claim 1, wherein the following steps are performed:
s1, respectively determining M starting point tower cranes covering a conveying starting point and N end point tower cranes covering a conveying end point, wherein M, N are positive integers;
s2, taking the mth starting point tower crane as a main connection party, taking a tower crane capable of being connected with the mth starting point tower crane as a connected party, and calculating a connection path, connection energy and connection time consumed when the mth starting point tower crane is connected with the connected party, wherein M belongs to M;
s3, changing the connected party which is connected and carried in the step S2 into a new main connected party, determining a tower crane which is not used as the main connected party and can be connected with the new main connected party as a new connected party, and calculating a connection path, connection energy and connection time consumed when the new main connected party is connected with the new connected party;
s4, repeatedly executing S3 until a new connected party is of the N terminal-point tower cranes, and calculating a connection path, connection energy and connection time consumed when the new main connected party and the nth terminal-point tower crane are connected, wherein N belongs to N;
and S5, taking the connection route from the tower crane at the mth starting point to the tower crane at the nth end point as a carrying route, respectively calculating a total connection route, total connection energy, total connection time and total connection times on each carrying route, and comparing to obtain the shortest path length, the minimum connection times, the fastest arrival time and the minimum energy consumption energy so as to provide decision reference for tower crane transfer.
3. The method for dispatching transportation of multiple cranes as claimed in claim 2, wherein the step S1 comprises:
s11, acquiring the position and the working state of each tower crane in an engineering field in real time by using a sensor arranged on the tower crane;
s12, determining M starting point tower cranes for conveying starting points and N end point tower cranes for conveying end points according to the positions and the working states of the tower cranes on site.
4. The method for dispatching transportation of multiple cranes as claimed in claim 3, wherein the step S2 comprises:
s21, acquiring the three-dimensional sizes and corresponding coordinates of all objects according to the 3D design model of the engineering field;
and S22, based on the positions and the working states of the tower cranes on the site and the three-dimensional sizes and corresponding coordinates of all the objects, determining a tower crane capable of being connected with the mth starting point tower crane as a main connection party, determining a tower crane capable of being connected with the mth starting point tower crane as a connected party, and calculating a connection path, connection energy and connection time consumed when the mth starting point tower crane is connected with the connected party.
5. The method for dispatching transportation of multiple cranes as claimed in claim 4, wherein said step S3 comprises:
s31, after the connection with the connected party is completed by taking the mth starting point tower crane as the main connected party, changing the currently carried connected party into a new main connected party;
s32, after the M starting point tower cranes or the tower cranes which are used as main connecting parties are removed, determining a tower crane which can be connected with a new main connecting party and using the tower crane as a new connected party based on the positions and the working states of the tower cranes on site and the three-dimensional sizes and corresponding coordinates of all objects;
and S33, calculating a connection path, connection energy and connection time consumed when the new main connection party and the new connected party are connected.
6. The method for dispatching transportation of multiple cranes as claimed in claim 5, wherein the step S4 comprises:
s41, when multiple times of connection are needed for carrying, removing the main connection party after connection is completed, setting the connected party after connection as a new main connection party, and determining a tower crane capable of being connected with the new main connection party as a new connected party;
s42, calculating connection energy and connection time consumed by each connection;
s43, repeating the steps S41-S42 until the connected party is of the N terminal-point tower cranes, and calculating a connection path, connection energy and connection time consumed when the current new connected party is connected with the nth terminal-point tower crane.
7. The method for dispatching transportation of multiple cranes according to claim 6, wherein the step S5 comprises:
s51, taking a connection route which is gradually connected to the nth tower crane by the mth starting point tower crane as a carrying route;
s52, solving a total connection path on each carrying route according to the connection path on each carrying route, solving the total connection frequency on each carrying route according to the connection frequency on each carrying route, solving the total connection energy on each carrying route according to the connection energy on each carrying route, solving the total connection time on each carrying route according to the time consumed by the connection of the two tower cranes on each carrying route, and comparing to obtain the shortest path length, the minimum connection frequency, the fastest arrival time and the minimum energy consumption energy for the transportation of the tower cranes to provide decision reference.
8. The method for dispatching transportation of multiple cranes according to claim 7, wherein in step S52, when the docked tower crane on the route is selected to be dispatched to the preset docking point in advance during the transportation process, the total dispatching time of the docked tower crane is the maximum consumed time for dispatching to the preset docking point in the docked tower crane on the route.
9. The method for dispatching of multi-tower crane according to any of , wherein when the transportation route is interrupted during transportation, the steps S1-S5 are performed again.
10, kinds of multi-tower crane transfer scheduling system, adopt arrange in the construction site a plurality of tower crane carry on the transport, characterized by that, also include the computer equipment, is used for adopting the method of any in claims 1-9 to carry on data processing, obtain the total path of plugging into, total time of plugging into, total energy and total number of plugging into of each transport route, obtain shortest path length, minimum number of plugging into, fastest arrival time and minimum energy consumption energy, for tower crane transfer provide decision reference.
11. The multi-tower crane transfer scheduling system of claim 10, further comprising: the data acquisition unit is used for acquiring the position and the working state of the tower crane and comprises a hoisting weight sensor and/or an amplitude sensor and/or a height sensor and/or a torque sensor and/or a wind speed sensor and/or an angle sensor which are arranged at the tower crane.
12. The system according to claim 10 or 11, wherein the computer device comprises an optimal route determination module for analyzing and calculating an optimal route according to preset weights for four route dimensions of shortest path length, minimum number of connections, fastest arrival time and least energy consumption.
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