CN110733982B - Multi-tower crane transfer scheduling method and system - Google Patents
Multi-tower crane transfer scheduling method and system Download PDFInfo
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- CN110733982B CN110733982B CN201911325138.8A CN201911325138A CN110733982B CN 110733982 B CN110733982 B CN 110733982B CN 201911325138 A CN201911325138 A CN 201911325138A CN 110733982 B CN110733982 B CN 110733982B
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
Abstract
The invention provides a method and a system for dispatching transportation of a multi-tower crane, wherein the system uses the dispatching method, and the method comprises the steps of respectively determining tower cranes covering a transportation starting point and a transportation end point; determining the sequence of tower cranes which can be sequentially plugged from a carrying starting point to a carrying terminal point as a carrying route, and acquiring a plugging path, plugging time and plugging energy among the tower cranes which are sequentially plugged on the carrying route, wherein when the sequence of the tower cranes which can be sequentially plugged is determined, a plugged party in two plugged tower cranes is removed and is not considered as a plugged party when the plugged party is used as a main plugging party in the previous plugging process; 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.
Description
Technical Field
The invention relates to the technical field of constructional engineering, in particular to a method and a system for transferring and scheduling a multi-tower crane.
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 a method and a system for transporting and scheduling a multi-tower crane, to solve the above problems, specifically:
the invention provides a multi-tower crane transfer scheduling method in a first 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, a connected party in two connected tower cranes is removed when the connected party is used as a main connected party in the previous connection process, and is not considered as a 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 the new connected party is one of N end point tower cranes, calculating a connection path, connection energy and connection time consumed when the new main connected party and the nth end 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;
and 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 in the engineering field.
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 in the engineering field 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 position and the working state of each tower crane in the engineering field 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 one 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 of tower cranes which are successively connected from the mth starting point to the nth end point 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 carrying 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 is the maximum consumed time for transferring to the preset connection point in the connected tower crane on the carrying route.
Preferably, when the conveyance route is interrupted during the conveyance, the steps S1-S5 are re-executed.
The invention also discloses a multi-tower crane transfer scheduling system, which adopts a plurality of tower cranes arranged on an engineering site for carrying, and further comprises computer equipment for carrying out data processing by adopting any one of the methods, acquiring a total connection path, total connection time, total connection energy and total connection frequency on each carrying route, and obtaining the shortest path length, the minimum connection frequency, 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 some embodiments of the present disclosure, and other drawings may be derived from those drawings by those of ordinary skill in the art without inventive effort.
FIG. 1 is a flow chart of a method for dispatching a multi-tower crane in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of an arrangement of a tower crane on an engineering site according to an embodiment of the invention;
fig. 3 is a schematic diagram of a shortest path for multi-tower crane transportation scheduling according to an embodiment of the present invention;
fig. 4 is a schematic diagram of multiple paths for multi-tower crane transfer scheduling according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and "a" and "an" generally include at least two, but do not exclude at least one, unless the context clearly dictates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It is also 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 a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
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 is not strictly calculated, avoidance and waiting are more considered between tower cranes, and the condition of low utilization rate exists. The situation needs to be solved, the method and the system for operation scheduling of the multiple tower cranes are provided, the technical scheme of optimal selection and path is provided for the transportation scheduling of the multiple tower cranes, the current extensive scheduling and transportation is improved, the reasonable scheduling and route planning are carried out, and the operation efficiency is improved.
The invention discloses a multi-tower crane transfer scheduling method, which comprises the steps of firstly respectively determining tower cranes covering a carrying starting point and a carrying end point; then respectively determining the sequence of tower cranes which can be sequentially plugged from a carrying starting point to a carrying terminal point and a formed carrying route, and obtaining a plugging path, plugging time and plugging energy among the tower cranes which are sequentially plugged on the carrying route, and performing planned preliminary screening for optimizing the plugging 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 plugged tower cranes is used as a main connected party in the previous plugging process, the connected party is directly rejected and is not considered as a new connected party; according to the statistical data of the path length, the energy consumption, the time consumption and the connection times of connection between the tower crane and the tower crane on each route, finally calculating a total connection path, total connection time, total connection energy and total connection times on each carrying route on each route, and comparing to obtain the carrying route with the shortest total path, the lowest time consumption, the lowest energy consumption and the lowest connection times for reference of a decision maker.
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 the new connected party is one of N end point tower cranes, calculating a connection path, connection energy and connection time consumed when the new main connected party and the nth end 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.
Further, when the tower cranes of the conveying starting point and the conveying end point are determined, the position and the working state of each tower crane in an engineering field are obtained in real time by using a sensor installed on the tower cranes, the tower cranes capable of being conveyed at the conveying starting point and the conveying end point are respectively obtained, and the M starting point tower cranes of the conveying starting point and the N end point tower cranes of the conveying end point are obtained. Based on the positions and the working states of the tower cranes in the engineering field, combining a 3D design model in the engineering field (the 3D design model can also be replaced by a 4D design model, a 5D design model or other design models), and acquiring the three-dimensional sizes and corresponding coordinates of all objects; and when the first step of connection is carried out, the mth starting point tower crane is used as a main connection party, the tower crane which can be connected with the mth starting point tower crane is determined as a connected party, and a connection path, connection energy and connection time which are consumed when the mth starting point tower crane and the connected party are connected are calculated.
When the task from the conveying starting point to the conveying end point cannot be completed through one-time connection, the next-stage connection is carried out.
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 engineering 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 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, determining a tower crane capable of being connected with the new main connection party as a new connected party, and calculating connection energy and connection time consumed by connection each time; and repeatedly executing the determination process of the main transfer party and the transferred party, calculating the transfer path, the transfer energy and the transfer time, and counting the transfer times. And calculating a connection path, connection energy and connection time consumed when the current new connected party is connected with the N-th terminal tower crane until the connected party is one of the N terminal tower cranes.
When calculating a total connection path, total connection energy consumption and total connection time, taking a connection path of tower cranes which are successively connected to an nth terminal point by an mth starting point tower crane 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 conveying route is transferred to the preset connection point in advance in the conveying process, the total transfer time of the connected tower crane is the maximum consumed time for transferring the connected tower crane on the conveying route to the preset connection point.
Further, when the carrying route is interrupted in the actual carrying process, the route calculation process is adopted to calculate again, so that the stagnation of the carrying caused by factors such as tower crane faults and the like is avoided.
Example 1
As shown in fig. 2, a method for dispatching tower crane transfer is disclosed in a specific embodiment of the present invention. According to the method, 6 tower cranes arranged on a construction site are taken as an example, circles in the drawing respectively represent the carrying ranges of the corresponding tower cranes, and the intersection of the circles indicates that the two tower cranes can be connected. The method comprises 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 a tower crane which can be connected with the tower crane 1, and calculating energy consumption W and 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 consumed energy and time are generated by including objects to be transported; the corresponding tower crane that can be docked becomes the docked party, the energy and time consumed by which is mainly due to the arrival at the handling site. At this time, the two types of transportation energy consumption are respectively: energy consumption W required by tower crane to convey object to next connection 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 tower crane 4 is required for connection with the tower crane 1The required energy consumption is Wb-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 then analyzing the tower crane which can be plugged in the downstream of the tower crane which can be plugged in the previous step, calculating energy consumption W and time T caused by the plugging of different tower cranes, and taking the tower crane which transports the object to the plugging place as the current main plugging party. The tower crane that tower crane 4 can be plugged into in the last step this moment has tower crane 5 and tower crane 2, and the tower crane that tower crane 2 can be plugged into has tower crane 4, tower crane 5, 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-4-5The energy consumption required by the connection of the tower crane 5 and the tower crane 4 is W respectivelyb-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.
The tower crane that tower crane 5 can plug into of last step has tower crane 4, tower crane 2, tower crane 3, tower crane 6, and the tower crane that tower crane 2 can plug into has tower crane 1, tower crane 4, tower crane 5, tower crane 3, and the tower crane that tower crane 4 can plug into has tower crane 5 and tower crane 2.
If the currently used tower crane appears 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 caused by other factors and sound is not eliminated, and the path is connected to the routes of the tower cranes 5 and 3, and the end point can be reached by using the tower crane 6, namely the path using the minimum number of tower cranes; but the path with the least number of tower cranes used, not the shortest energy consumption and the shortest freight time still needs to be analyzed continuously; when a phenomenon that the used tower crane in the path is used occurs in a certain path to be carried, the situation is not optimal in consideration of time consumption and energy consumption, and therefore analysis continues after similar paths are removed.
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, further explanation is provided for the shortest path problem described above. When some object needs to be moved from the point A to the point B, the transportation can be realized through various different paths by the construction of 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 first 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 a multi-tower crane transfer scheduling system which is used for carrying by adopting a plurality of tower cranes arranged on a project site, and comprises computer equipment for carrying out data processing 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.
Further, 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, an amplitude sensor, a height sensor, a torque sensor, a wind speed sensor and 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.
In other optional examples, in addition to single-factor optimization in practical application, a comprehensive optimal decision still needs to be considered, and at the moment, the 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 the system, so that a customized optimal path is obtained. The weights of different optimal routes are preset, the computer equipment makes a decision after analyzing the weights, an optimal route is provided for carrying, the rest optimal routes of other dimensions can be further sequenced in sequence to be used as alternatives, intelligent automatic decision making can be realized, and the step of artificial decision making 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. A multi-tower crane transfer scheduling method is characterized by comprising 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, a connected party in two connected tower cranes is removed when the connected party is used as a main connected party in the previous connection process, and is not considered as a 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 the new connected party is one of N end point tower cranes, calculating a connection path, connection energy and connection time consumed when the new main connected party and the nth end 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;
and 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 in the engineering field.
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 in the engineering field 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 position and the working state of each tower crane in the engineering field 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 one 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 of tower cranes which are successively connected from the mth starting point to the nth end point 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 transportation route is selected to be dispatched to the preset docking point in advance during transportation, the total dispatching time of the docked tower crane is the maximum time consumed for dispatching the docked tower crane on the transportation route to the preset docking point.
9. The method for dispatching multiple-tower crane transportation according to any one of claims 2-8, wherein steps S1-S5 are re-executed when the transportation route is interrupted during transportation.
10. A multi-tower crane transfer scheduling system is carried by adopting a plurality of tower cranes arranged on a project site, and is characterized by further comprising computer equipment for carrying out data processing by adopting the method of any one of claims 1 to 9, acquiring 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 for providing decision reference for tower crane transfer.
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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| CN114757627B (en) * | 2022-06-16 | 2022-11-29 | 中建八局第二建设有限公司 | Relay type lifting path planning and scheduling method |
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