Electric crawler-type long screw pile machine with automatic point searching and automatic pile forming control functions

Abstract

The invention relates to the technical field of pile foundation construction, in particular to an electric crawler-type long screw pile machine with automatic point searching and automatic pile forming control, which comprises a vehicle body, and a control component is mounted in the vehicle body; the interior of the control part is electrically connected with a multi-mode sensing subsystem, the interior of the control part is electrically connected with an intelligent decision center, the interior of the control part is electrically connected with an omnidirectional navigation subsystem, and the interior of the control part is electrically connected with a cloud monitoring platform. According to the electric crawler-type long screw pile machine, the electric crawler-type long screw pile machine is highly intelligent pile foundation construction equipment, the advanced functions of automatic point searching, pile forming control, cloud monitoring and the like are integrated, the equipment is further provided with an innovative automatic lubricating system, the design of cylindrical cam driving and a precise metering valve is adopted, maintenance-free timing and quantitative lubrication is achieved, and the electric crawler-type long screw pile machine is suitable for popularization and application. According to the pile machine, through cooperative work of multiple systems, the construction precision and efficiency are remarkably improved, and manual intervention is reduced.

Description

Technical Field

[0001] This invention relates to the field of pile foundation construction technology, specifically to an electric crawler-type long spiral pile driver with automated point finding and automated pile forming control. Background Technology

[0002] In the traditional field of pile foundation construction, long-spiral pile drivers generally suffer from low positioning accuracy, unstable pile quality, and high reliance on manual labor. Existing equipment mainly relies on the experience of operators for pile positioning and verticality control. Limited by the single GNSS positioning method and mechanical transmission errors, it is difficult to meet the requirements of high-precision construction. In terms of geological adaptability, traditional pile drivers lack real-time geological perception capabilities and cannot dynamically adjust drilling parameters, which can easily lead to equipment overload or pile defects when encountering complex strata. Construction management relies heavily on manual recording and offline analysis, resulting in data lag and blind spots in supervision. In addition, conventional lubrication systems require frequent shutdowns for maintenance, affecting the continuity of construction. These technical bottlenecks restrict the construction efficiency and quality control level of pile foundation projects, and there is an urgent need for integrated innovation through intelligent transformation to achieve precise positioning, adaptive control, and remote monitoring. Summary of the Invention

[0003] To address these issues, the present invention provides an electric tracked long spiral pile driver with automated point-finding and automated pile-forming control.

[0004] The present invention provides the following technical solution: an electric tracked long spiral pile driver with automated point finding and automated pile forming control, including a vehicle body, wherein control components are installed inside the vehicle body; The control component is internally electrically connected to a multimodal sensing subsystem, an intelligent decision-making center, an omnidirectional navigation subsystem, and a cloud monitoring platform.

[0005] In a preferred embodiment of the present invention, the multimodal sensing subsystem comprises a GNSS positioning module, a six-axis inertial measurement unit, a motor current sensor, a drill rod torque sensor, and a hydraulic pressure sensor. The multimodal sensing subsystem is used to collect real-time data on the piling machine's spatial coordinates, body tilt angle, power head operating current, drill rod rotation torque, and hydraulic system pressure. The intelligent decision-making center is equipped with an industrial-grade PLC and an AI coprocessor. The multimodal sensing subsystem is electrically connected to the intelligent decision-making center. The intelligent decision-making center receives the sensing data from the multimodal sensing subsystem via the Modbus-TCP protocol. The control logic of the intelligent decision-making center is based on a Kalman filter algorithm to fuse GNSS and IMU data to achieve a piling machine planar positioning error ≤ ±2cm, and based on the current-torque-pressure... The data link dynamically calculates the formation resistance coefficient and automatically matches the drilling speed. A PID controller adjusts the opening of the hydraulic proportional valve to maintain the drill rod verticality deviation below 0.3%. The omnidirectional navigation subsystem consists of an RTK differential positioning base station, a 2D lidar, and a UWB indoor positioning module. This subsystem is used to construct a three-dimensional digital map of the construction site. It also enables automatic planning of the piling machine's movement path and batch import of pile coordinates. The cloud monitoring platform is a 5G wireless channel established based on the MQTT protocol. Its output is electrically connected to an external control room, which receives data transmitted from the cloud monitoring platform. This data includes real-time construction parameters, equipment health status, and supports the issuance of reverse control commands.

[0006] As a preferred embodiment of the present invention, the receiving end of the intelligent decision-making center is electrically connected to a stratum adaptive module. The stratum adaptive module identifies the soil layer type by analyzing the frequency characteristics of the current signal through wavelet transform. The receiving end of the stratum adaptive module is electrically connected to an external database. The stratum adaptive module can call the pre-stored construction parameters in the external database. The stratum adaptive module can automatically set the drill rod rotation speed, concrete pumping pressure, and drill lifting speed.

[0007] As a preferred embodiment of the present invention, the cloud monitoring platform is equipped with a Unity3D engine, which is used to construct a virtual pile driver model. The virtual pile driver model can display the track ground pressure distribution and drill rod stress cloud map and generate a construction quality report.

[0008] In a preferred embodiment of the present invention, a drive shaft is installed inside the vehicle body, a telescopic device is fixedly connected to the top of the vehicle body, a first gear is fixedly connected to the surface of the drive shaft, a first rotating rod is rotatably connected to the right side of the vehicle body, a second gear is fixedly connected to the surface of the first rotating rod, a first bevel gear is fixedly connected to the right end of the first rotating rod, a support plate is fixedly connected to the right side of the vehicle body, a second rotating rod is rotatably connected to the inner wall of the support plate, a second bevel gear is fixedly connected to the bottom of the second rotating rod, the first bevel gear meshes with the second bevel gear, and the first gear meshes with the second gear.

[0009] As a preferred embodiment of the present invention, a third rotating rod is rotatably connected to the top of the vehicle body, and a synchronous wheel is fixedly connected to the surface of the third rotating rod and the top of the second rotating rod. A synchronous belt is sleeved on the surface of the two synchronous wheels. A third gear is fixedly connected to the top of the surface of the third rotating rod, and a fourth gear is fixedly connected to the surface of the telescopic device. A first connecting frame is fixedly connected to the top of the vehicle body, and a second connecting frame is fixedly connected to the front side of the first connecting frame.

[0010] As a preferred embodiment of the present invention, a pressure ring is fixedly connected to the bottom of the second connecting frame, a sponge is installed on the inner ring of the pressure ring, a connecting rod is fixedly connected to the top of the fourth gear, an oil box is fixedly connected to the top of the connecting rod, the oil outlet of the oil box is in contact with the surface of the telescopic device, and the third gear meshes with the fourth gear.

[0011] As a preferred embodiment of the present invention, a movable plate is slidably connected to the surface of the second connecting frame, a driven rod is fixedly connected to the left side of the movable plate, a cylindrical cam is fixedly connected to the top of the third rotating rod, a reciprocating groove with the ends connected is opened on the surface of the cylindrical cam, and the end of the driven rod is slidably connected to the groove wall of the reciprocating groove.

[0012] Compared with the prior art, the beneficial effects of the present invention are: In this invention, the electric tracked long spiral pile driver is a highly intelligent pile foundation construction equipment, integrating advanced functions such as automated point finding, pile formation control, and cloud monitoring. Its core control component uses a multi-modal sensing subsystem to collect data such as the pile driver's spatial coordinates, body tilt angle, and power system parameters in real time. Combined with GNSS and IMU fusion positioning technology, it achieves a planar positioning accuracy of ±2cm. The intelligent decision-making center adopts an industrial-grade PLC and AI coprocessor, and based on Kalman filtering algorithm and PID control, it achieves precise adjustment of drill rod verticality deviation <0.3%, and can dynamically adjust drilling parameters according to formation resistance, providing omnidirectional navigation. The subsystem constructs a 3D construction map using RTK, LiDAR, and UWB technologies, enabling automatic path planning and obstacle avoidance. The cloud monitoring platform utilizes a 5G network and the Unity3D engine to create a virtual pile driver model, displaying equipment status in real time and generating quality reports. A unique soil adaptive module identifies soil layer types by analyzing current signals through wavelet transform and automatically matches optimal construction parameters. The equipment is also equipped with an innovative automatic lubrication system, employing a cylindrical cam drive and precision metering valve design to achieve maintenance-free, timed, and quantitative lubrication. Through the collaborative work of multiple systems, this pile driver significantly improves construction accuracy and efficiency while reducing manual intervention. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the control system of the present invention; Figure 2 This is a schematic diagram of the lubrication component structure of the present invention; Figure 3 For the present invention Figure 2 A schematic diagram of a local structure in the image; Figure 4 For the present invention Figure 3 A schematic diagram of a local structure.

[0014] In the diagram: 1. Vehicle body; 2. Control components; 3. Power shaft; 4. First gear; 5. Telescopic device; 6. Second gear; 7. First rotating rod; 8. First bevel gear; 9. Second bevel gear; 10. Second rotating rod; 11. Support plate; 12. Synchronous pulley; 13. Synchronous belt; 14. Third rotating rod; 15. First connecting frame; 16. Third gear; 17. Second connecting frame; 18. Moving plate; 19. Driven rod; 20. Cylindrical cam; 21. Reciprocating groove; 22. Pressure ring; 23. Fourth gear; 24. Connecting rod; 25. Oil box. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] Please see Figures 1-4 The technical solution provided by the present invention specifically includes the following embodiments: Example: An electric tracked long spiral pile driver with automated point-finding and automated pile-forming control includes a vehicle body 1, inside which a control unit 2 is installed. The control unit 2 is electrically connected to a multimodal sensing subsystem, an intelligent decision-making center, an omnidirectional navigation subsystem, and a cloud monitoring platform. The multimodal sensing subsystem consists of a GNSS positioning module, a six-axis inertial measurement unit, a motor current sensor, a drill rod torque sensor, and a hydraulic pressure sensor. The multimodal sensing subsystem is used to collect real-time spatial data of the pile driver. The intelligent decision-making center, equipped with an industrial-grade PLC and AI coprocessor, receives sensor data from the multimodal sensing subsystem via Modbus-TCP protocol. This data includes coordinates, machine tilt angle, power head operating current, drill rod rotation torque, and hydraulic system pressure. The control logic of the intelligent decision-making center is based on a Kalman filter algorithm that fuses GNSS and IMU data to achieve a piling machine planar positioning error of ≤±2cm. It also dynamically calculates the formation resistance coefficient based on the current-torque-pressure data chain and automatically matches the drilling speed, and adjusts the hydraulic proportional valve opening via a PID controller. To maintain drill rod verticality deviation <0.3%, the omnidirectional navigation subsystem consists of an RTK differential positioning base station, a 2D lidar, and a UWB indoor positioning module. This subsystem is used to construct a 3D digital map of the construction site. It also enables automatic planning of the piling machine's movement path and batch import of pile coordinates. The cloud monitoring platform uses a 5G wireless channel based on the MQTT protocol. Its output is electrically connected to an external control room, which receives data transmitted from the cloud monitoring platform. This data includes real-time construction parameters, equipment health status, and data supporting reverse control. The order is issued; the receiving end of the intelligent decision-making center is electrically connected to a stratum adaptive module. The stratum adaptive module identifies soil layer types by analyzing the frequency characteristics of current signals through wavelet transform. The receiving end of the stratum adaptive module is electrically connected to an external database. The stratum adaptive module can call the pre-stored construction parameters in the external database. The stratum adaptive module can automatically set the drill rod rotation speed, concrete pumping pressure, and drill lifting speed; the cloud monitoring platform is equipped with the Unity3D engine. The Unity3D engine is used to build a virtual pile driver model. The virtual pile driver model can display the track ground pressure distribution and drill rod stress cloud map and generate a construction quality report; The multimodal sensing subsystem achieves precise positioning of the piling machine through the collaborative work of the GNSS positioning module and the six-axis inertial measurement unit. When the piling machine moves, GNSS provides absolute position information, while the inertial measurement unit compensates for positioning errors when the GNSS signal is unstable by detecting the motion state of the machine body. The system uses a filtering algorithm to dynamically fuse the data of the two sensors to ensure that the piling machine can maintain high-precision positioning in complex environments. The motor current sensor and drill rod torque sensor monitor the power system status in real time. When a change in the formation resistance is detected, the drilling parameters are automatically adjusted to avoid equipment overload. The intelligent decision-making center adjusts the verticality of the drill rod through a hydraulic proportional valve. When the inertial measurement unit detects the drill rod tilting, the control system calculates the required hydraulic adjustment amount according to the algorithm and drives the hydraulic cylinder to correct the deviation. At the same time, the system analyzes the drill rod torque data, identifies the formation characteristics and predicts possible vibrations, and adjusts the control parameters in advance to maintain stable drilling. This closed-loop control method significantly improves the vertical accuracy of the pile. The omnidirectional navigation subsystem uses lidar and indoor positioning modules to build a three-dimensional map of the construction area. The system automatically plans the optimal movement path based on the input pile coordinates, prioritizing the processing of piles with closer spacing to improve efficiency. During the movement, the system detects the surrounding environment in real time, avoids obstacles, and ensures a safe distance. This system greatly reduces manual intervention and improves the automation level of pile driver positioning and movement. The cloud-based monitoring platform transmits the real-time operating status of the piling machine to the remote control room via wireless network. The virtual model intuitively displays the stress distribution of the drill rod and the pressure of the track, and issues an early warning when there are abnormalities. The platform automatically generates a quality inspection report containing key construction parameters, which facilitates remote monitoring and evaluation of construction quality by project managers. The stratum adaptive module identifies different soil layers by analyzing the frequency characteristics of the motor current signal. Based on the identification results, the system automatically calls up the pre-stored construction parameters and adjusts parameters such as drill rod speed, pumping pressure and drill lifting speed to adapt to changes in stratum. This module can also continuously optimize the control strategy by learning historical data to improve the quality of pile formation.

[0017] A drive shaft 3 is installed inside the vehicle body 1. A telescopic device 5 is fixedly connected to the top of the vehicle body 1. A first gear 4 is fixedly connected to the surface of the drive shaft 3. A first rotating rod 7 is rotatably connected to the right side of the vehicle body 1. A second gear 6 is fixedly connected to the surface of the first rotating rod 7. A first bevel gear 8 is fixedly connected to the right end of the first rotating rod 7. A support plate 11 is fixedly connected to the right side of the vehicle body 1. A second rotating rod 10 is rotatably connected to the inner wall of the support plate 11. A second bevel gear 9 is fixedly connected to the bottom of the second rotating rod 10. The first bevel gear 8 meshes with the second bevel gear 9, and the first gear 4 meshes with the second gear 6. A third rotating rod 14 is rotatably connected to the top of the vehicle body 1. Synchronous pulleys 12 are fixedly connected to the surface of the third rotating rod 14 and the top of the second rotating rod 10. A synchronous belt 13 is fitted onto the surface of the two synchronous pulleys 12. A third rotating rod 14 is fixedly connected to the top of the surface of the third rotating rod 14. Gear 16, a fourth gear 23 is fixedly connected to the surface of telescopic device 5, a first connecting frame 15 is fixedly connected to the top of vehicle body 1, a second connecting frame 17 is fixedly connected to the front side of the first connecting frame 15; a pressure ring 22 is fixedly connected to the bottom of the second connecting frame 17, a sponge is installed on the inner ring of the pressure ring 22, a connecting rod 24 is fixedly connected to the top of the fourth gear 23, an oil box 25 is fixedly connected to the top of the connecting rod 24, the oil outlet of the oil box 25 is in contact with the surface of telescopic device 5, a third gear 16 meshes with the fourth gear 23; a moving plate 18 is slidably connected to the surface of the second connecting frame 17, a driven rod 19 is fixedly connected to the left side of the moving plate 18, a cylindrical cam 20 is fixedly connected to the top of the third rotating rod 14, a reciprocating groove 21 with the ends connected is opened on the surface of the cylindrical cam 20, and the end of the driven rod 19 is slidably connected to the groove wall of the reciprocating groove 21; The lubrication system achieves timed and quantitative lubrication through a precise transmission mechanism. When the vehicle body 1 moves, the power shaft 3 drives the first gear set for primary reduction transmission. The precision-machined bevel gear set converts the power direction to vertical transmission, and then the power is smoothly transmitted to the lubrication actuator through the synchronous belt pulley system. The core cylindrical cam 20 of the system adopts a special spiral groove design, which pushes the driven rod 19 to achieve precise reciprocating motion during rotation. Its stroke and frequency are optimized and calculated to ensure that the lubrication cycle is perfectly matched with the equipment operating conditions. The oil box 25 controls the oil output through a precision metering valve to ensure that an appropriate amount of lubricating oil is released evenly with each squeeze. The auxiliary sponge adsorption system is responsible for collecting excess oil and forming a continuous oil film, which avoids oil waste and prevents environmental pollution. This lubrication system achieves a fully automatic and maintenance-free operation mode. Compared with the traditional manual lubrication method, it reduces equipment maintenance downtime and improves overall construction efficiency.

[0018] In this invention, the electric tracked long spiral pile driver is a highly intelligent pile foundation construction equipment, integrating advanced functions such as automated point finding, pile formation control, and cloud monitoring. Its core control component uses a multi-modal sensing subsystem to collect data such as the pile driver's spatial coordinates, body tilt angle, and power system parameters in real time. Combined with GNSS and IMU fusion positioning technology, it achieves a planar positioning accuracy of ±2cm. The intelligent decision-making center adopts an industrial-grade PLC and AI coprocessor, and based on Kalman filtering algorithm and PID control, it achieves precise adjustment of drill rod verticality deviation <0.3%, and can dynamically adjust drilling parameters according to formation resistance, providing omnidirectional navigation. The subsystem constructs a 3D construction map using RTK, LiDAR, and UWB technologies, enabling automatic path planning and obstacle avoidance. The cloud monitoring platform utilizes a 5G network and the Unity3D engine to create a virtual pile driver model, displaying equipment status in real time and generating quality reports. A unique soil adaptive module identifies soil layer types by analyzing current signals through wavelet transform and automatically matches optimal construction parameters. The equipment is also equipped with an innovative automatic lubrication system, employing a cylindrical cam drive and precision metering valve design to achieve maintenance-free, timed, and quantitative lubrication. Through the collaborative work of multiple systems, this pile driver significantly improves construction accuracy and efficiency while reducing manual intervention.

[0019] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention.

Claims

1. An electric crawler-type long spiral pile driver with automated point-finding and automated pile-forming control, characterized in that: Includes a vehicle body (1), and a control component (2) is installed inside the vehicle body (1); The internal electrical connection of the control component (2) is a multimodal sensing subsystem, the internal electrical connection of the control component (2) is an intelligent decision-making center, the internal electrical connection of the control component (2) is an omnidirectional navigation subsystem, and the internal electrical connection of the control component (2) is a cloud monitoring platform.

2. The electric crawler-type long spiral pile driver with automated point-finding and automated pile-forming control as described in claim 1, characterized in that: The multimodal sensing subsystem comprises a GNSS positioning module, a six-axis inertial measurement unit, a motor current sensor, a drill rod torque sensor, and a hydraulic pressure sensor. This subsystem is used to collect real-time data on the piling machine's spatial coordinates, body tilt angle, power head operating current, drill rod rotation torque, and hydraulic system pressure. The intelligent decision-making center is equipped with an industrial-grade PLC and an AI coprocessor. The multimodal sensing subsystem is electrically connected to the intelligent decision-making center, which receives the sensing data from the subsystem via the Modbus-TCP protocol. The control logic of the intelligent decision-making center is based on a Kalman filter algorithm to fuse GNSS and IMU data to achieve a piling machine planar positioning error ≤ ±2cm, and dynamically adjusts the current-torque-pressure data chain. The system calculates the formation resistance coefficient, automatically matches the drilling speed, and maintains the drill rod verticality deviation <0.3% by adjusting the hydraulic proportional valve opening through a PID controller. The omnidirectional navigation subsystem consists of an RTK differential positioning base station, a 2D lidar, and a UWB indoor positioning module. This subsystem is used to construct a three-dimensional digital map of the construction site. It also enables automatic planning of the piling machine's movement path and batch import of pile coordinates. The cloud monitoring platform is a 5G wireless channel established based on the MQTT protocol. Its output is electrically connected to an external control room, which receives data transmitted from the cloud monitoring platform. This data includes real-time construction parameters, equipment health status, and supports the issuance of reverse control commands.

3. The electric crawler-type long spiral pile driver with automated point-finding and automated pile-forming control as described in claim 2, characterized in that: The receiving end of the intelligent decision-making center is electrically connected to a stratum adaptive module. The stratum adaptive module identifies soil layer types by analyzing the frequency characteristics of current signals through wavelet transform. The receiving end of the stratum adaptive module is electrically connected to an external database. The stratum adaptive module can call the pre-stored construction parameters in the external database. The stratum adaptive module can automatically set the drill rod rotation speed, concrete pumping pressure, and drill lifting speed.

4. The electric crawler-type long spiral pile driver with automated point-finding and automated pile-forming control as described in claim 2, characterized in that: The cloud monitoring platform is equipped with the Unity3D engine, which is used to build a virtual pile driver model. The virtual pile driver model can display the track ground pressure distribution and drill rod stress cloud map and generate a construction quality report.

5. The electric crawler-type long spiral pile driver with automated point-finding and automated pile-forming control as described in claim 1, characterized in that: The vehicle body (1) is equipped with a power shaft (3) inside. A telescopic device (5) is fixedly connected to the top of the vehicle body (1). A first gear (4) is fixedly connected to the surface of the power shaft (3). A first rotating rod (7) is rotatably connected to the right side of the vehicle body (1). A second gear (6) is fixedly connected to the surface of the first rotating rod (7). A first bevel gear (8) is fixedly connected to the right end of the first rotating rod (7). A support plate (11) is fixedly connected to the right side of the vehicle body (1). A second rotating rod (10) is rotatably connected to the inner wall of the support plate (11). A second bevel gear (9) is fixedly connected to the bottom of the second rotating rod (10). The first bevel gear (8) meshes with the second bevel gear (9). The first gear (4) meshes with the second gear (6).

6. The electric crawler-type long spiral pile driver with automated point-finding and automated pile-forming control as described in claim 5, characterized in that: The top of the vehicle body (1) is rotatably connected to a third rotating rod (14). The surface of the third rotating rod (14) and the top of the second rotating rod (10) are both fixedly connected to a synchronous wheel (12). The surfaces of the two synchronous wheels (12) are fitted with a synchronous belt (13). The top of the surface of the third rotating rod (14) is fixedly connected to a third gear (16). The surface of the telescopic device (5) is fixedly connected to a fourth gear (23). The top of the vehicle body (1) is fixedly connected to a first connecting frame (15). The front side of the first connecting frame (15) is fixedly connected to a second connecting frame (17).

7. The electric crawler-type long spiral pile driver with automated point-finding and automated pile-forming control as described in claim 6, characterized in that: The bottom of the second connecting frame (17) is fixedly connected to a pressure ring (22), the inner ring of the pressure ring (22) is fitted with a sponge, the top of the fourth gear (23) is fixedly connected to a connecting rod (24), the top of the connecting rod (24) is fixedly connected to an oil box (25), the oil outlet of the oil box (25) is in contact with the surface of the telescopic device (5), and the third gear (16) meshes with the fourth gear (23).

8. The electric crawler-type long spiral pile driver with automated point finding and automated pile forming control as described in claim 6, characterized in that: The second connecting frame (17) has a sliding plate (18) slidably connected to its surface. A driven rod (19) is fixedly connected to the left side of the sliding plate (18). A cylindrical cam (20) is fixedly connected to the top of the third rotating rod (14). A reciprocating groove (21) with the ends connected is opened on the surface of the cylindrical cam (20). The end of the driven rod (19) is slidably connected to the groove wall of the reciprocating groove (21).

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